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add pybullet getBaseVelocity / resetBaseVelocity

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C-API b3CreatePoseCommandSetBaseLinearVelocity/b3CreatePoseCommandSetBaseAngularVelocity
This commit is contained in:
Erwin Coumans
2016-11-28 15:11:34 -08:00
parent 2e372a525e
commit 2d42c7963a
5 changed files with 373 additions and 118 deletions
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36
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -672,6 +672,40 @@ int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHan
return 0;
}
int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |= INIT_POSE_HAS_BASE_LINEAR_VELOCITY;
command->m_initPoseArgs.m_hasInitialStateQdot[0] = 1;
command->m_initPoseArgs.m_hasInitialStateQdot[1] = 1;
command->m_initPoseArgs.m_hasInitialStateQdot[2] = 1;
command->m_initPoseArgs.m_initialStateQdot[0] = linVel[0];
command->m_initPoseArgs.m_initialStateQdot[1] = linVel[1];
command->m_initPoseArgs.m_initialStateQdot[2] = linVel[2];
return 0;
}
int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |= INIT_POSE_HAS_BASE_ANGULAR_VELOCITY;
command->m_initPoseArgs.m_hasInitialStateQdot[3] = 1;
command->m_initPoseArgs.m_hasInitialStateQdot[4] = 1;
command->m_initPoseArgs.m_hasInitialStateQdot[5] = 1;
command->m_initPoseArgs.m_initialStateQdot[3] = angVel[0];
command->m_initPoseArgs.m_initialStateQdot[4] = angVel[1];
command->m_initPoseArgs.m_initialStateQdot[5] = angVel[2];
return 0;
}
int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -686,6 +720,8 @@ int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHand
return 0;
}
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;