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expose b3LoadMJCFCommandSetFlags / pybullet.pybullet_loadMJCF(fileName,flags=pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)

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This commit is contained in:
Erwin Coumans
2017-05-10 15:01:25 -07:00
parent d54eab16e1
commit 53a82819a0
10 changed files with 89 additions and 16 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -160,6 +160,16 @@ b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClie
return 0;
}
void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_LOAD_MJCF);
if (command->m_type == CMD_LOAD_MJCF)
{
command->m_mjcfArguments.m_flags = flags;
command->m_updateFlags |= URDF_ARGS_HAS_CUSTOM_URDF_FLAGS;
}
}
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient)
{