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Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit.

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Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and
b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage.
Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option
Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc])
Thanks to Jeff Bingham for the suggestion.
This commit is contained in:
erwin coumans
2016-08-09 18:40:12 -07:00
parent b880ddf76b
commit a9b1544a9f
15 changed files with 575 additions and 118 deletions
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10
examples/SharedMemory/PhysicsClientC_API.h
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@@ -97,6 +97,16 @@ int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHand
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations);
int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointForces);
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead