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

Add the API to get the body name and pybullet example call.

Browse Source
This commit is contained in:
yunfeibai
2017-03-23 13:54:44 -07:00
parent 50f0cfca9e
commit d717b1db84
10 changed files with 146 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -57,6 +57,9 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
const double* actualStateQdot[],
const double* jointReactionForces[]);
int b3GetBodyName(b3SharedMemoryStatusHandle statusHandle,
struct b3BodyInfo* info);
///If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc.
b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsClientHandle physClient);
@@ -308,6 +311,8 @@ int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle c
///b3CreateSensorEnableIMUForLink is not implemented yet.
///For now, if the IMU is located in the root link, use the root world transform to mimic an IMU.
int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
b3SharedMemoryCommandHandle b3RequestBodyNameCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);