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expose multibody link world transform in the shared memory API

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Erwin Coumans
2016-04-23 17:29:46 -07:00
parent 16cbc191bd
commit f99d1c45aa
5 changed files with 40 additions and 1 deletions
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examples/SharedMemory/PhysicsClientC_API.h
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@@ -130,6 +130,7 @@ int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, in
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
void b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state);
b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
double rayFromWorldY, double rayFromWorldZ,