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Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle).

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See PhysicsClientExample for example use of CMD_INIT_POSE.
Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
This commit is contained in:
erwin coumans
2015-10-13 22:23:28 -07:00
parent 4a29986662
commit a0e507280c
6 changed files with 207 additions and 45 deletions
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6
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -235,8 +235,10 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
mb->m_links[link].m_jointName);
}
info.m_jointName = mb->m_links[link].m_jointName;
info.m_jointType = mb->m_links[link].m_jointType;
}
info.m_jointType = mb->m_links[link].m_jointType;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
@@ -278,8 +280,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
mb->m_links[link].m_jointName);
}
info.m_jointName = mb->m_links[link].m_jointName;
info.m_jointType = mb->m_links[link].m_jointType;
}
info.m_jointType = mb->m_links[link].m_jointType;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;