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fix b3RobotSimulatorClientAPI_NoDirect::changeConstraint API

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This commit is contained in:
Erwin Coumans
2020-01-09 17:56:21 -08:00
parent 5cd4647943
commit 8ebdf7862c
4 changed files with 136 additions and 22 deletions
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16
examples/SharedMemory/SharedMemoryCommands.h
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@@ -789,22 +789,6 @@ struct CalculateInverseKinematicsResultArgs
double m_jointPositions[MAX_DEGREE_OF_FREEDOM];
};
enum EnumUserConstraintFlags
{
USER_CONSTRAINT_ADD_CONSTRAINT = 1,
USER_CONSTRAINT_REMOVE_CONSTRAINT = 2,
USER_CONSTRAINT_CHANGE_CONSTRAINT = 4,
USER_CONSTRAINT_CHANGE_PIVOT_IN_B = 8,
USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B = 16,
USER_CONSTRAINT_CHANGE_MAX_FORCE = 32,
USER_CONSTRAINT_REQUEST_INFO = 64,
USER_CONSTRAINT_CHANGE_GEAR_RATIO = 128,
USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK = 256,
USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512,
USER_CONSTRAINT_CHANGE_ERP = 1024,
USER_CONSTRAINT_REQUEST_STATE = 2048,
USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR = 4096,
};
enum EnumBodyChangeFlags
{

17
examples/SharedMemory/SharedMemoryPublic.h
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@@ -309,6 +309,23 @@ struct b3UserDataValue
const char* m_data1;
};
enum EnumUserConstraintFlags
{
USER_CONSTRAINT_ADD_CONSTRAINT = 1,
USER_CONSTRAINT_REMOVE_CONSTRAINT = 2,
USER_CONSTRAINT_CHANGE_CONSTRAINT = 4,
USER_CONSTRAINT_CHANGE_PIVOT_IN_B = 8,
USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B = 16,
USER_CONSTRAINT_CHANGE_MAX_FORCE = 32,
USER_CONSTRAINT_REQUEST_INFO = 64,
USER_CONSTRAINT_CHANGE_GEAR_RATIO = 128,
USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK = 256,
USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512,
USER_CONSTRAINT_CHANGE_ERP = 1024,
USER_CONSTRAINT_REQUEST_STATE = 2048,
USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR = 4096,
};
struct b3UserConstraint
{
int m_parentBodyIndex;

29
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -620,7 +620,7 @@ int b3RobotSimulatorClientAPI_NoDirect::createConstraint(int parentBodyIndex, in
return -1;
}
int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3JointInfo* jointInfo)
int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3RobotUserConstraint* jointInfo)
{
if (!isConnected())
{
@@ -629,16 +629,35 @@ int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3Joi
}
b3SharedMemoryCommandHandle commandHandle = b3InitChangeUserConstraintCommand(m_data->m_physicsClientHandle, constraintId);
if (jointInfo->m_flags & eJointChangeMaxForce)
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_jointMaxForce);
b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_maxAppliedForce);
}
if (jointInfo->m_flags & eJointChangeChildFramePosition)
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
{
b3InitChangeUserConstraintSetGearRatio(commandHandle, jointInfo->m_gearRatio);
}
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_ERP)
{
b3InitChangeUserConstraintSetERP(commandHandle, jointInfo->m_erp);
}
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
{
b3InitChangeUserConstraintSetGearAuxLink(commandHandle, jointInfo->m_gearAuxLink);
}
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET)
{
b3InitChangeUserConstraintSetRelativePositionTarget(commandHandle, jointInfo->m_relativePositionTarget);
}
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_PIVOT_IN_B)
{
b3InitChangeUserConstraintSetPivotInB(commandHandle, &jointInfo->m_childFrame[0]);
}
if (jointInfo->m_flags & eJointChangeChildFrameOrientation)
if (jointInfo->m_userUpdateFlags & USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B)
{
b3InitChangeUserConstraintSetFrameInB(commandHandle, &jointInfo->m_childFrame[3]);
}

96
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
View File

@@ -526,6 +526,100 @@ struct b3RobotSimulatorCreateMultiBodyArgs
}
};
struct b3RobotUserConstraint : public b3UserConstraint
{
int m_userUpdateFlags;//see EnumUserConstraintFlags
void setErp(double erp)
{
m_erp = erp;
m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_ERP;
}
void setMaxAppliedForce(double maxForce)
{
m_maxAppliedForce = maxForce;
m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_MAX_FORCE;
}
void setGearRatio(double gearRatio)
{
m_gearRatio = gearRatio;
m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_GEAR_RATIO;
}
void setGearAuxLink(int link)
{
m_gearAuxLink = link;
m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK;
}
void setRelativePositionTarget(double target)
{
m_relativePositionTarget = target;
m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET;
}
void setChildPivot(double pivot[3])
{
m_childFrame[0] = pivot[0];
m_childFrame[1] = pivot[1];
m_childFrame[2] = pivot[2];
m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_PIVOT_IN_B;
}
void setChildFrameOrientation(double orn[4])
{
m_childFrame[3] = orn[0];
m_childFrame[4] = orn[1];
m_childFrame[5] = orn[2];
m_childFrame[6] = orn[3];
m_userUpdateFlags |= USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B;
}
b3RobotUserConstraint()
:m_userUpdateFlags(0)
{
m_parentBodyIndex = -1;
m_parentJointIndex = -1;
m_childBodyIndex = -1;
m_childJointIndex = -1;
//position
m_parentFrame[0] = 0;
m_parentFrame[1] = 0;
m_parentFrame[2] = 0;
//orientation quaternion [x,y,z,w]
m_parentFrame[3] = 0;
m_parentFrame[4] = 0;
m_parentFrame[5] = 0;
m_parentFrame[6] = 1;
//position
m_childFrame[0] = 0;
m_childFrame[1] = 0;
m_childFrame[2] = 0;
//orientation quaternion [x,y,z,w]
m_childFrame[3] = 0;
m_childFrame[4] = 0;
m_childFrame[5] = 0;
m_childFrame[6] = 1;
m_jointAxis[0] = 0;
m_jointAxis[1] = 0;
m_jointAxis[2] = 1;
m_jointType = eFixedType;
m_maxAppliedForce = 500;
m_userConstraintUniqueId = -1;
m_gearRatio = -1;
m_gearAuxLink = -1;
m_relativePositionTarget = 0;
m_erp = 0;
}
};
struct b3RobotJointInfo : public b3JointInfo
{
b3RobotJointInfo()
@@ -624,7 +718,7 @@ public:
int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo *jointInfo);
int changeConstraint(int constraintId, b3JointInfo *jointInfo);
int changeConstraint(int constraintId, b3RobotUserConstraint*jointInfo);
void removeConstraint(int constraintId);