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Allow to configure Y=up, default is Z=up, using pybullet.configureDebugVisualizer(COV_ENABLE_Y_AXIS_UP,0/1)

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Implement pybullet.getConnectionInfo, returns [isConnected, connectionMethod], where isConnected=0 or 1
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erwincoumans
2017-10-05 09:02:33 -07:00
parent f467f325f7
commit 9303891468
4 changed files with 55 additions and 8 deletions
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6
examples/SharedMemory/PhysicsClientC_API.h
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@@ -323,10 +323,8 @@ B3_SHARED_API int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle,
double* angularJacobian);
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateMassMatrixCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, const double* jointPositionsQ);
B3_SHARED_API int b3GetStatusMassMatrix(b3SharedMemoryStatusHandle statusHandle,
int* dofCount,
double* massMatrix);
///the mass matrix is stored in column-major layout of size dofCount*dofCount
B3_SHARED_API int b3GetStatusMassMatrix(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int* dofCount, double* massMatrix);
///compute the joint positions to move the end effector to a desired target using inverse kinematics