Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #1404 from erwincoumans/master

Browse Source 
perform IK in local body-fixed frame ,  add jointFrictionDamping.py example
This commit is contained in:
erwincoumans
2017-10-25 00:52:16 +00:00
committed by GitHub
parent d05ad4b821 7a1dbf2e59
commit c1ba04a580
7 changed files with 256 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -3638,6 +3638,12 @@ B3_SHARED_API void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMem
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] = 0;
command->m_calculateInverseKinematicsArguments.m_targetOrientation[1] = 0;
command->m_calculateInverseKinematicsArguments.m_targetOrientation[2] = 0;
command->m_calculateInverseKinematicsArguments.m_targetOrientation[3] = 1;
}