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Expose body Jacobian in shared memory API.

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This commit is contained in:
yunfeibai
2016-09-07 16:00:38 -07:00
parent 21c60c66ec
commit c198029cb9
7 changed files with 172 additions and 1 deletions
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60
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1251,4 +1251,64 @@ int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandl
return true;
}
b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, const double* localPosition, const double* jointPositionsQ, const double* jointVelocitiesQdot, const double* jointAccelerations)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CALCULATE_JACOBIAN;
command->m_updateFlags = 0;
command->m_calculateJacobianArguments.m_bodyUniqueId = bodyIndex;
command->m_calculateJacobianArguments.m_linkIndex = linkIndex;
command->m_calculateJacobianArguments.m_localPosition[0] = localPosition[0];
command->m_calculateJacobianArguments.m_localPosition[1] = localPosition[1];
command->m_calculateJacobianArguments.m_localPosition[2] = localPosition[2];
int numJoints = cl->getNumJoints(bodyIndex);
for (int i = 0; i < numJoints;i++)
{
command->m_calculateJacobianArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
command->m_calculateJacobianArguments.m_jointVelocitiesQdot[i] = jointVelocitiesQdot[i];
command->m_calculateJacobianArguments.m_jointAccelerations[i] = jointAccelerations[i];
}
return (b3SharedMemoryCommandHandle)command;
}
int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, int* bodyIndex, int* linkIndex, double* linearJacobian, double* angularJacobian)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_CALCULATED_JACOBIAN_COMPLETED);
if (status->m_type != CMD_CALCULATED_JACOBIAN_COMPLETED)
return false;
if (bodyIndex)
{
*bodyIndex = status->m_jacobianResultArgs.m_bodyUniqueId;
}
if (linkIndex)
{
*linkIndex = status->m_jacobianResultArgs.m_linkIndex;
}
if (linearJacobian)
{
for (int i = 0; i < status->m_jacobianResultArgs.m_dofCount*3; i++)
{
linearJacobian[i] = status->m_jacobianResultArgs.m_linearJacobian[i];
}
}
if (angularJacobian)
{
for (int i = 0; i < status->m_jacobianResultArgs.m_dofCount*3; i++)
{
angularJacobian[i] = status->m_jacobianResultArgs.m_angularJacobian[i];
}
}
return true;
}