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Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok!

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Visit http://www.snakerobots.com to see one of these in the wild
This commit is contained in:
erwincoumans
2019-03-07 21:13:00 -08:00
parent d7b54b0265
commit 9408e4f2d0
6 changed files with 169 additions and 3 deletions
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15
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2780,6 +2780,21 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle comman
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetAnisotropicFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double anisotropicFriction[])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_changeDynamicsInfoArgs.m_anisotropicFriction[0] = anisotropicFriction[0];
command->m_changeDynamicsInfoArgs.m_anisotropicFriction[1] = anisotropicFriction[1];
command->m_changeDynamicsInfoArgs.m_anisotropicFriction[2] = anisotropicFriction[2];
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION;
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double localInertiaDiagonal[])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;