object GetLinkVelocity(object pylink)
{
CHECK_POINTER(pylink);
Vector linearvel, angularvel;
if( !_pPhysicsEngine->GetLinkVelocity(openravepy::GetKinBodyLink(pylink),linearvel,angularvel) ) {
return object();
}
return boost::python::make_tuple(toPyVector3(linearvel),toPyVector3(angularvel));
}
object GetLinkForceTorque(object pylink)
{
CHECK_POINTER(pylink);
Vector force, torque;
if( !_pPhysicsEngine->GetLinkForceTorque(openravepy::GetKinBodyLink(pylink),force,torque) ) {
return object();
}
return boost::python::make_tuple(toPyVector3(force),toPyVector3(torque));
}
static bool _ViewerCallback(object fncallback, PyEnvironmentBasePtr pyenv, KinBody::LinkPtr plink,RaveVector<float> position,RaveVector<float> direction)
{
object res;
PyGILState_STATE gstate = PyGILState_Ensure();
try {
res = fncallback(openravepy::toPyKinBodyLink(plink,pyenv),toPyVector3(position),toPyVector3(direction));
}
catch(...) {
RAVELOG_ERROR("exception occured in python viewer callback:\n");
PyErr_Print();
}
PyGILState_Release(gstate);
extract<bool> xb(res);
if( xb.check() ) {
return (bool)xb;
}
extract<int> xi(res);
if( xi.check() ) {
return (int)xi;
}
extract<double> xd(res);
if( xd.check() ) {
return (double)xd>0;
}
return true;
}
object GetGravity() {
return toPyVector3(_pPhysicsEngine->GetGravity());
}
