Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-08-28 22:18:28 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #3351 from erwincoumans/master

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

5
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -156,7 +156,8 @@ extern "C"
B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimit(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointLowerLimit, double jointUpperLimit);
B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointLimitForce);
B3_SHARED_API int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, int dynamicType);
B3_SHARED_API int b3ChangeDynamicsInfoSetSleepThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double sleepThreshold);
B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
B3_SHARED_API int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
@@ -415,6 +416,8 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit2(b3SharedMemoryCommandHandle commandHandle, const char* fileName);
B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
B3_SHARED_API void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId,