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Expose body Jacobian in shared memory API.

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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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3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -115,6 +115,9 @@ int b3GetStatusInverseDynamicsJointForces(b3SharedMemoryStatusHandle statusHandl
int* dofCount,
double* jointForces);
b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, const double* localPosition);
int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, int* bodyIndex, int* linkIndex, double* linearJacobian, double* angularJacobian);
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);