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Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure.

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Add several MSVC optimization flags to cmake.
Bump up VERSION because serialization format changed
Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo.

pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity
fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
This commit is contained in:
Erwin Coumans
2017-03-26 13:06:46 -07:00
parent ed6530264f
commit 7503418c72
32 changed files with 1412 additions and 1026 deletions
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examples/SharedMemory/PhysicsClientC_API.h
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@@ -313,6 +313,8 @@ int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle c
int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle commandHandle, int computeLinkVelocity);
int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state);