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pybullet: getDynamicsInfo report local inertia diagonal for useMaximalCoordinates

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erwin coumans
2021-04-20 20:20:55 -07:00
parent 9f91e6837a
commit a5761f2b10
1 changed files with 6 additions and 0 deletions
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6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -10376,6 +10376,12 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_bodyType = BT_RIGID_BODY;
btRigidBody* rb = body->m_rigidBody;
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = rb->getLocalInertia()[0];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = rb->getLocalInertia()[1];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = rb->getLocalInertia()[2];
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = rb->getFriction();
serverCmd.m_dynamicsInfo.m_rollingFrictionCoeff = rb->getRollingFriction();
serverCmd.m_dynamicsInfo.m_spinningFrictionCoeff = rb->getSpinningFriction();