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expose the local inertial frame for each link in the shared memory API

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struct b3LinkState
{
    double m_worldPosition[3];//this is the inertial frame
    double m_worldOrientation[4];

    double m_localInertialPosition[3];//this is the local frame from inertial to link frame
    double m_localInertialOrientation[4];
};

  const btTransform link_frame_world =
               inertial_frame_world * m_local_inertial_frame->inverse();
This commit is contained in:
Erwin Coumans
2016-04-29 14:45:15 -07:00
parent 1635a9d594
commit ab4299f517
4 changed files with 34 additions and 2 deletions
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2
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -233,10 +233,12 @@ void b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle
for (int i = 0; i < 3; ++i)
{
state->m_worldPosition[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + i];
state->m_localInertialPosition[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[7 * linkIndex + i];
}
for (int i = 0; i < 4; ++i)
{
state->m_worldOrientation[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + 3 + i];
state->m_localInertialOrientation[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[7 * linkIndex + 3 + i];
}
}
}