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allow to control of powered joints after loading a URDF file, through shared memory

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more refactor of shared memory joint control API
This commit is contained in:
Erwin Coumans
2015-07-20 23:35:29 -07:00
parent 68b53feb9c
commit 8e163c984d
10 changed files with 279 additions and 118 deletions
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src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -599,6 +599,8 @@ void addJointTorque(int i, btScalar Q);
return m_internalNeedsJointFeedback;
}
void forwardKinematics(btAlignedObjectArray<btQuaternion>& scratch_q,btAlignedObjectArray<btVector3>& scratch_m);
void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion>& scratch_q,btAlignedObjectArray<btVector3>& scratch_m);
virtual int calculateSerializeBufferSize() const;