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prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h

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prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)
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erwin coumans
2016-07-11 00:26:40 -07:00
parent 02582e3a78
commit 7633cfb800
25 changed files with 1175 additions and 41 deletions
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test/SharedMemory/test.c
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@@ -58,6 +58,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
int statusType;
int bodyIndicesOut[10];//MAX_SDF_BODIES = 10
int numJoints, numBodies;
int bodyUniqueId;
b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(sm, sdfFileName);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
@@ -65,7 +66,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
numBodies = b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, 10);
ASSERT_EQ(numBodies,1);
int bodyUniqueId = bodyIndicesOut[0];
bodyUniqueId = bodyIndicesOut[0];
numJoints = b3GetNumJoints(sm,bodyUniqueId);
ASSERT_EQ(numJoints,7);