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Allow to compile pybullet using btDiscreteDynamicsWorld (no multibodies and no deformables), this allows to create Jacobian and Mass matrix (and A=J*M-1*J_transpose) with MLCP solvers

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Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)
This commit is contained in:
erwin coumans
2021-03-15 22:44:55 -07:00
parent 0b8f95598d
commit 5cf8ee3360
10 changed files with 177 additions and 21 deletions
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examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
+7 -3
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@@ -1,7 +1,11 @@
#include "GwenParameterInterface.h"
#include "gwenInternalData.h"
#include <cstring>
#ifdef _WIN32
#define safe_printf _snprintf
#else
#define safe_printf snprintf
#endif
struct MyButtonEventHandler : public Gwen::Event::Handler
{
Gwen::Controls::Button* m_buttonControl;
@@ -85,7 +89,7 @@ struct MySliderEventHandler : public Gwen::Event::Handler
if (m_showValue)
{
char txt[1024];
snprintf(txt, sizeof(txt), "%s : %.3f", m_variableName, val);
safe_printf(txt, sizeof(txt), "%s : %.3f", m_variableName, val);
m_label->SetText(txt);
}
}
@@ -231,7 +235,7 @@ void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
}
pSlider->SetValue(*params.m_paramValuePointer); //dimensions[i] );
char labelName[1024];
snprintf(labelName, sizeof(labelName), "%s", params.m_name); //axisNames[0]);
safe_printf(labelName, sizeof(labelName), "%s", params.m_name); //axisNames[0]);
MySliderEventHandler<btScalar>* handler = new MySliderEventHandler<btScalar>(labelName, label, pSlider, params.m_paramValuePointer, params.m_callback, params.m_userPointer);
handler->m_showValue = params.m_showValues;
m_paramInternalData->m_sliderEventHandlers.push_back(handler);