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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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6
examples/SharedMemory/SharedMemoryCommands.h
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@@ -109,7 +109,9 @@ enum EnumInitPoseFlags
{
INIT_POSE_HAS_INITIAL_POSITION=1,
INIT_POSE_HAS_INITIAL_ORIENTATION=2,
INIT_POSE_HAS_JOINT_STATE=4
INIT_POSE_HAS_JOINT_STATE=4,
INIT_POSE_HAS_BASE_LINEAR_VELOCITY = 8,
INIT_POSE_HAS_BASE_ANGULAR_VELOCITY = 16,
};
@@ -122,6 +124,8 @@ struct InitPoseArgs
int m_bodyUniqueId;
int m_hasInitialStateQ[MAX_DEGREE_OF_FREEDOM];
double m_initialStateQ[MAX_DEGREE_OF_FREEDOM];
int m_hasInitialStateQdot[MAX_DEGREE_OF_FREEDOM];
double m_initialStateQdot[MAX_DEGREE_OF_FREEDOM];
};