Commit b31d80aa authored by Steve T's avatar Steve T
Browse files

updated addNewContact api

parent 2ecd7a4d
......@@ -86,8 +86,8 @@ def computeIntermediateState(sfrom, sto):
# \param p 3d position of the point
# \param n 3d normal of the contact location center
# \return (State, success) whether the creation was successful, as well as the new state
def addNewContact(state, limbName, p, n, num_max_sample=0, lockOtherJoints=False):
sId = state.cl.addNewContact(state.sId, limbName, p, n, num_max_sample, lockOtherJoints)
def addNewContact(state, limbName, p, n, num_max_sample=0, lockOtherJoints=False, rotation=[0 for _ in range (4)]):
sId = state.cl.addNewContact(state.sId, limbName, p, n, num_max_sample, lockOtherJoints, rotation)
if (sId != -1):
return State(state.fullBody, sId=sId), True
return state, False
......
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