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temporary disable experimental BulletRobotics examples

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This commit is contained in:
Erwin Coumans
2019-03-26 15:07:55 -07:00
parent 2ba8c22397
commit 4898887265
13 changed files with 64 additions and 21 deletions
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11
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2526,6 +2526,12 @@ B3_SHARED_API int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyUniqu
return cl->getNumJoints(bodyUniqueId);
}
B3_SHARED_API int b3GetNumDofs(b3PhysicsClientHandle physClient, int bodyUniqueId)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
return cl->getNumDofs(bodyUniqueId);
}
B3_SHARED_API int b3ComputeDofCount(b3PhysicsClientHandle physClient, int bodyUniqueId)
{
int nj = b3GetNumJoints(physClient, bodyUniqueId);
@@ -4642,8 +4648,9 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3Physi
command->m_calculateJacobianArguments.m_localPosition[0] = localPosition[0];
command->m_calculateJacobianArguments.m_localPosition[1] = localPosition[1];
command->m_calculateJacobianArguments.m_localPosition[2] = localPosition[2];
int numJoints = cl->getNumJoints(bodyUniqueId);
for (int i = 0; i < numJoints; i++)
int numDofs = cl->getNumDofs(bodyUniqueId);
for (int i = 0; i < numDofs; i++)
{
command->m_calculateJacobianArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
command->m_calculateJacobianArguments.m_jointVelocitiesQdot[i] = jointVelocitiesQdot[i];