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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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examples/SharedMemory/PhysicsClientC_API.h
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@@ -471,6 +471,7 @@ int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle commandHandle, int l
int b3StateLoggingSetBodyAUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyAUniqueId);
int b3StateLoggingSetBodyBUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyBUniqueId);
int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);
int b3StateLoggingSetLogFlags(b3SharedMemoryCommandHandle commandHandle, int logFlags);
int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle);
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId);