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

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -74,6 +74,10 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[3]);
int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
///Request physics debug lines for debug visualization. The flags in debugMode are the same as used in Bullet