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Add orientation constraint to IK.

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This commit is contained in:
yunfeibai
2016-09-19 17:04:05 -07:00
parent 48d42c7c6e
commit bf16c87987
11 changed files with 125 additions and 47 deletions
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9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1319,8 +1319,7 @@ int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJ
}
///compute the joint positions to move the end effector to a desired target using inverse kinematics
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double targetPosition[3])
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, const double targetPosition[3], const double targetOrientation[4], const double dt)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
@@ -1341,6 +1340,12 @@ b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsCli
command->m_calculateInverseKinematicsArguments.m_targetPosition[0] = targetPosition[0];
command->m_calculateInverseKinematicsArguments.m_targetPosition[1] = targetPosition[1];
command->m_calculateInverseKinematicsArguments.m_targetPosition[2] = targetPosition[2];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[0] = targetOrientation[0];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[1] = targetOrientation[1];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[2] = targetOrientation[2];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[3] = targetOrientation[3];
command->m_calculateInverseKinematicsArguments.m_dt = dt;
return (b3SharedMemoryCommandHandle)command;