Add World::setGravity(double x, double y, double z) (#1642)

dartsim · Jan 4, 2022 · 0bbc551 · 0bbc551
1 parent eeac11b
commit 0bbc551
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Showing 4 changed files with 19 additions and 4 deletions.
diff --git a/dart/simulation/World.cpp b/dart/simulation/World.cpp
@@ -258,6 +258,12 @@ void World::setGravity(const Eigen::Vector3d& _gravity)
   }
 }
 
+//==============================================================================
+void World::setGravity(double x, double y, double z)
+{
+  setGravity(Eigen::Vector3d(x, y, z));
+}
+
 //==============================================================================
 const Eigen::Vector3d& World::getGravity() const
 {

diff --git a/dart/simulation/World.hpp b/dart/simulation/World.hpp
@@ -119,6 +119,9 @@ class World : public virtual common::Subject
   /// Set gravity
   void setGravity(const Eigen::Vector3d& _gravity);
 
+  /// Set gravity
+  void setGravity(double x, double y, double z);
+
   /// Get gravity
   const Eigen::Vector3d& getGravity() const;
 

diff --git a/examples/deprecated_examples/glut_biped_stand/Main.cpp b/examples/deprecated_examples/glut_biped_stand/Main.cpp
@@ -45,8 +45,7 @@ int main(int argc, char* argv[])
       = dart::utils::SkelParser::readWorld("dart://sample/skel/fullbody1.skel");
   assert(myWorld != nullptr);
 
-  Eigen::Vector3d gravity(0.0, -9.81, 0.0);
-  myWorld->setGravity(gravity);
+  myWorld->setGravity(0.0, -9.81, 0.0);
 
   dart::dynamics::SkeletonPtr biped = myWorld->getSkeleton("fullbody1");
 

diff --git a/python/dartpy/simulation/World.cpp b/python/dartpy/simulation/World.cpp
@@ -76,9 +76,16 @@ void World(py::module& m)
           ::py::return_value_policy::reference_internal)
       .def(
           "setGravity",
-          +[](dart::simulation::World* self, const Eigen::Vector3d& _gravity)
-              -> void { return self->setGravity(_gravity); },
+          ::py::overload_cast<const Eigen::Vector3d&>(
+              &dart::simulation::World::setGravity),
           ::py::arg("gravity"))
+      .def(
+          "setGravity",
+          ::py::overload_cast<double, double, double>(
+              &dart::simulation::World::setGravity),
+          ::py::arg("x"),
+          ::py::arg("y"),
+          ::py::arg("z"))
       .def(
           "getGravity",
           +[](const dart::simulation::World* self) -> const Eigen::Vector3d& {