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add quadruped.py script to load and initialize the a Minitaur-like quadruped

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pybullet removeConstraint, createConstraint
rename b3CreateJoint to b3InitCreateUserConstraintCommand
add int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
This commit is contained in:
erwin coumans
2016-11-14 14:08:05 -08:00
parent c521d816c6
commit c0fb98861d
9 changed files with 420 additions and 89 deletions
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18
examples/SharedMemory/SharedMemoryCommands.h
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@@ -488,7 +488,14 @@ struct CalculateInverseKinematicsResultArgs
double m_jointPositions[MAX_DEGREE_OF_FREEDOM];
};
struct CreateJointArgs
enum EnumUserConstraintFlags
{
USER_CONSTRAINT_ADD_CONSTRAINT=1,
USER_CONSTRAINT_REMOVE_CONSTRAINT=2,
USER_CONSTRAINT_CHANGE_CONSTRAINT=4
};
struct UserConstraintArgs
{
int m_parentBodyIndex;
int m_parentJointIndex;
@@ -498,9 +505,13 @@ struct CreateJointArgs
double m_childFrame[7];
double m_jointAxis[3];
int m_jointType;
int m_userConstraintUniqueId;
};
struct UserConstraintResultArgs
{
int m_userConstraintUniqueId;
};
enum EnumUserDebugDrawFlags
{
@@ -563,7 +574,7 @@ struct SharedMemoryCommand
struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
struct CalculateJacobianArgs m_calculateJacobianArguments;
struct CreateJointArgs m_createJointArguments;
struct UserConstraintArgs m_userConstraintArguments;
struct RequestContactDataArgs m_requestContactPointArguments;
struct RequestOverlappingObjectsArgs m_requestOverlappingObjectsArgs;
struct RequestVisualShapeDataArgs m_requestVisualShapeDataArguments;
@@ -620,6 +631,7 @@ struct SharedMemoryStatus
struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;
struct SendVisualShapeDataArgs m_sendVisualShapeArgs;
struct UserDebugDrawResultArgs m_userDebugDrawArgs;
struct UserConstraintResultArgs m_userConstraintResultArgs;
};
};