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immediately propagate forward kinematics + collision world transform, after 'INIT_POSE' command

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This commit is contained in:
Erwin Coumans
2016-11-06 15:02:07 -08:00
parent 6a0f095d5b
commit c1f728ec86
2 changed files with 16 additions and 1 deletions
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12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2313,6 +2313,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
dofIndex += mb->getLink(i).m_dofCount;
}
}
btAlignedObjectArray<btQuaternion> scratch_q;
btAlignedObjectArray<btVector3> scratch_m;
mb->forwardKinematics(scratch_q,scratch_m);
int nLinks = mb->getNumLinks();
scratch_q.resize(nLinks+1);
scratch_m.resize(nLinks+1);
mb->updateCollisionObjectWorldTransforms(scratch_q,scratch_m);
}
SharedMemoryStatus& serverCmd =serverStatusOut;