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Expose fixed constraint in RobotSimAPI.

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This commit is contained in:
yunfeibai
2016-08-22 18:14:29 -07:00
parent 8eccac6fd8
commit d46710e447
7 changed files with 94 additions and 3 deletions
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10
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -596,6 +596,16 @@ bool b3RobotSimAPI::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo*
return (b3GetJointInfo(m_data->m_physicsClient,bodyUniqueId, jointIndex,jointInfo)!=0);
}
void b3RobotSimAPI::createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const b3JointInfo* jointInfo)
{
b3SharedMemoryStatusHandle statusHandle;
b3Assert(b3CanSubmitCommand(m_data->m_physicsClient));
if (b3CanSubmitCommand(m_data->m_physicsClient))
{
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, b3CreateJoint(m_data->m_physicsClient, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo));
}
}
void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3JointMotorArgs& args)
{
b3SharedMemoryStatusHandle statusHandle;

2
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -87,6 +87,8 @@ public:
int getNumJoints(int bodyUniqueId) const;
bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
void createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const b3JointInfo* jointInfo);
void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3JointMotorArgs& args);