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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/SharedMemoryCommands.h
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@@ -164,6 +164,7 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS = 2048,
CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD = 4096,
CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE = 8192,
CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING = 16384,
};
struct ChangeDynamicsInfoArgs
@@ -185,6 +186,7 @@ struct ChangeDynamicsInfoArgs
double m_ccdSweptSphereRadius;
double m_contactProcessingThreshold;
int m_activationState;
double m_jointDamping;
};
struct GetDynamicsInfoArgs