Add API to set bunny properties. Add example to show coupling between softbody and multibody.

2016-11-01 16:45:10 -07:00
parent 9d54f0cf8d
commit 3c37db0804
10 changed files with 115 additions and 8 deletions
--- a/examples/RoboticsLearning/b3RobotSimAPI.cpp
+++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp
@@ -1000,8 +1000,11 @@ void b3RobotSimAPI::getLinkState(int bodyUniqueId, int linkIndex, double* worldP
    }
 }

-void b3RobotSimAPI::loadBunny()
+void b3RobotSimAPI::loadBunny(double scale, double mass, double collisionMargin)
 {
    b3SharedMemoryCommandHandle command = b3LoadBunnyCommandInit(m_data->m_physicsClient);
+    b3LoadBunnySetScale(command, scale);
+    b3LoadBunnySetMass(command, mass);
+    b3LoadBunnySetCollisionMargin(command, collisionMargin);
    b3SubmitClientCommand(m_data->m_physicsClient, command);
-}
+}