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add pybullet.changeConstraint / b3InitChangeUserConstraintCommand/ b3InitChangeUserConstraintSetPivotInB /b3InitChangeUserConstraintSetFrameInB command, to change an existing user constraint.

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add constraint.py example.
allow pybullet.createConstraint to create user constraint without a child body ('fixed' to the world)
This commit is contained in:
Erwin Coumans
2017-01-12 10:30:46 -08:00
parent 1c79798583
commit 9aa5a839d5
10 changed files with 186 additions and 14 deletions
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46
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1064,6 +1064,52 @@ b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHan
return (b3SharedMemoryCommandHandle)command;
}
b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_USER_CONSTRAINT;
command->m_updateFlags = USER_CONSTRAINT_CHANGE_CONSTRAINT;
command->m_userConstraintArguments.m_userConstraintUniqueId = userConstraintUniqueId;
return (b3SharedMemoryCommandHandle)command;
}
int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double pivotInB[3])
{
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_PIVOT_IN_B;
command->m_userConstraintArguments.m_childFrame[0] = pivotInB[0];
command->m_userConstraintArguments.m_childFrame[1] = pivotInB[1];
command->m_userConstraintArguments.m_childFrame[2] = pivotInB[2];
return 0;
}
int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double frameOrnInB[4])
{
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_FRAME_ORN_IN_B;
command->m_userConstraintArguments.m_childFrame[3] = frameOrnInB[0];
command->m_userConstraintArguments.m_childFrame[4] = frameOrnInB[1];
command->m_userConstraintArguments.m_childFrame[5] = frameOrnInB[2];
command->m_userConstraintArguments.m_childFrame[6] = frameOrnInB[3];
return 0;
}
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;