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expose gear erp/relative position target to C-API/pybullet

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finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
This commit is contained in:
erwincoumans
2017-09-26 19:54:36 -07:00
parent b1f8eb74a4
commit 8a265b8af2
12 changed files with 301 additions and 31 deletions
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25
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2131,6 +2131,31 @@ B3_SHARED_API int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommand
return 0;
}
B3_SHARED_API int b3InitChangeUserConstraintSetRelativePositionTarget(b3SharedMemoryCommandHandle commandHandle, double relativePositionTarget)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_CONSTRAINT);
b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
command->m_updateFlags |=USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET;
command->m_userConstraintArguments.m_relativePositionTarget = relativePositionTarget;
return 0;
}
B3_SHARED_API int b3InitChangeUserConstraintSetERP(b3SharedMemoryCommandHandle commandHandle, double erp)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_CONSTRAINT);
b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
command->m_updateFlags |=USER_CONSTRAINT_CHANGE_ERP;
command->m_userConstraintArguments.m_erp = erp;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{