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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
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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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examples/SharedMemory/PhysicsClientC_API.h
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@@ -439,6 +439,8 @@ B3_SHARED_API int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle com
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
B3_SHARED_API int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle commandHandle, int computeLinkVelocity);
B3_SHARED_API int b3RequestActualStateCommandComputeForwardKinematics(b3SharedMemoryCommandHandle commandHandle, int computeForwardKinematics);
B3_SHARED_API int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
B3_SHARED_API int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state);