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add option to log joint torques (due to user applied torques and/or motor torques)

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See quadruped.py for an example:
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
Thanks to JulianYG, in pull request https://github.com/bulletphysics/bullet3/pull/1273
This commit is contained in:
erwincoumans
2017-08-30 19:41:15 -07:00
parent 8dfa76e924
commit ee30479a28
7 changed files with 105 additions and 19 deletions
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16
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3657,6 +3657,22 @@ int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle commandHandle, int ma
return 0;
}
int b3StateLoggingSetLogFlags(b3SharedMemoryCommandHandle commandHandle, int logFlags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_LOG_FLAGS;
command->m_stateLoggingArguments.m_logFlags = logFlags;
}
return 0;
}
int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;