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Move from b3Vector3 to btVector3 to support double precision in examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI API.

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This commit is contained in:
Erwin Coumans
2018-05-27 10:42:33 +10:00
parent e79ae13cde
commit 57b3e0d221
8 changed files with 147 additions and 147 deletions
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6
examples/RobotSimulator/MinitaurSetup.h
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@@ -1,8 +1,8 @@
#ifndef MINITAUR_SIMULATION_SETUP_H
#define MINITAUR_SIMULATION_SETUP_H
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btQuaternion.h"
class MinitaurSetup
{
struct MinitaurSetupInternalData* m_data;
@@ -12,7 +12,7 @@ public:
MinitaurSetup();
virtual ~MinitaurSetup();
int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class btVector3& startPos=btVector3(0,0,0), const class btQuaternion& startOrn = btQuaternion(0,0,0,1));
void setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);