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Pass initial position and orientation for CMD_LOAD_URDF. (public github commit)

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2015-07-12 14:48:43 -07:00
parent 95eff08c51
commit 7452df0964
3 changed files with 22 additions and 8 deletions
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7
examples/SharedMemory/PhysicsClient.cpp
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@@ -341,6 +341,13 @@ void PhysicsClient::createClientCommand()
{
m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[0] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[1] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialPosition[2] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[0] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[1] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[2] = 0.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_initialOrientation[3] = 1.0;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useFixedBase = false;
m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useMultiBody = true;