Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

[pybullet] getNumConstraints, getConstraintInfo APIs.

Browse Source 
[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
Download Patch File Download Diff File Expand all files Collapse all files

19
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -112,6 +112,11 @@ enum EnumSharedMemoryServerStatus
CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED,
CMD_USER_DEBUG_DRAW_FAILED,
CMD_USER_CONSTRAINT_COMPLETED,
CMD_USER_CONSTRAINT_INFO_COMPLETED,
CMD_REMOVE_USER_CONSTRAINT_COMPLETED,
CMD_CHANGE_USER_CONSTRAINT_COMPLETED,
CMD_REMOVE_USER_CONSTRAINT_FAILED,
CMD_CHANGE_USER_CONSTRAINT_FAILED,
CMD_USER_CONSTRAINT_FAILED,
CMD_REQUEST_VR_EVENTS_DATA_COMPLETED,
CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED,
@@ -164,6 +169,20 @@ struct b3JointInfo
double m_jointAxis[3]; // joint axis in parent local frame
};
struct b3UserConstraint
{
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 b3BodyInfo
{
const char* m_baseName;