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perform IK in local body-fixed frame

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For now, Jacobian, mass matrix and inverse dynamics return results in local coordinates of the tree.
This commit is contained in:
Erwin Coumans
2017-10-24 21:06:44 -07:00
parent 1998a62785
commit 41a1362bc5
3 changed files with 45 additions and 8 deletions
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6
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3638,6 +3638,12 @@ B3_SHARED_API void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMem
command->m_calculateInverseKinematicsArguments.m_targetPosition[0] = targetPosition[0];
command->m_calculateInverseKinematicsArguments.m_targetPosition[1] = targetPosition[1];
command->m_calculateInverseKinematicsArguments.m_targetPosition[2] = targetPosition[2];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[0] = 0;
command->m_calculateInverseKinematicsArguments.m_targetOrientation[1] = 0;
command->m_calculateInverseKinematicsArguments.m_targetOrientation[2] = 0;
command->m_calculateInverseKinematicsArguments.m_targetOrientation[3] = 1;
}