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allow to use the useMultiBody argument for loadMJCF command

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note that for dynamic and static objects (without joints) it is best to set useMultiBody=False
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erwin coumans
2021-04-19 20:37:26 -07:00
parent 910c20334f
commit 84a63cf221
3 changed files with 22 additions and 3 deletions
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2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -415,6 +415,8 @@ 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,