From a342af0382eeaec3026d4b15174249807da6c5bb Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 11 Jun 2018 23:49:34 -0700 Subject: [PATCH] remove getLinkState from API, it automatically calculated forwardKinematics and propagates velocities, which is very expensive. --- .../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp | 6 ------ examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h | 2 -- 2 files changed, 8 deletions(-) diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp index fda38058d..0b90fb9a7 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp @@ -896,13 +896,7 @@ bool b3RobotSimulatorClientAPI_NoDirect::getBodyJacobian(int bodyUniqueId, int l } -bool b3RobotSimulatorClientAPI_NoDirect::getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState) -{ - bool computeLinkVelocity = true; - bool computeForwardKinematics = true; - return getLinkState(bodyUniqueId, linkIndex, computeLinkVelocity, computeForwardKinematics, linkState); -} bool b3RobotSimulatorClientAPI_NoDirect::getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeForwardKinematics, b3LinkState* linkState) { diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h index b71d4fad8..98331aeb9 100644 --- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h +++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h @@ -555,8 +555,6 @@ public: bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian); - bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState); - void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable); void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos);