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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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38
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1319,7 +1319,7 @@ int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJ
}
///compute the joint positions to move the end effector to a desired target using inverse kinematics
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, const double targetPosition[3], const double targetOrientation[4], const double dt)
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
@@ -1330,12 +1330,32 @@ b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsCli
command->m_type = CMD_CALCULATE_INVERSE_KINEMATICS;
command->m_updateFlags = 0;
command->m_calculateInverseKinematicsArguments.m_bodyUniqueId = bodyIndex;
//todo
// int numJoints = cl->getNumJoints(bodyIndex);
// for (int i = 0; i < numJoints;i++)
// {
// command->m_calculateInverseKinematicsArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
// }
return (b3SharedMemoryCommandHandle)command;
}
void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CALCULATE_INVERSE_KINEMATICS);
command->m_updateFlags |= IK_HAS_TARGET_POSITION;
command->m_calculateInverseKinematicsArguments.m_endEffectorLinkIndex = endEffectorLinkIndex;
command->m_calculateInverseKinematicsArguments.m_targetPosition[0] = targetPosition[0];
command->m_calculateInverseKinematicsArguments.m_targetPosition[1] = targetPosition[1];
command->m_calculateInverseKinematicsArguments.m_targetPosition[2] = targetPosition[2];
}
void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[3], const double targetOrientation[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CALCULATE_INVERSE_KINEMATICS);
command->m_updateFlags |= IK_HAS_TARGET_POSITION+IK_HAS_TARGET_ORIENTATION;
command->m_calculateInverseKinematicsArguments.m_endEffectorLinkIndex = endEffectorLinkIndex;
command->m_calculateInverseKinematicsArguments.m_targetPosition[0] = targetPosition[0];
command->m_calculateInverseKinematicsArguments.m_targetPosition[1] = targetPosition[1];
@@ -1345,12 +1365,10 @@ b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsCli
command->m_calculateInverseKinematicsArguments.m_targetOrientation[1] = targetOrientation[1];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[2] = targetOrientation[2];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[3] = targetOrientation[3];
command->m_calculateInverseKinematicsArguments.m_dt = dt;
return (b3SharedMemoryCommandHandle)command;
}
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,