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fix InverseKinematics+API for a case without tree (custom build Jacobian)

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This commit is contained in:
erwin coumans
2016-09-22 13:27:09 -07:00
parent 46b32f17bb
commit 310a330572
12 changed files with 251 additions and 211 deletions
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15
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -480,12 +480,25 @@ int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle status
*/
bool b3RobotSimAPI::calculateInverseKinematics(const struct b3RobotSimInverseKinematicArgs& args, struct b3RobotSimInverseKinematicsResults& results)
{
btAssert(args.m_endEffectorLinkIndex>=0);
btAssert(args.m_bodyUniqueId>=0);
b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClient,args.m_bodyUniqueId, args.m_endEffectorTargetPosition,args.m_endEffectorTargetOrientation,args.m_dt);
b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClient,args.m_bodyUniqueId);
if (args.m_flags & B3_HAS_IK_TARGET_ORIENTATION)
{
b3CalculateInverseKinematicsAddTargetPositionWithOrientation(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition,args.m_endEffectorTargetOrientation);
} else
{
b3CalculateInverseKinematicsAddTargetPurePosition(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition);
}
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
int numPos=0;
bool result = b3GetStatusInverseKinematicsJointPositions(statusHandle,