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expose PyBullet.setPhysicsEngineParameter(jointFeedbackMode)

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use p.JOINT_FEEDBACK_IN_JOINT_FRAME if you want the joint feedback expressed in joint frame (instead of link inertial frame)
use p.JOINT_FEEDBACK_IN_WORLD_SPACE if you want the joint feedback in world space coordinates, instead of local link/joint coordinates.
Example: p.setPhysicsEngineParameter(jointFeedbackMode=p.JOINT_FEEDBACK_IN_WORLD_SPACE+p.JOINT_FEEDBACK_IN_JOINT_FRAME)
This commit is contained in:
erwincoumans
2018-05-11 19:52:06 -07:00
parent 1ec24a0853
commit e5a9b42f9a
6 changed files with 42 additions and 5 deletions
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2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -296,6 +296,8 @@ B3_SHARED_API int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCo
B3_SHARED_API int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandle commandHandle, int enableConeFriction);
B3_SHARED_API int b3PhysicsParameterSetDeterministicOverlappingPairs(b3SharedMemoryCommandHandle commandHandle, int deterministicOverlappingPairs);
B3_SHARED_API int b3PhysicsParameterSetAllowedCcdPenetration(b3SharedMemoryCommandHandle commandHandle, double allowedCcdPenetration);
B3_SHARED_API int b3PhysicsParameterSetJointFeedbackMode(b3SharedMemoryCommandHandle commandHandle, int jointFeedbackMode);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient);