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PyBullet.changeDynamics: expose jointDamping

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PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
This commit is contained in:
erwincoumans
2019-02-04 21:06:43 -08:00
parent 2eace2f715
commit 42369aa47d
10 changed files with 1019 additions and 253 deletions
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2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -155,6 +155,8 @@ extern "C"
B3_SHARED_API int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double restitution);
B3_SHARED_API int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double linearDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double angularDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetJointDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double contactStiffness, double contactDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, int frictionAnchor);
B3_SHARED_API int b3ChangeDynamicsInfoSetCcdSweptSphereRadius(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double ccdSweptSphereRadius);