Merge remote-tracking branch 'bp/master'

2016-11-04 13:16:55 -07:00
parent e35129ceaf a49d2b289e
commit ff2738db26
14 changed files with 817 additions and 20 deletions
--- a/examples/RoboticsLearning/b3RobotSimAPI.cpp
+++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp
@@ -1003,8 +1003,11 @@ void b3RobotSimAPI::getLinkState(int bodyUniqueId, int linkIndex, double* worldP
    }
 }

-void b3RobotSimAPI::loadBunny()
+void b3RobotSimAPI::loadBunny(double scale, double mass, double collisionMargin)
 {
    b3SharedMemoryCommandHandle command = b3LoadBunnyCommandInit(m_data->m_physicsClient);
+    b3LoadBunnySetScale(command, scale);
+    b3LoadBunnySetMass(command, mass);
+    b3LoadBunnySetCollisionMargin(command, collisionMargin);
    b3SubmitClientCommand(m_data->m_physicsClient, command);
-}
+}