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add pybullet.multiplyTransforms and pybullet.invertTransform

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use btAssert instead of assert (glGetError is really slow)
shift default light-position a little bit, to make faces different color
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erwincoumans
2017-05-29 21:55:58 -07:00
parent 5436b8f048
commit 4e03c36fa6
7 changed files with 218 additions and 53 deletions
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examples/SharedMemory/PhysicsClientC_API.h
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@@ -416,6 +416,8 @@ void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryCommandHandle comma
void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds);
double b3GetTimeOut(b3PhysicsClientHandle physClient);
void b3MultiplyTransforms(const double posA[3], const double ornA[4], const double posB[3], const double ornB[4], double outPos[3], double outOrn[4]);
void b3InvertTransform(const double pos[3], const double orn[4], double outPos[3], double outOrn[4]);
#ifdef __cplusplus
}