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fix some issues related to controlling a robot/multibody beyond body index 0

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(most testing happened with a single robot/multibody so far)
preliminary pybullet.setJointControl implementation
This commit is contained in:
Erwin Coumans
2016-06-16 18:46:34 -07:00
parent 3f5f8d3e00
commit 53a0772257
7 changed files with 248 additions and 70 deletions
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8
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -150,7 +150,7 @@ b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHand
}
b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int controlMode)
b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
@@ -159,7 +159,7 @@ b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle phy
b3Assert(command);
command->m_type = CMD_SEND_DESIRED_STATE;
command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = 0;
command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = bodyUniqueId;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
@@ -433,7 +433,7 @@ int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3Shar
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient)
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
@@ -444,7 +444,7 @@ b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle phys
command->m_type = CMD_CREATE_SENSOR;
command->m_updateFlags = 0;
command->m_createSensorArguments.m_numJointSensorChanges = 0;
command->m_createSensorArguments.m_bodyUniqueId = 0;
command->m_createSensorArguments.m_bodyUniqueId = bodyUniqueId;
return (b3SharedMemoryCommandHandle) command;
}