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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/SharedMemoryPublic.h
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@@ -4,7 +4,8 @@
#define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201706001
#define SHARED_MEMORY_MAGIC_NUMBER 201706015
//#define SHARED_MEMORY_MAGIC_NUMBER 201706001
//#define SHARED_MEMORY_MAGIC_NUMBER 201703024
@@ -490,6 +491,8 @@ struct b3LinkState
double m_worldLinearVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
double m_worldAngularVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
double m_worldAABBMin[3];//world space bounding minium and maximum box corners.
double m_worldAABBMax[3];
};
//todo: discuss and decide about control mode and combinations