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getCollisionShapeData and getVisualShapeData were added to RobotSimulatorClinetAPI_NoGUI. b3RobotSimulatorJointMotorArrayArgs initialization bug fix.

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This commit is contained in:
donghokang
2018-05-29 16:23:17 +02:00
parent fc9a2f88ef
commit a3e4582bef
2 changed files with 69 additions and 3 deletions
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17
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
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@@ -152,7 +152,14 @@ struct b3RobotSimulatorJointMotorArrayArgs
double *m_forces;
b3RobotSimulatorJointMotorArrayArgs(int controlMode, int numControlledDofs)
: m_controlMode(controlMode), m_numControlledDofs(numControlledDofs)
: m_controlMode(controlMode),
m_numControlledDofs(numControlledDofs),
m_jointIndices(NULL),
m_targetPositions(NULL),
m_kps(NULL),
m_targetVelocities(NULL),
m_kds(NULL),
m_forces(NULL)
{
}
};
@@ -204,6 +211,7 @@ struct b3RobotSimulatorSetPhysicsEngineParameters
double m_erp;
double m_contactERP;
double m_frictionERP;
double m_solverResidualThreshold;
b3RobotSimulatorSetPhysicsEngineParameters()
: m_fixedTimeStep(-1),
@@ -218,7 +226,8 @@ struct b3RobotSimulatorSetPhysicsEngineParameters
m_restitutionVelocityThreshold(-1),
m_erp(-1),
m_contactERP(-1),
m_frictionERP(-1)
m_frictionERP(-1),
m_solverResidualThreshold(-1)
{}
};
@@ -566,6 +575,10 @@ public:
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
virtual struct GUIHelperInterface* getGuiHelper();
bool getCollisionShapeData(int bodyUniqueId, int linkIndex, b3CollisionShapeInformation &collisionShapeInfo);
bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo);
};