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| author | erwincoumans <erwincoumans@google.com> | 2021-04-20 20:22:38 -0700 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2021-04-20 20:22:38 -0700 |
| commit | 00dcc77885bc6ecd7386e5f805c07d6c85e578a1 (patch) | |
| tree | e6c5331b698d72d8aad616a8a5e55e48e08cbc34 | |
| parent | 5c2fa7009b10d4b509dd0d0339596c65cc96d581 (diff) | |
| parent | a5761f2b101663dd001f7bb3cbddc42aaf39afdd (diff) | |
| download | bullet3-00dcc77885bc6ecd7386e5f805c07d6c85e578a1.tar.gz | |
Merge pull request #3352 from erwincoumans/master
getDynamicsInfo report local inertia diagonal for useMaxima… …
5 files changed, 7 insertions, 4 deletions
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 6e2ee11b9..ff3ec7db0 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -10386,6 +10386,12 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S serverCmd.m_dynamicsInfo.m_bodyType = BT_RIGID_BODY; btRigidBody* rb = body->m_rigidBody; + + + serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = rb->getLocalInertia()[0]; + serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = rb->getLocalInertia()[1]; + serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = rb->getLocalInertia()[2]; + serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = rb->getFriction(); serverCmd.m_dynamicsInfo.m_rollingFrictionCoeff = rb->getRollingFriction(); serverCmd.m_dynamicsInfo.m_spinningFrictionCoeff = rb->getSpinningFriction(); diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py index 51747904f..69af3189a 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py +++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/baseline_controller/dummy_gait_generator.py @@ -2,7 +2,6 @@ from __future__ import absolute_import from __future__ import division -from __future__ import google_type_annotations from __future__ import print_function import copy diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py index 85a8d99c2..e59306fdd 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py +++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/alternating_legs_openloop.py @@ -2,7 +2,6 @@ from __future__ import absolute_import from __future__ import division -from __future__ import google_type_annotations from __future__ import print_function import math diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/fixed_steptime_wrapper_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/fixed_steptime_wrapper_env.py index c06ffacab..03207c92d 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/fixed_steptime_wrapper_env.py +++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/env_wrappers/fixed_steptime_wrapper_env.py @@ -3,7 +3,6 @@ from __future__ import absolute_import from __future__ import division -from __future__ import google_type_annotations from __future__ import print_function import time @@ -501,7 +501,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='3.1.2', + version='3.1.4', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= |