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make setJointPosMultiDof and setJointVelMultiDof argument const.

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add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
This commit is contained in:
erwincoumans
2018-11-10 14:26:31 -08:00
parent 642c6a71d2
commit 17219f84c6
14 changed files with 512 additions and 36 deletions
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12
examples/SharedMemory/SharedMemoryPublic.h
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@@ -274,6 +274,8 @@ struct b3JointInfo
double m_childFrame[7]; // ^^^
double m_jointAxis[3]; // joint axis in parent local frame
int m_parentIndex;
int m_qSize;
int m_uSize;
};
enum UserDataValueType
@@ -357,6 +359,16 @@ struct b3JointSensorState
double m_jointMotorTorque;
};
struct b3JointSensorState2
{
double m_jointPosition[4];
double m_jointVelocity[3];
double m_jointReactionForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
double m_jointMotorTorque;
int m_qDofSize;
int m_uDofSize;
};
struct b3DebugLines
{
int m_numDebugLines;