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Merge pull request #1 from bingjeff/master

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[SharedMemory] Calculate inverse dynamics now uses world gravity.
This commit is contained in:
erwincoumans
2016-09-01 11:18:02 -07:00
committed by GitHub
parent e6865a1186 1c65cae6d0
commit c7ad8f2a3d
1 changed files with 25 additions and 23 deletions
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6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2163,8 +2163,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
qdot[i + baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot[i]; qdot[i + baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot[i];
nu[i+baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointAccelerations[i]; nu[i+baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointAccelerations[i];
} }
// Set the gravity to correspond to the world gravity
if (-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force)) btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity());
if (-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force) &&
-1 != tree->setGravityInWorldFrame(id_grav))
{ {
serverCmd.m_inverseDynamicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId; serverCmd.m_inverseDynamicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId;
serverCmd.m_inverseDynamicsResultArgs.m_dofCount = num_dofs; serverCmd.m_inverseDynamicsResultArgs.m_dofCount = num_dofs;