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expose computeDofCount to pybullet

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expose computeDofCount and calculateMassMatrix to BulletRobotics C++ API
(all untested)
This commit is contained in:
Erwin Coumans
2020-02-14 19:58:32 -08:00
parent 56e6893ed9
commit 0617f4f3cd
3 changed files with 78 additions and 1 deletions
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4
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -783,8 +783,12 @@ public:
void setNumSolverIterations(int numIterations);
void setContactBreakingThreshold(double threshold);
int computeDofCount(int bodyUniqueId) const;
bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs &args, struct b3RobotSimulatorInverseKinematicsResults &results);
int calculateMassMatrix(int bodyUniqueId, const double* jointPositions, int numJointPositions, double* massMatrix, int flags);
bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double *localPosition, const double *jointPositions, const double *jointVelocities, const double *jointAccelerations, double *linearJacobian, double *angularJacobian);
void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);