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expose API to change the local inertia diagonal, pybullet.ChangeDynamics(objectUid, linkIndex, localInertiaDiagonal=[xx,yy,zz])

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erwincoumans
2017-12-20 16:56:31 -08:00
parent eb35cba740
commit 41f9bb89e5
6 changed files with 64 additions and 7 deletions
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15
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2092,6 +2092,21 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle comman
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_changeDynamicsInfoArgs.m_localInertiaDiagonal[0] = localInertiaDiagonal[0];
command->m_changeDynamicsInfoArgs.m_localInertiaDiagonal[1] = localInertiaDiagonal[1];
command->m_changeDynamicsInfoArgs.m_localInertiaDiagonal[2] = localInertiaDiagonal[2];
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL;
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;