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[pybullet] getNumConstraints, getConstraintInfo APIs.

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[pybullet] updated pybullet_quickstartguide.pdf
Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal.
pybullet getConstraintInfo
Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
This commit is contained in:
Erwin Coumans
2017-01-22 19:08:31 -08:00
parent f237c4440f
commit cf9f022d39
17 changed files with 841 additions and 200 deletions
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25
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1045,6 +1045,31 @@ int b3GetNumBodies(b3PhysicsClientHandle physClient)
return cl->getNumBodies();
}
int b3GetNumUserConstraints(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
return cl->getNumUserConstraints();
}
int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniqueId, struct b3UserConstraint* infoPtr)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3UserConstraint constraintInfo1;
b3Assert(physClient);
b3Assert(infoPtr);
b3Assert(constraintUniqueId>=0);
if (infoPtr==0)
return 0;
if (cl->getUserConstraintInfo(constraintUniqueId, constraintInfo1))
{
*infoPtr = constraintInfo1;
return 1;
}
return 0;
}
/// return the body unique id, given the index in range [0 , b3GetNumBodies() )
int b3GetBodyUniqueId(b3PhysicsClientHandle physClient, int serialIndex)
{