diff options
Diffstat (limited to 'examples/pybullet/pybullet.c')
| -rw-r--r-- | examples/pybullet/pybullet.c | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 7f800d40c..755fcea13 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1242,12 +1242,13 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO int activationState = -1; double jointDamping = -1; PyObject* localInertiaDiagonalObj = 0; + PyObject* anisotropicFrictionObj = 0; b3PhysicsClientHandle sm = 0; int physicsClientId = 0; - static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "physicsClientId", NULL}; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &physicsClientId)) + static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "physicsClientId", NULL}; + if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &physicsClientId)) { return NULL; } @@ -1273,6 +1274,12 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO { b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass); } + if (anisotropicFrictionObj) + { + double anisotropicFriction[3]; + pybullet_internalSetVectord(anisotropicFrictionObj, anisotropicFriction); + b3ChangeDynamicsInfoSetAnisotropicFriction(command, bodyUniqueId, linkIndex, anisotropicFriction); + } if (localInertiaDiagonalObj) { double localInertiaDiagonal[3]; |