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enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies.

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See examples\pybullet\examples\mimicJointConstraint.py
This commit is contained in:
Erwin Coumans
2017-06-07 13:44:34 -07:00
parent d08f3e5f91
commit 60e3887456
7 changed files with 94 additions and 8 deletions
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11
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1704,7 +1704,18 @@ int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHan
return 0;
}
int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_CONSTRAINT);
b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
command->m_updateFlags |=USER_CONSTRAINT_CHANGE_GEAR_RATIO;
command->m_userConstraintArguments.m_gearRatio = gearRatio;
return 0;
}
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{