add yapf style and apply yapf to format all Python files

This recreates pull request #2192
2026-09-25 11:36:20 +00:00 · 2019-04-27 07:31:15 -07:00
parent c591735042
commit ef9570c315
347 changed files with 70304 additions and 22752 deletions
--- a/examples/pybullet/examples/createTexturedMeshVisualShape.py
+++ b/examples/pybullet/examples/createTexturedMeshVisualShape.py
@@ -2,167 +2,180 @@ import pybullet as p
 import time
 import math

-def getRayFromTo(mouseX,mouseY):
-	width, height, viewMat, projMat, cameraUp, camForward, horizon,vertical, _,_,dist, camTarget = p.getDebugVisualizerCamera()
-	camPos = [camTarget[0] - dist*camForward[0],camTarget[1] - dist*camForward[1],camTarget[2] - dist*camForward[2]]
-	farPlane = 10000
-	rayForward = [(camTarget[0]-camPos[0]),(camTarget[1]-camPos[1]),(camTarget[2]-camPos[2])]
-	invLen = farPlane*1./(math.sqrt(rayForward[0]*rayForward[0]+rayForward[1]*rayForward[1]+rayForward[2]*rayForward[2]))
-	rayForward = [invLen*rayForward[0],invLen*rayForward[1],invLen*rayForward[2]]
-	rayFrom = camPos
-	oneOverWidth = float(1)/float(width)
-	oneOverHeight = float(1)/float(height)
-	dHor = [horizon[0] * oneOverWidth,horizon[1] * oneOverWidth,horizon[2] * oneOverWidth]
-	dVer = [vertical[0] * oneOverHeight,vertical[1] * oneOverHeight,vertical[2] * oneOverHeight]
-	rayToCenter=[rayFrom[0]+rayForward[0],rayFrom[1]+rayForward[1],rayFrom[2]+rayForward[2]]
-	rayTo = [rayFrom[0]+rayForward[0]  - 0.5 * horizon[0] + 0.5 * vertical[0]+float(mouseX)*dHor[0]-float(mouseY)*dVer[0],
-					rayFrom[1]+rayForward[1]  - 0.5 * horizon[1] + 0.5 * vertical[1]+float(mouseX)*dHor[1]-float(mouseY)*dVer[1],
-					rayFrom[2]+rayForward[2]  - 0.5 * horizon[2] + 0.5 * vertical[2]+float(mouseX)*dHor[2]-float(mouseY)*dVer[2]]
-	return rayFrom,rayTo
+
+def getRayFromTo(mouseX, mouseY):
+  width, height, viewMat, projMat, cameraUp, camForward, horizon, vertical, _, _, dist, camTarget = p.getDebugVisualizerCamera(
+  )
+  camPos = [
+      camTarget[0] - dist * camForward[0], camTarget[1] - dist * camForward[1],
+      camTarget[2] - dist * camForward[2]
+  ]
+  farPlane = 10000
+  rayForward = [(camTarget[0] - camPos[0]), (camTarget[1] - camPos[1]), (camTarget[2] - camPos[2])]
+  invLen = farPlane * 1. / (math.sqrt(rayForward[0] * rayForward[0] + rayForward[1] *
+                                      rayForward[1] + rayForward[2] * rayForward[2]))
+  rayForward = [invLen * rayForward[0], invLen * rayForward[1], invLen * rayForward[2]]
+  rayFrom = camPos
+  oneOverWidth = float(1) / float(width)
+  oneOverHeight = float(1) / float(height)
+  dHor = [horizon[0] * oneOverWidth, horizon[1] * oneOverWidth, horizon[2] * oneOverWidth]
+  dVer = [vertical[0] * oneOverHeight, vertical[1] * oneOverHeight, vertical[2] * oneOverHeight]
+  rayToCenter = [
+      rayFrom[0] + rayForward[0], rayFrom[1] + rayForward[1], rayFrom[2] + rayForward[2]
+  ]
+  rayTo = [
+      rayFrom[0] + rayForward[0] - 0.5 * horizon[0] + 0.5 * vertical[0] + float(mouseX) * dHor[0] -
+      float(mouseY) * dVer[0], rayFrom[1] + rayForward[1] - 0.5 * horizon[1] + 0.5 * vertical[1] +
+      float(mouseX) * dHor[1] - float(mouseY) * dVer[1], rayFrom[2] + rayForward[2] -
+      0.5 * horizon[2] + 0.5 * vertical[2] + float(mouseX) * dHor[2] - float(mouseY) * dVer[2]
+  ]
+  return rayFrom, rayTo
+

 cid = p.connect(p.SHARED_MEMORY)
-if (cid<0):
-	p.connect(p.GUI)
+if (cid < 0):
+  p.connect(p.GUI)
 p.setPhysicsEngineParameter(numSolverIterations=10)
-p.setTimeStep(1./120.)
+p.setTimeStep(1. / 120.)
 logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
 #useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
 p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
 #disable rendering during creation.
-p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
-p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
+p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
 #disable tinyrenderer, software (CPU) renderer, we don't use it here
-p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
+p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER, 0)

-shift = [0,-0.02,0]
-meshScale=[0.1,0.1,0.1]
+shift = [0, -0.02, 0]
+meshScale = [0.1, 0.1, 0.1]

-vertices=[
-[-1.000000,-1.000000,1.000000],
-[1.000000,-1.000000,1.000000],
-[1.000000,1.000000,1.000000],
-[-1.000000,1.000000,1.000000],
-[-1.000000,-1.000000,-1.000000],
-[1.000000,-1.000000,-1.000000],
-[1.000000,1.000000,-1.000000],
-[-1.000000,1.000000,-1.000000],
-[-1.000000,-1.000000,-1.000000],
-[-1.000000,1.000000,-1.000000],
-[-1.000000,1.000000,1.000000],
-[-1.000000,-1.000000,1.000000],
-[1.000000,-1.000000,-1.000000],
-[1.000000,1.000000,-1.000000],
-[1.000000,1.000000,1.000000],
-[1.000000,-1.000000,1.000000],
-[-1.000000,-1.000000,-1.000000],
-[-1.000000,-1.000000,1.000000],
-[1.000000,-1.000000,1.000000],
-[1.000000,-1.000000,-1.000000],
-[-1.000000,1.000000,-1.000000],
-[-1.000000,1.000000,1.000000],
-[1.000000,1.000000,1.000000],
-[1.000000,1.000000,-1.000000]
+vertices = [[-1.000000, -1.000000, 1.000000], [1.000000, -1.000000, 1.000000],
+            [1.000000, 1.000000, 1.000000], [-1.000000, 1.000000, 1.000000],
+            [-1.000000, -1.000000, -1.000000], [1.000000, -1.000000, -1.000000],
+            [1.000000, 1.000000, -1.000000], [-1.000000, 1.000000, -1.000000],
+            [-1.000000, -1.000000, -1.000000], [-1.000000, 1.000000, -1.000000],
+            [-1.000000, 1.000000, 1.000000], [-1.000000, -1.000000, 1.000000],
+            [1.000000, -1.000000, -1.000000], [1.000000, 1.000000, -1.000000],
+            [1.000000, 1.000000, 1.000000], [1.000000, -1.000000, 1.000000],
+            [-1.000000, -1.000000, -1.000000], [-1.000000, -1.000000, 1.000000],
+            [1.000000, -1.000000, 1.000000], [1.000000, -1.000000, -1.000000],
+            [-1.000000, 1.000000, -1.000000], [-1.000000, 1.000000, 1.000000],
+            [1.000000, 1.000000, 1.000000], [1.000000, 1.000000, -1.000000]]
+
+normals = [[0.000000, 0.000000, 1.000000], [0.000000, 0.000000, 1.000000],
+           [0.000000, 0.000000, 1.000000], [0.000000, 0.000000, 1.000000],
+           [0.000000, 0.000000, -1.000000], [0.000000, 0.000000, -1.000000],
+           [0.000000, 0.000000, -1.000000], [0.000000, 0.000000, -1.000000],
+           [-1.000000, 0.000000, 0.000000], [-1.000000, 0.000000, 0.000000],
+           [-1.000000, 0.000000, 0.000000], [-1.000000, 0.000000, 0.000000],
+           [1.000000, 0.000000, 0.000000], [1.000000, 0.000000, 0.000000],
+           [1.000000, 0.000000, 0.000000], [1.000000, 0.000000, 0.000000],
+           [0.000000, -1.000000, 0.000000], [0.000000, -1.000000, 0.000000],
+           [0.000000, -1.000000, 0.000000], [0.000000, -1.000000, 0.000000],
+           [0.000000, 1.000000, 0.000000], [0.000000, 1.000000, 0.000000],
+           [0.000000, 1.000000, 0.000000], [0.000000, 1.000000, 0.000000]]
+
+uvs = [[0.750000, 0.250000], [1.000000, 0.250000], [1.000000, 0.000000], [0.750000, 0.000000],
+       [0.500000, 0.250000], [0.250000, 0.250000], [0.250000, 0.000000], [0.500000, 0.000000],
+       [0.500000, 0.000000], [0.750000, 0.000000], [0.750000, 0.250000], [0.500000, 0.250000],
+       [0.250000, 0.500000], [0.250000, 0.250000], [0.000000, 0.250000], [0.000000, 0.500000],
+       [0.250000, 0.500000], [0.250000, 0.250000], [0.500000, 0.250000], [0.500000, 0.500000],
+       [0.000000, 0.000000], [0.000000, 0.250000], [0.250000, 0.250000], [0.250000, 0.000000]]
+indices = [
+    0,
+    1,
+    2,
+    0,
+    2,
+    3,  #//ground face
+    6,
+    5,
+    4,
+    7,
+    6,
+    4,  #//top face
+    10,
+    9,
+    8,
+    11,
+    10,
+    8,
+    12,
+    13,
+    14,
+    12,
+    14,
+    15,
+    18,
+    17,
+    16,
+    19,
+    18,
+    16,
+    20,
+    21,
+    22,
+    20,
+    22,
+    23
 ]

-normals=[
-[0.000000,0.000000,1.000000],
-[0.000000,0.000000,1.000000],
-[0.000000,0.000000,1.000000],
-[0.000000,0.000000,1.000000],
-[0.000000,0.000000,-1.000000],
-[0.000000,0.000000,-1.000000],
-[0.000000,0.000000,-1.000000],
-[0.000000,0.000000,-1.000000],
-[-1.000000,0.000000,0.000000],
-[-1.000000,0.000000,0.000000],
-[-1.000000,0.000000,0.000000],
-[-1.000000,0.000000,0.000000],
-[1.000000,0.000000,0.000000],
-[1.000000,0.000000,0.000000],
-[1.000000,0.000000,0.000000],
-[1.000000,0.000000,0.000000],
-[0.000000,-1.000000,0.000000],
-[0.000000,-1.000000,0.000000],
-[0.000000,-1.000000,0.000000],
-[0.000000,-1.000000,0.000000],
-[0.000000,1.000000,0.000000],
-[0.000000,1.000000,0.000000],
-[0.000000,1.000000,0.000000],
-[0.000000,1.000000,0.000000]
-]
-
-uvs=[
-[0.750000,0.250000],
-[1.000000,0.250000],
-[1.000000,0.000000],
-[0.750000,0.000000],
-[0.500000,0.250000],
-[0.250000,0.250000],
-[0.250000,0.000000],
-[0.500000,0.000000],
-[0.500000,0.000000],
-[0.750000,0.000000],
-[0.750000,0.250000],
-[0.500000,0.250000],
-[0.250000,0.500000],
-[0.250000,0.250000],
-[0.000000,0.250000],
-[0.000000,0.500000],
-[0.250000,0.500000],
-[0.250000,0.250000],
-[0.500000,0.250000],
-[0.500000,0.500000],
-[0.000000,0.000000],
-[0.000000,0.250000],
-[0.250000,0.250000],
-[0.250000,0.000000]
-]
-indices=[	0, 1, 2, 0, 2, 3,  #//ground face
-		6, 5, 4, 7, 6, 4,  #//top face
-		10, 9, 8, 11, 10, 8,
-		12, 13, 14, 12, 14, 15,
-		18, 17, 16, 19, 18, 16,
-		20, 21, 22, 20, 22, 23]
-
 #the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
-visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale, vertices=vertices, indices=indices, uvs=uvs, normals=normals)
+visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,
+                                    rgbaColor=[1, 1, 1, 1],
+                                    specularColor=[0.4, .4, 0],
+                                    visualFramePosition=shift,
+                                    meshScale=meshScale,
+                                    vertices=vertices,
+                                    indices=indices,
+                                    uvs=uvs,
+                                    normals=normals)
 #visualShapeId = p.createVisualShape(shapeType=p.GEOM_BOX,rgbaColor=[1,1,1,1], halfExtents=[0.5,0.5,0.5],specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=[1,1,1], vertices=vertices, indices=indices)

 #visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale, fileName="duck.obj")
-collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, vertices=vertices, collisionFramePosition=shift,meshScale=meshScale)
+collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH,
+                                          vertices=vertices,
+                                          collisionFramePosition=shift,
+                                          meshScale=meshScale)

 texUid = p.loadTexture("tex256.png")
-		
+
 rangex = 1
 rangey = 1
-for i in range (rangex):
-	for j in range (rangey ):
-		bodyUid = p.createMultiBody(baseMass=1,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [((-rangex/2)+i)*meshScale[0]*2,(-rangey/2+j)*meshScale[1]*2,1], useMaximalCoordinates=True)
-		p.changeVisualShape(bodyUid,-1, textureUniqueId = texUid)		
-p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+for i in range(rangex):
+  for j in range(rangey):
+    bodyUid = p.createMultiBody(baseMass=1,
+                                baseInertialFramePosition=[0, 0, 0],
+                                baseCollisionShapeIndex=collisionShapeId,
+                                baseVisualShapeIndex=visualShapeId,
+                                basePosition=[((-rangex / 2) + i) * meshScale[0] * 2,
+                                              (-rangey / 2 + j) * meshScale[1] * 2, 1],
+                                useMaximalCoordinates=True)
+    p.changeVisualShape(bodyUid, -1, textureUniqueId=texUid)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
 p.stopStateLogging(logId)
-p.setGravity(0,0,-10)
+p.setGravity(0, 0, -10)
 p.setRealTimeSimulation(1)

-colors = [[1,0,0,1],[0,1,0,1],[0,0,1,1],[1,1,1,1]]
+colors = [[1, 0, 0, 1], [0, 1, 0, 1], [0, 0, 1, 1], [1, 1, 1, 1]]
 currentColor = 0

 while (1):
-	p.getCameraImage(320,200)
-	mouseEvents = p.getMouseEvents()
-	for e in mouseEvents:
-		if ((e[0] == 2) and (e[3]==0) and (e[4]& p.KEY_WAS_TRIGGERED)):
-			mouseX = e[1]
-			mouseY = e[2]
-			rayFrom,rayTo=getRayFromTo(mouseX,mouseY)
-			rayInfo = p.rayTest(rayFrom,rayTo)
-			#p.addUserDebugLine(rayFrom,rayTo,[1,0,0],3)
-			for l in range(len(rayInfo)):
-				hit = rayInfo[l]
-				objectUid = hit[0]
-				if (objectUid>=1):
-					#p.removeBody(objectUid)
-					p.changeVisualShape(objectUid,-1,rgbaColor=colors[currentColor])
-					currentColor+=1
-					if (currentColor>=len(colors)):
-						currentColor=0
+  p.getCameraImage(320, 200)
+  mouseEvents = p.getMouseEvents()
+  for e in mouseEvents:
+    if ((e[0] == 2) and (e[3] == 0) and (e[4] & p.KEY_WAS_TRIGGERED)):
+      mouseX = e[1]
+      mouseY = e[2]
+      rayFrom, rayTo = getRayFromTo(mouseX, mouseY)
+      rayInfo = p.rayTest(rayFrom, rayTo)
+      #p.addUserDebugLine(rayFrom,rayTo,[1,0,0],3)
+      for l in range(len(rayInfo)):
+        hit = rayInfo[l]
+        objectUid = hit[0]
+        if (objectUid >= 1):
+          #p.removeBody(objectUid)
+          p.changeVisualShape(objectUid, -1, rgbaColor=colors[currentColor])
+          currentColor += 1
+          if (currentColor >= len(colors)):
+            currentColor = 0