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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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11
examples/SharedMemory/PhysicsLoopBack.cpp
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@@ -99,7 +99,16 @@ bool PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3Joint
return m_data->m_physicsClient->getJointInfo(bodyIndex,jointIndex,info);
}
///todo: move this out of the
int PhysicsLoopBack::getNumUserConstraints() const
{
return m_data->m_physicsClient->getNumUserConstraints();
}
int PhysicsLoopBack::getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint&info) const
{
return m_data->m_physicsClient->getUserConstraintInfo( constraintUniqueId, info);
}
///todo: move this out of the interface
void PhysicsLoopBack::setSharedMemoryKey(int key)
{
m_data->m_physicsServer->setSharedMemoryKey(key);