Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix b3RobotSimulatorClientAPI_NoDirect::changeConstraint API

Browse Source
This commit is contained in:
Erwin Coumans
2020-01-09 17:56:21 -08:00
parent 5cd4647943
commit 8ebdf7862c
4 changed files with 136 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

29
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
View File

@@ -620,7 +620,7 @@ int b3RobotSimulatorClientAPI_NoDirect::createConstraint(int parentBodyIndex, in
return -1;
}
int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3JointInfo* jointInfo)
int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3RobotUserConstraint* jointInfo)
{
if (!isConnected())
{
@@ -629,16 +629,35 @@ int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3Joi
}
b3SharedMemoryCommandHandle commandHandle = b3InitChangeUserConstraintCommand(m_data->m_physicsClientHandle, constraintId);
if (jointInfo->m_flags & eJointChangeMaxForce)
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_jointMaxForce);
b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_maxAppliedForce);
}
if (jointInfo->m_flags & eJointChangeChildFramePosition)
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
{
b3InitChangeUserConstraintSetGearRatio(commandHandle, jointInfo->m_gearRatio);
}
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_ERP)
{
b3InitChangeUserConstraintSetERP(commandHandle, jointInfo->m_erp);
}
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
{
b3InitChangeUserConstraintSetGearAuxLink(commandHandle, jointInfo->m_gearAuxLink);
}
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET)
{
b3InitChangeUserConstraintSetRelativePositionTarget(commandHandle, jointInfo->m_relativePositionTarget);
}
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_PIVOT_IN_B)
{
b3InitChangeUserConstraintSetPivotInB(commandHandle, &jointInfo->m_childFrame[0]);
}
if (jointInfo->m_flags & eJointChangeChildFrameOrientation)
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B)
{
b3InitChangeUserConstraintSetFrameInB(commandHandle, &jointInfo->m_childFrame[3]);
}