Preliminary version of pybullet.createMultiBody including links connected to parent by a joint.

See createMultiBodyLinks.py example.
2017-06-19 13:15:05 -07:00
parent f3c11b6f31
commit 7441515c0e
6 changed files with 181 additions and 25 deletions
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -348,6 +348,8 @@ int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double link
 									double linkVisualShapeIndex, 
 									double linkPosition[3], 
 									double linkOrientation[4],
+									double linkInertialFramePosition[3],
+									double linkInertialFrameOrientation[4],
 									int linkParentIndex,
 									int linkJointType,
 									double linkJointAxis[3]);