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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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erwincoumans
2017-10-25 08:15:14 -07:00
parent ed8de36ffa c1ba04a580
commit 7524e37124
30 changed files with 759 additions and 74 deletions
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6
examples/SharedMemory/PhysicsClientC_API.h
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@@ -143,6 +143,11 @@ B3_SHARED_API int b3InitChangeUserConstraintSetERP(b3SharedMemoryCommandHandle c
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
B3_SHARED_API int b3GetNumUserConstraints(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitGetUserConstraintStateCommand(b3PhysicsClientHandle physClient, int constraintUniqueId);
B3_SHARED_API int b3GetStatusUserConstraintState(b3SharedMemoryStatusHandle statusHandle, struct b3UserConstraintState* constraintState);
B3_SHARED_API int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniqueId, struct b3UserConstraint* info);
/// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
B3_SHARED_API int b3GetUserConstraintId(b3PhysicsClientHandle physClient, int serialIndex);
@@ -335,6 +340,7 @@ B3_SHARED_API void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(
B3_SHARED_API void b3CalculateInverseKinematicsPosWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[/*3*/], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
B3_SHARED_API void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHandle commandHandle, int numDof, int endEffectorLinkIndex, const double targetPosition[/*3*/], const double targetOrientation[/*4*/], const double* lowerLimit, const double* upperLimit, const double* jointRange, const double* restPose);
B3_SHARED_API void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCommandHandle commandHandle, int numDof, const double* jointDampingCoeff);
B3_SHARED_API void b3CalculateInverseKinematicsSelectSolver(b3SharedMemoryCommandHandle commandHandle, int solver);
B3_SHARED_API int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,