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remove getLinkState from API, it automatically calculated forwardKinematics and propagates velocities, which is very expensive.

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erwincoumans
2018-06-11 23:49:34 -07:00
parent 62485abafe
commit a342af0382
2 changed files with 0 additions and 8 deletions
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examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -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);