Merge pull request #1393 from YunfeiBai/master

Expose IK solver options: DLS and SDLS.
2017-10-20 13:22:56 -07:00
parent 723c206d0f b67bccc575
commit 28ea41bfe6
12 changed files with 263 additions and 20 deletions
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -633,15 +633,6 @@ struct CalculateMassMatrixResultArgs
 	int m_dofCount;
 };

-enum EnumCalculateInverseKinematicsFlags
-{
-    IK_HAS_TARGET_POSITION=1,
-	IK_HAS_TARGET_ORIENTATION=2,
-    IK_HAS_NULL_SPACE_VELOCITY=4,
-    IK_HAS_JOINT_DAMPING=8,
-    //IK_HAS_CURRENT_JOINT_POSITIONS=16,//not used yet
-};
-
 struct CalculateInverseKinematicsArgs
 {
 	int m_bodyUniqueId;