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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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4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -102,7 +102,9 @@ b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHa
int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[3]);
int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio);
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
int b3GetNumUserConstraints(b3PhysicsClientHandle physClient);