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Add API to reset mass.

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This commit is contained in:
yunfeibai
2017-05-01 22:18:54 -07:00
parent fbd1a4ec2c
commit 4da2c076a7
6 changed files with 123 additions and 0 deletions
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15
examples/SharedMemory/SharedMemoryCommands.h
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@@ -106,6 +106,20 @@ struct BulletDataStreamArgs
char m_bodyName[MAX_FILENAME_LENGTH];
};
enum EnumResetDynamicInfoFlags
{
RESET_DYNAMIC_INFO_SET_MASS=1,
RESET_DYNAMIC_INFO_SET_COM=2,
};
struct ResetDynamicInfoArgs
{
int m_bodyUniqueId;
int m_linkIndex;
double m_mass;
double m_COM[3];
};
struct SetJointFeedbackArgs
{
int m_bodyUniqueId;
@@ -702,6 +716,7 @@ struct SharedMemoryCommand
struct MjcfArgs m_mjcfArguments;
struct FileArgs m_fileArguments;
struct SdfRequestInfoArgs m_sdfRequestInfoArgs;
struct ResetDynamicInfoArgs m_resetDynamicInfoArgs;
struct InitPoseArgs m_initPoseArgs;
struct SendPhysicsSimulationParameters m_physSimParamArgs;
struct BulletDataStreamArgs m_dataStreamArguments;