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add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF.

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This commit is contained in:
erwin coumans
2016-11-11 18:07:42 -08:00
parent b150edf76b
commit 7577c6d893
11 changed files with 512 additions and 17 deletions
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6
examples/SharedMemory/PhysicsClientC_API.h
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@@ -143,6 +143,11 @@ int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHand
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
b3SharedMemoryCommandHandle b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
b3SharedMemoryCommandHandle b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
@@ -243,6 +248,7 @@ b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandl
void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flags);
void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags);
///experiments of robots interacting with non-rigid objects (such as btSoftBody)
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient);
int b3LoadBunnySetScale(b3SharedMemoryCommandHandle commandHandle, double scale);
int b3LoadBunnySetMass(b3SharedMemoryCommandHandle commandHandle, double mass);