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Merge pull request #1350 from bingjeff/add_mass_matrix

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[pybullet] Add calculateMassMatrix.
This commit is contained in:
erwincoumans
2017-10-05 07:45:30 -07:00
committed by GitHub
parent 3821f85019 e04820af73
commit a2d6a2e822
8 changed files with 232 additions and 9 deletions
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14
examples/SharedMemory/SharedMemoryCommands.h
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@@ -641,6 +641,18 @@ struct CalculateJacobianResultArgs
double m_angularJacobian[3*MAX_DEGREE_OF_FREEDOM];
};
struct CalculateMassMatrixArgs
{
int m_bodyUniqueId;
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateMassMatrixResultArgs
{
int m_dofCount;
double m_massMatrix[MAX_DEGREE_OF_FREEDOM * MAX_DEGREE_OF_FREEDOM];
};
enum EnumCalculateInverseKinematicsFlags
{
IK_HAS_TARGET_POSITION=1,
@@ -972,6 +984,7 @@ struct SharedMemoryCommand
struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
struct CalculateJacobianArgs m_calculateJacobianArguments;
struct CalculateMassMatrixArgs m_calculateMassMatrixArguments;
struct b3UserConstraint m_userConstraintArguments;
struct RequestContactDataArgs m_requestContactPointArguments;
struct RequestOverlappingObjectsArgs m_requestOverlappingObjectsArgs;
@@ -1046,6 +1059,7 @@ struct SharedMemoryStatus
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
struct CalculateJacobianResultArgs m_jacobianResultArgs;
struct CalculateMassMatrixResultArgs m_massMatrixResultArgs;
struct SendContactDataArgs m_sendContactPointArgs;
struct SendOverlappingObjectsArgs m_sendOverlappingObjectsArgs;
struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;