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

expose local inertia diagonal in C-API, PyBullet, through the 'getDynamicsInfo'

Browse Source 
render the inertia boxes in examples/pybullet/examples/quadruped.py and examples/pybullet/examples/reset_dynamic_info.py
fix an issue where the original margin (0.04) was used to compute the inertia, instead of latest margin
This commit is contained in:
erwincoumans
2017-12-20 14:54:32 -08:00
parent ecba966890
commit eb35cba740
7 changed files with 150 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -2052,11 +2052,15 @@ B3_SHARED_API int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, str
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
const b3DynamicsInfo &dynamicsInfo = status->m_dynamicsInfo;
btAssert(status->m_type == CMD_GET_DYNAMICS_INFO);
btAssert(status->m_type == CMD_GET_DYNAMICS_INFO_COMPLETED);
if (status->m_type != CMD_GET_DYNAMICS_INFO_COMPLETED)
return false;
info->m_mass = dynamicsInfo.m_mass;
info->m_localInertialDiagonal[0] = dynamicsInfo.m_localInertialDiagonal[0];
info->m_localInertialDiagonal[1] = dynamicsInfo.m_localInertialDiagonal[1];
info->m_localInertialDiagonal[2] = dynamicsInfo.m_localInertialDiagonal[2];
info->m_lateralFrictionCoeff = dynamicsInfo.m_lateralFrictionCoeff;
return true;
}