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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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10
examples/pybullet/pybullet.c
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@@ -3126,13 +3126,14 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
int bodyUniqueId = -1;
int linkIndex = -1;
int computeLinkVelocity = 0;
int computeForwardKinematics = 0;
int i;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "computeLinkVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ii", kwlist, &bodyUniqueId, &linkIndex,&computeLinkVelocity, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "computeLinkVelocity", "computeForwardKinematics", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iii", kwlist, &bodyUniqueId, &linkIndex,&computeLinkVelocity,&computeForwardKinematics,&physicsClientId))
{
return NULL;
}
@@ -3168,6 +3169,11 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
b3RequestActualStateCommandComputeLinkVelocity(cmd_handle,computeLinkVelocity);
}
if (computeForwardKinematics)
{
b3RequestActualStateCommandComputeForwardKinematics(cmd_handle,computeForwardKinematics);
}
status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);