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prepare for joint/torque feedback. First for btRigidBody, then btMultiBody.

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erwin coumans
2015-06-09 18:13:05 -07:00
parent 2c3db1c631
commit 2d79dda032
3 changed files with 52 additions and 4 deletions
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3
examples/SharedMemory/PhysicsClient.cpp
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@@ -225,6 +225,9 @@ void PhysicsClient::stepSimulation(float deltaTime)
{
m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useFixedBase = false;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useMultiBody = true;
m_testBlock1->m_numClientCommands++;
b3Printf("Client created CMD_LOAD_URDF");
m_waitingForServer = true;