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also add baseInertialFramePositionObj and baseInertialFrameOrientationObj to pybullet.createMultiBody

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updated createMultiBodyLinks.py example.
This commit is contained in:
Erwin Coumans
2017-06-19 17:13:20 -07:00
parent 7441515c0e
commit 61f27a5c72
4 changed files with 31 additions and 31 deletions
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24
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -951,8 +951,7 @@ b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle p
return 0;
}
int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4])
int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4] , double baseInertialFramePosition[3], double baseInertialFrameOrientation[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@@ -975,19 +974,18 @@ int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass
command->m_createMultiBodyArgs.m_linkOrientations[baseLinkIndex*4+2]=baseOrientation[2];
command->m_createMultiBodyArgs.m_linkOrientations[baseLinkIndex*4+3]=baseOrientation[3];
command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+0] = mass;
command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+1] = mass;
command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+2] = mass;
command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+0] = 0;//unused, is computed automatically. Will add a method to explicitly set it (with a flag), similar to loadURDF etc.
command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+1] = 0;
command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+2] = 0;
command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+0] = baseInertialFramePosition[0];
command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+1] = baseInertialFramePosition[1];
command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+2] = baseInertialFramePosition[2];
command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+0] = 0;
command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+1] = 0;
command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+2] = 0;
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+0] = 0;
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+1] = 0;
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+2] = 0;
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+3] = 1;
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+0] = baseInertialFrameOrientation[0];
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+1] = baseInertialFrameOrientation[1];
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+2] = baseInertialFrameOrientation[2];
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+3] = baseInertialFrameOrientation[3];
command->m_createMultiBodyArgs.m_linkCollisionShapeUniqueIds[baseLinkIndex]= collisionShapeUnique;
command->m_createMultiBodyArgs.m_linkVisualShapeUniqueIds[baseLinkIndex] = visualShapeUniqueId;