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implement a few more pybullet methods:

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pybullet_applyExternalForce, pybullet_applyExternalTorque, pybullet_setTimeStep,
pybullet_resetBasePositionAndOrientation,
pybullet_getQuaternionFromEuler,
pybullet_getEulerFromQuaternion
This commit is contained in:
Erwin Coumans
2016-06-26 18:18:30 -07:00
parent a15eb3035e
commit 013dbda023
7 changed files with 547 additions and 149 deletions
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22
examples/SharedMemory/SharedMemoryCommands.h
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@@ -319,6 +319,27 @@ struct SdfRequestInfoArgs
int m_bodyUniqueId;
};
///flags for b3ApplyExternalTorque and b3ApplyExternalForce
enum EnumExternalForcePrivateFlags
{
// EF_LINK_FRAME=1,
// EF_WORLD_FRAME=2,
EF_TORQUE=4,
EF_FORCE=8,
};
struct ExternalForceArgs
{
int m_numForcesAndTorques;
int m_bodyUniqueIds[MAX_SDF_BODIES];
int m_linkIds[MAX_SDF_BODIES];
double m_forcesAndTorques[3*MAX_SDF_BODIES];
double m_positions[3*MAX_SDF_BODIES];
int m_forceFlags[MAX_SDF_BODIES];
};
enum EnumSdfRequestInfoFlags
{
SDF_REQUEST_INFO_BODY=1,
@@ -350,6 +371,7 @@ struct SharedMemoryCommand
struct RequestDebugLinesArgs m_requestDebugLinesArguments;
struct RequestPixelDataArgs m_requestPixelDataArguments;
struct PickBodyArgs m_pickBodyArguments;
struct ExternalForceArgs m_externalForceArguments;
};
};