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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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30
examples/SharedMemory/SharedMemoryCommands.h
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@@ -432,6 +432,8 @@ struct SdfLoadedArgs
{
int m_numBodies;
int m_bodyUniqueIds[MAX_SDF_BODIES];
int m_numUserConstraints;
int m_userConstraintUniqueIds[MAX_SDF_BODIES];
///@todo(erwincoumans) load cameras, lights etc
//int m_numCameras;
@@ -541,27 +543,13 @@ enum EnumUserConstraintFlags
USER_CONSTRAINT_CHANGE_PIVOT_IN_B=8,
USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B=16,
USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
USER_CONSTRAINT_REQUEST_INFO=64,
};
struct UserConstraintArgs
{
int m_parentBodyIndex;
int m_parentJointIndex;
int m_childBodyIndex;
int m_childJointIndex;
double m_parentFrame[7];
double m_childFrame[7];
double m_jointAxis[3];
int m_jointType;
double m_maxAppliedForce;
int m_userConstraintUniqueId;
};
struct UserConstraintResultArgs
{
int m_userConstraintUniqueId;
};
enum EnumUserDebugDrawFlags
{
@@ -659,7 +647,7 @@ struct SharedMemoryCommand
struct ExternalForceArgs m_externalForceArguments;
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
struct CalculateJacobianArgs m_calculateJacobianArguments;
struct UserConstraintArgs m_userConstraintArguments;
struct b3UserConstraint m_userConstraintArguments;
struct RequestContactDataArgs m_requestContactPointArguments;
struct RequestOverlappingObjectsArgs m_requestOverlappingObjectsArgs;
struct RequestVisualShapeDataArgs m_requestVisualShapeDataArguments;
@@ -708,6 +696,10 @@ struct SharedMemoryStatus
int m_numDataStreamBytes;
char* m_dataStream;
//m_updateFlags is a bit fields to tell which parameters were updated,
//m_updateFlags is ignored for most status messages
int m_updateFlags;
union
{
struct BulletDataStreamArgs m_dataStreamArguments;
@@ -723,7 +715,7 @@ struct SharedMemoryStatus
struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;
struct SendVisualShapeDataArgs m_sendVisualShapeArgs;
struct UserDebugDrawResultArgs m_userDebugDrawArgs;
struct UserConstraintResultArgs m_userConstraintResultArgs;
struct b3UserConstraint m_userConstraintResultArgs;
struct SendVREvents m_sendVREvents;
struct SendRaycastHits m_raycastHits;
};