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

2017-12-20 16:56:31 -08:00
parent eb35cba740
commit 41f9bb89e5
6 changed files with 64 additions and 7 deletions
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -151,6 +151,7 @@ enum EnumChangeDynamicsInfoFlags
 	CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING=128,
 	CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING=256,
 	CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512,
+	CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL = 1024,

 };

@@ -168,6 +169,7 @@ struct ChangeDynamicsInfoArgs
 	double m_angularDamping;
 	double m_contactStiffness;
 	double m_contactDamping;
+	double m_localInertiaDiagonal[3];
 	int m_frictionAnchor;
 };