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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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6
examples/SharedMemory/PhysicsDirect.h
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@@ -63,6 +63,10 @@ public:
virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
virtual int getNumUserConstraints() const;
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
///todo: move this out of the
virtual void setSharedMemoryKey(int key);
@@ -86,7 +90,7 @@ public:
virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
//those 2 APIs are for internal use for visualization
//the following APIs are for internal use for visualization:
virtual bool connect(struct GUIHelperInterface* guiHelper);
virtual void renderScene();
virtual void debugDraw(int debugDrawMode);