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Merge pull request #3351 from erwincoumans/master

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PyBullet: expose useMultiBody argument for loadMJCF command, expose sleeping threshold
This commit is contained in:
erwincoumans
2021-04-20 14:42:42 -07:00
committed by GitHub
parent f774a102ee e58e5bdf95
commit 201e7159d6
9 changed files with 144 additions and 10 deletions
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23
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -260,6 +260,17 @@ B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle command
}
}
B3_SHARED_API void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_MJCF);
if (command->m_type == CMD_LOAD_MJCF)
{
command->m_updateFlags |= URDF_ARGS_USE_MULTIBODY;
command->m_mjcfArguments.m_useMultiBody = useMultiBody;
}
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient, const char* fileName)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -3296,6 +3307,18 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHa
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetSleepThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double sleepThreshold)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_sleepThreshold = sleepThreshold;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD;
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, int dynamicType)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;