Use body Jacobian from Bullet for IK.

2016-09-07 23:14:23 -07:00
parent f635c64205
commit c94a8e0d35
4 changed files with 21 additions and 6 deletions
--- a/examples/ThirdPartyLibs/BussIK/Jacobian.h
+++ b/examples/ThirdPartyLibs/BussIK/Jacobian.h
@@ -83,6 +83,9 @@ public:
 	static void CompareErrors( const Jacobian& j1, const Jacobian& j2, double* weightedDist1, double* weightedDist2 );
 	static void CountErrors( const Jacobian& j1, const Jacobian& j2, int* numBetter1, int* numBetter2, int* numTies );

+    int GetNumRows() {return nRow;}
+    int GetNumCols() {return nCol;}
+    
 private:
 	Tree* tree;			// tree associated with this Jacobian matrix
 	int nEffector;		// Number of end effectors