Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge remote-tracking branch 'upstream/master'

Browse Source
This commit is contained in:
yunfeibai
2017-03-29 15:06:15 -07:00
parent 64573c38e4 30c1923b00
commit 66a8685816
77 changed files with 2213 additions and 1218 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -4,7 +4,7 @@
#define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201703010
#define SHARED_MEMORY_MAGIC_NUMBER 201703024
enum EnumSharedMemoryClientCommand
{
@@ -175,9 +175,13 @@ struct b3JointInfo
int m_flags;
double m_jointDamping;
double m_jointFriction;
double m_parentFrame[7]; // position and orientation (quaternion)
double m_childFrame[7]; // ^^^
double m_jointAxis[3]; // joint axis in parent local frame
double m_jointLowerLimit;
double m_jointUpperLimit;
double m_jointMaxForce;
double m_jointMaxVelocity;
double m_parentFrame[7]; // position and orientation (quaternion)
double m_childFrame[7]; // ^^^
double m_jointAxis[3]; // joint axis in parent local frame
};
struct b3UserConstraint
@@ -378,6 +382,11 @@ struct b3VisualShapeInformation
struct b3VisualShapeData* m_visualShapeData;
};
enum eLinkStateFlags
{
ACTUAL_STATE_COMPUTE_LINKVELOCITY=1
};
///b3LinkState provides extra information such as the Cartesian world coordinates
///center of mass (COM) of the link, relative to the world reference frame.
///Orientation is a quaternion x,y,z,w
@@ -395,6 +404,10 @@ struct b3LinkState
///world position and orientation of the (URDF) link frame
double m_worldLinkFramePosition[3];
double m_worldLinkFrameOrientation[4];
double m_worldLinearVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
double m_worldAngularVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
};
//todo: discuss and decide about control mode and combinations
@@ -435,4 +448,9 @@ enum eCONNECT_METHOD {
eCONNECT_TCP = 5,
};
enum eURDF_Flags
{
URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags'
};
#endif//SHARED_MEMORY_PUBLIC_H