Add orientation constraint to IK.

2016-09-19 17:04:05 -07:00
parent 48d42c7c6e
commit bf16c87987
11 changed files with 125 additions and 47 deletions
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -402,7 +402,8 @@ struct CalculateInverseKinematicsArgs
 	int m_bodyUniqueId;
 //	double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
 	double m_targetPosition[3];
-//	double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w
+	double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w
+    double m_dt;
 };

 struct CalculateInverseKinematicsResultArgs