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

Merge pull request #661 from erwincoumans/master

Browse Source 
fix some issues related to controlling a robot/multibody beyond body …
This commit is contained in:
erwincoumans
2016-06-17 07:34:07 -07:00
committed by GitHub
parent 70c7ec6c45 53a0772257
commit c7365837cd
7 changed files with 248 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -151,7 +151,7 @@ b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHand
}
b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int controlMode)
b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
@@ -160,7 +160,7 @@ b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle phy
b3Assert(command);
command->m_type = CMD_SEND_DESIRED_STATE;
command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = 0;
command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = bodyUniqueId;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
@@ -434,7 +434,7 @@ int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3Shar
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient)
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
@@ -445,7 +445,7 @@ b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle phys
command->m_type = CMD_CREATE_SENSOR;
command->m_updateFlags = 0;
command->m_createSensorArguments.m_numJointSensorChanges = 0;
command->m_createSensorArguments.m_bodyUniqueId = 0;
command->m_createSensorArguments.m_bodyUniqueId = bodyUniqueId;
return (b3SharedMemoryCommandHandle) command;
}