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enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp)

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add pdControl.py example, make pdControlPlugin functional
reduce memory usage
fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
This commit is contained in:
erwincoumans
2018-06-05 15:59:01 -07:00
parent 49eb83c24e
commit b6f5cb4c34
23 changed files with 286 additions and 179 deletions
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4
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -419,7 +419,8 @@ public:
b3RobotSimulatorClientAPI_NoDirect();
virtual ~b3RobotSimulatorClientAPI_NoDirect();
bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
//No 'connect', use setInternalData to bypass the connect method, pass an existing client
virtual void setInternalData(struct b3RobotSimulatorClientAPI_InternalData* data);
void disconnect();
@@ -580,7 +581,6 @@ public:
bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo);
virtual void setInternalData(struct b3RobotSimulatorClientAPI_InternalData* data);
};