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add PyBullet.rotateVector method

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add missing walk humanoid3d_walk.txt
This commit is contained in:
Erwin Coumans
2018-11-19 10:10:33 -08:00
parent 8c0b4d9e12
commit bded2968ea
4 changed files with 108 additions and 0 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -5266,6 +5266,16 @@ B3_SHARED_API void b3QuaternionSlerp(const double startQuat[/*4*/], const double
outOrn[3] = result[3];
}
B3_SHARED_API void b3RotateVector(const double quat[/*4*/], const double vec[/*3*/], double vecOut[/*3*/])
{
b3Quaternion q(quat[0], quat[1], quat[2], quat[3]);
b3Vector3 v = b3MakeVector3(vec[0], vec[1], vec[2]);
b3Vector3 vout = b3QuatRotate(q, v);
vecOut[0] = vout[0];
vecOut[1] = vout[1];
vecOut[2] = vout[2];
}
B3_SHARED_API void b3CalculateVelocityQuaternion(const double startQuat[/*4*/], const double endQuat[/*4*/], double deltaTime, double angVelOut[/*3*/])
{
b3Quaternion start(startQuat[0], startQuat[1], startQuat[2], startQuat[3]);