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experimental Inverse Kinematics for KUKA iiwa exposed in

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shared memory api and pybullet. Will be extended for arbitrary bodies
and with target orientation (besides target position)
This commit is contained in:
Erwin Coumans
2016-09-13 23:37:46 +01:00
parent e5a8eb2425
commit 5e09b17baf
10 changed files with 303 additions and 129 deletions
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16
examples/RenderingExamples/RaytracerSetup.cpp
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@@ -260,12 +260,22 @@ void RaytracerPhysicsSetup::stepSimulation(float deltaTime)
float fov = 2.0 * atanf (tanFov);
btVector3 cameraPosition(5,0,0);
btVector3 cameraTargetPosition(0,0,0);
btVector3 rayFrom = cameraPosition;
btVector3 rayForward = cameraTargetPosition-cameraPosition;
rayForward.normalize();
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
{
m_app->m_renderer->getActiveCamera()->getCameraPosition(cameraPosition);
m_app->m_renderer->getActiveCamera()->getCameraTargetPosition(cameraTargetPosition);
}
btVector3 rayFrom = cameraPosition;
btVector3 rayForward = cameraTargetPosition-cameraPosition;
rayForward.normalize();
float farPlane = 600.f;
rayForward*= farPlane;