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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
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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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2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -148,7 +148,9 @@ extern "C"
B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double localInertiaDiagonal[]);
B3_SHARED_API int b3ChangeDynamicsInfoSetAnisotropicFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double anisotropicFriction[]);
B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
B3_SHARED_API int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
B3_SHARED_API int b3ChangeDynamicsInfoSetRollingFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);