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bump up shared memory version number

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add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
This commit is contained in:
erwincoumans
2017-09-26 10:05:17 -07:00
parent 270a036cd7
commit b1f8eb74a4
7 changed files with 71 additions and 5 deletions
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12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -649,6 +649,18 @@ B3_SHARED_API int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryC
return 0;
}
B3_SHARED_API int b3RequestActualStateCommandComputeForwardKinematics(b3SharedMemoryCommandHandle commandHandle, int computeForwardKinematics)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
btAssert(command->m_type == CMD_REQUEST_ACTUAL_STATE);
if (computeForwardKinematics && command->m_type == CMD_REQUEST_ACTUAL_STATE)
{
command->m_updateFlags |= ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS;
}
return 0;
}
B3_SHARED_API int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, b3JointSensorState *state)
{