changeDynamics()

bool changeDynamics	(	int	bodyUniqueId,
		int	linkIndex,
		RobotSimulatorChangeDynamicsArgs &	args
	)

Modifies the dynamic properties of a link.

This is a variant of b3RobotSimulatorClientAPI::changeDynamics that allows updating inertia matrices as well. Its usage is identical to the original.

Parameters

[in]	bodyUniqueId	The body which links will be modified
[in]	linkIndex	The link id
[in]	args	Structure which contains the values to modify

Returns

True if changes were applied successfully, false if there was an issue.