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-rw-r--r--examples/pybullet/pybullet.c122
1 files changed, 112 insertions, 10 deletions
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index d4d45db6e..3c5d8f3ae 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1,4 +1,4 @@
-//#include "D:/dev/visual leak detector/include/vld.h"
+//#include "D:/dev/VisualLeakDetector/include/vld.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
@@ -129,6 +129,32 @@ static int pybullet_internalGetIntFromSequence(PyObject* seq, int index)
return v;
}
+static const char* pybullet_internalGetCStringFromSequence(PyObject* seq, int index)
+{
+ const char* v = 0;
+ PyObject* item;
+
+ if (PyList_Check(seq))
+ {
+ item = PyList_GET_ITEM(seq, index);
+#if PY_MAJOR_VERSION >= 3
+ v = PyUnicode_AsUTF8(item);
+#else
+ v = PyBytes_AsString(item);
+#endif
+ }
+ else
+ {
+ item = PyTuple_GET_ITEM(seq, index);
+#if PY_MAJOR_VERSION >= 3
+ v = PyUnicode_AsUTF8(item);
+#else
+ v = PyBytes_AsString(item);
+#endif
+ }
+ return v;
+}
+
// internal function to set a float matrix[16]
// used to initialize camera position with
// a view and projection matrix in renderImage()
@@ -1336,9 +1362,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
PyObject* pylist = 0;
int physicsClientId = 0;
int flags = -1;
+ int useMultiBody = -1;
- static char* kwlist[] = {"mjcfFileName", "flags", "physicsClientId", NULL};
- if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &mjcfFileName, &flags, &physicsClientId))
+ static char* kwlist[] = {"mjcfFileName", "flags", "useMultiBody", "physicsClientId", NULL};
+ if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|iii", kwlist, &mjcfFileName, &flags, &useMultiBody, &physicsClientId))
{
return NULL;
}
@@ -1354,6 +1381,11 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
{
b3LoadMJCFCommandSetFlags(command, flags);
}
+ if (useMultiBody>=0)
+ {
+ b3LoadMJCFCommandSetUseMultiBody(command, useMultiBody);
+ }
+
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_MJCF_LOADING_COMPLETED)
@@ -1361,7 +1393,7 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
PyErr_SetString(SpamError, "Couldn't load .mjcf file.");
return NULL;
}
-
+
numBodies =
b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES);
if (numBodies > MAX_SDF_BODIES)
@@ -1412,11 +1444,14 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double jointUpperLimit = -1;
double jointLimitForce = -1;
+ double sleepThreshold = -1;
+
+
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", "anisotropicFriction", "maxJointVelocity", "collisionMargin", "jointLowerLimit","jointUpperLimit", "jointLimitForce", "physicsClientId", NULL};
- if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOdddddi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &maxJointVelocity, &collisionMargin , &jointLowerLimit , &jointUpperLimit , &jointLimitForce , &physicsClientId))
+ static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "maxJointVelocity", "collisionMargin", "jointLowerLimit","jointUpperLimit", "jointLimitForce", "sleepThreshold", "physicsClientId", NULL};
+ if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOddddddi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &maxJointVelocity, &collisionMargin , &jointLowerLimit , &jointUpperLimit , &jointLimitForce , &sleepThreshold, &physicsClientId))
{
return NULL;
}
@@ -1442,6 +1477,10 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetJointLimitForce(command, bodyUniqueId, linkIndex, jointLimitForce);
}
+ if (sleepThreshold >=0)
+ {
+ b3ChangeDynamicsInfoSetSleepThreshold(command, bodyUniqueId, sleepThreshold);
+ }
if (jointLowerLimit <= jointUpperLimit)
{
@@ -7411,11 +7450,12 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
int physicsClientId = 0;
double remoteSyncTransformInterval = -1;
PyObject* pyLightPosition = 0;
+ PyObject* pyRgbBackground = 0;
b3PhysicsClientHandle sm = 0;
- static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "shadowMapIntensity", "physicsClientId", NULL};
+ static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "shadowMapIntensity", "rgbBackground", "physicsClientId", NULL};
- if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiiddi", kwlist,
- &flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &shadowMapIntensity, &physicsClientId))
+ if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiiddOi", kwlist,
+ &flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &shadowMapIntensity, &pyRgbBackground, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -7439,6 +7479,14 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
b3ConfigureOpenGLVisualizerSetLightPosition(commandHandle, lightPosition);
}
}
+ if (pyRgbBackground)
+ {
+ float rgbBackground[3];
+ if (pybullet_internalSetVector(pyRgbBackground, rgbBackground))
+ {
+ b3ConfigureOpenGLVisualizerSetLightRgbBackground(commandHandle, rgbBackground);
+ }
+ }
if (shadowMapIntensity >= 0)
{
b3ConfigureOpenGLVisualizerSetShadowMapIntensity(commandHandle, shadowMapIntensity);
@@ -9068,6 +9116,55 @@ static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject*
return NULL;
}
+
+static PyObject* pybullet_resetMeshData(PyObject* self, PyObject* args, PyObject* keywds)
+{
+ int bodyUniqueId = -1;
+ b3PhysicsClientHandle sm = 0;
+ b3SharedMemoryCommandHandle command;
+ b3SharedMemoryStatusHandle statusHandle;
+ struct b3MeshData meshData;
+ int statusType;
+ PyObject* verticesObj = 0;
+ int physicsClientId = 0;
+ int numVertices = 0;
+
+ static char* kwlist[] = { "bodyUniqueId", "vertices", "physicsClientId", NULL};
+ if (!PyArg_ParseTupleAndKeywords(args, keywds, "iO|i", kwlist, &bodyUniqueId, &verticesObj, &physicsClientId))
+ {
+ return NULL;
+ }
+ sm = getPhysicsClient(physicsClientId);
+ if (sm == 0)
+ {
+ PyErr_SetString(SpamError, "Not connected to physics server.");
+ return NULL;
+ }
+
+ numVertices = extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES);
+ if (numVertices)
+ {
+ double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0;
+ numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
+
+ command = b3ResetMeshDataCommandInit(sm, bodyUniqueId, numVertices, vertices);
+
+ statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+ statusType = b3GetStatusType(statusHandle);
+
+ free(vertices);
+
+ if (statusType == CMD_RESET_MESH_DATA_COMPLETED)
+ {
+ Py_INCREF(Py_None);
+ return Py_None;
+ }
+ }
+
+ PyErr_SetString(SpamError, "resetMeshData failed");
+ return NULL;
+}
+
static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
@@ -9499,6 +9596,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
PyObject* linkInertialFramePositionObj = 0;
PyObject* linkInertialFrameOrientationObj = 0;
PyObject* objBatchPositions = 0;
+
static char* kwlist[] = {
"baseMass", "baseCollisionShapeIndex", "baseVisualShapeIndex", "basePosition", "baseOrientation",
@@ -9597,6 +9695,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
double linkInertialFrameOrientation[4];
int linkParentIndex;
int linkJointType;
+ const char* linkName;
pybullet_internalGetVector3FromSequence(seqLinkInertialFramePositions, i, linkInertialFramePosition);
pybullet_internalGetVector4FromSequence(seqLinkInertialFrameOrientations, i, linkInertialFrameOrientation);
@@ -12469,9 +12568,12 @@ static PyMethodDef SpamMethods[] = {
{"removeCollisionShape", (PyCFunction)pybullet_removeCollisionShape, METH_VARARGS | METH_KEYWORDS,
"Remove a collision shape. Only useful when the collision shape is not used in a body (to perform a getClosestPoint query)."},
- {"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
+ {"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
"Get mesh data. Returns vertices etc from the mesh."},
+ {"resetMeshData", (PyCFunction)pybullet_resetMeshData, METH_VARARGS | METH_KEYWORDS,
+ "Reset mesh data. Only implemented for deformable bodies."},
+
{"createVisualShape", (PyCFunction)pybullet_createVisualShape, METH_VARARGS | METH_KEYWORDS,
"Create a visual shape. Returns a non-negative (int) unique id, if successfull, negative otherwise."},
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