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Create project file for BussIK inverse kinematics library (premake, cmake)

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URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)
This commit is contained in:
erwin coumans
2016-09-08 15:15:58 -07:00
parent 630fcda38b
commit 32eccdff61
43 changed files with 791 additions and 144 deletions
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20
examples/SharedMemory/SharedMemoryCommands.h
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@@ -223,6 +223,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS=4,
SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8,
SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16,
SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP=32
};
///Controlling a robot involves sending the desired state to its joint motor controllers.
@@ -234,6 +235,7 @@ struct SendPhysicsSimulationParameters
int m_numSimulationSubSteps;
int m_numSolverIterations;
bool m_allowRealTimeSimulation;
double m_defaultContactERP;
};
struct RequestActualStateArgs
@@ -372,6 +374,22 @@ struct CalculateInverseDynamicsResultArgs
double m_jointForces[MAX_DEGREE_OF_FREEDOM];
};
struct CalculateInverseKinematicsArgs
{
int m_bodyUniqueId;
double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
double m_targetPosition[3];
double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w
};
struct CalculateInverseKinematicsResultArgs
{
int m_bodyUniqueId;
int m_dofCount;
double m_jointPositions[MAX_DEGREE_OF_FREEDOM];
};
struct CreateJointArgs
{
int m_parentBodyIndex;
@@ -413,6 +431,7 @@ struct SharedMemoryCommand
struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments;
struct CreateJointArgs m_createJointArguments;
struct RequestContactDataArgs m_requestContactPointArguments;
struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments;
};
};
@@ -445,6 +464,7 @@ struct SharedMemoryStatus
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
struct SendContactDataArgs m_sendContactPointArgs;
struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;
};
};