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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2019-04-27 14:54:44 -07:00
parent 61c099460c 39a1e8f0f7
commit a1f0685271
2 changed files with 9 additions and 9 deletions
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2
examples/BlockSolver/BlockSolverExample.cpp
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@@ -140,7 +140,7 @@ void BlockSolverExample::createMultiBodyStack()
tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2));
btMultiBody* body = createMultiBody(mass, tr, boxShape);
}
if (/* DISABLES CODE */ 0)
if (/* DISABLES CODE */ (0))
{
btMultiBody* mb = loadRobot("cube_small.urdf");
btTransform tr;

16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6367,24 +6367,24 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] =
body->m_rootLocalInertialFrame.getRotation()[3];
//base position in world space, carthesian
//base position in world space, cartesian
stateDetails->m_actualStateQ[0] = tr.getOrigin()[0];
stateDetails->m_actualStateQ[1] = tr.getOrigin()[1];
stateDetails->m_actualStateQ[2] = tr.getOrigin()[2];
//base orientation, quaternion x,y,z,w, in world space, carthesian
//base orientation, quaternion x,y,z,w, in world space, cartesian
stateDetails->m_actualStateQ[3] = tr.getRotation()[0];
stateDetails->m_actualStateQ[4] = tr.getRotation()[1];
stateDetails->m_actualStateQ[5] = tr.getRotation()[2];
stateDetails->m_actualStateQ[6] = tr.getRotation()[3];
totalDegreeOfFreedomQ += 7; //pos + quaternion
//base linear velocity (in world space, carthesian)
//base linear velocity (in world space, cartesian)
stateDetails->m_actualStateQdot[0] = mb->getBaseVel()[0];
stateDetails->m_actualStateQdot[1] = mb->getBaseVel()[1];
stateDetails->m_actualStateQdot[2] = mb->getBaseVel()[2];
//base angular velocity (in world space, carthesian)
//base angular velocity (in world space, cartesian)
stateDetails->m_actualStateQdot[3] = mb->getBaseOmega()[0];
stateDetails->m_actualStateQdot[4] = mb->getBaseOmega()[1];
stateDetails->m_actualStateQdot[5] = mb->getBaseOmega()[2];
@@ -6549,24 +6549,24 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
int totalDegreeOfFreedomU = 0;
btTransform tr = rb->getWorldTransform();
//base position in world space, carthesian
//base position in world space, cartesian
stateDetails->m_actualStateQ[0] = tr.getOrigin()[0];
stateDetails->m_actualStateQ[1] = tr.getOrigin()[1];
stateDetails->m_actualStateQ[2] = tr.getOrigin()[2];
//base orientation, quaternion x,y,z,w, in world space, carthesian
//base orientation, quaternion x,y,z,w, in world space, cartesian
stateDetails->m_actualStateQ[3] = tr.getRotation()[0];
stateDetails->m_actualStateQ[4] = tr.getRotation()[1];
stateDetails->m_actualStateQ[5] = tr.getRotation()[2];
stateDetails->m_actualStateQ[6] = tr.getRotation()[3];
totalDegreeOfFreedomQ += 7; //pos + quaternion
//base linear velocity (in world space, carthesian)
//base linear velocity (in world space, cartesian)
stateDetails->m_actualStateQdot[0] = rb->getLinearVelocity()[0];
stateDetails->m_actualStateQdot[1] = rb->getLinearVelocity()[1];
stateDetails->m_actualStateQdot[2] = rb->getLinearVelocity()[2];
//base angular velocity (in world space, carthesian)
//base angular velocity (in world space, cartesian)
stateDetails->m_actualStateQdot[3] = rb->getAngularVelocity()[0];
stateDetails->m_actualStateQdot[4] = rb->getAngularVelocity()[1];
stateDetails->m_actualStateQdot[5] = rb->getAngularVelocity()[2];