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pybullet.getAABB and getAPIVersion

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fix btMultiBody::getLinkCollider
bump up Bullet C-API version
This commit is contained in:
Erwin Coumans
2017-06-15 19:46:27 -07:00
parent c903bd8a49
commit bb8cfe3c9a
7 changed files with 200 additions and 4 deletions
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5
examples/SharedMemory/SharedMemoryCommands.h
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@@ -427,10 +427,13 @@ struct RequestActualStateArgs
struct SendActualStateArgs
{
int m_bodyUniqueId;
int m_numLinks;
int m_numDegreeOfFreedomQ;
int m_numDegreeOfFreedomU;
double m_rootLocalInertialFrame[7];
double m_rootWorldAABBMin[3];
double m_rootWorldAABBMax[3];
//actual state is only written by the server, read-only access by client is expected
double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
@@ -444,6 +447,8 @@ struct SendActualStateArgs
double m_linkState[7*MAX_NUM_LINKS];
double m_linkWorldVelocities[6*MAX_NUM_LINKS];//linear velocity and angular velocity in world space (x/y/z each).
double m_linkLocalInertialFrames[7*MAX_NUM_LINKS];
double m_linkWorldAABBsMin[3*MAX_NUM_LINKS];
double m_linkWorldAABBsMax[3*MAX_NUM_LINKS];
};
enum EnumSensorTypes