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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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23
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -730,6 +730,29 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
return cl->getJointInfo(bodyIndex, jointIndex, *info);
}
b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const b3JointInfo* info)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CREATE_JOINT;
command->m_createJointArguments.m_parentBodyIndex = parentBodyIndex;
command->m_createJointArguments.m_parentJointIndex = parentJointIndex;
command->m_createJointArguments.m_childBodyIndex = childBodyIndex;
command->m_createJointArguments.m_childJointIndex = childJointIndex;
for (int i = 0; i < 7; ++i) {
command->m_createJointArguments.m_parentFrame[i] = info->m_parentFrame[i];
command->m_createJointArguments.m_childFrame[i] = info->m_childFrame[i];
}
for (int i = 0; i < 3; ++i) {
command->m_createJointArguments.m_jointAxis[i] = info->m_jointAxis[i];
}
return (b3SharedMemoryCommandHandle)command;
}
b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ)