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enable pybullet.calculateInverseDynamics for floating bodies

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Using calculateInverseDynamics with zero target acceleration allows to compute the non-linear dynamics forces (coriolis/gyroscopic) and/or gravity force.
This commit is contained in:
erwincoumans
2018-11-27 08:49:56 -08:00
parent 2e30a9565b
commit 192d27743a
6 changed files with 117 additions and 31 deletions
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4
examples/SharedMemory/SharedMemoryPublic.h
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@@ -7,7 +7,9 @@
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 201810250
#define SHARED_MEMORY_MAGIC_NUMBER 201811260
//#define SHARED_MEMORY_MAGIC_NUMBER 201810250
//#define SHARED_MEMORY_MAGIC_NUMBER 201809030
//#define SHARED_MEMORY_MAGIC_NUMBER 201809010
//#define SHARED_MEMORY_MAGIC_NUMBER 201807040