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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2016-09-11 04:11:51 -07:00
parent a00841a498 30bd1d7362
commit c952c50ad9
66 changed files with 2812 additions and 1923 deletions
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70
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -163,6 +163,19 @@ int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int
return 0;
}
int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP;
command->m_physSimParamArgs.m_defaultContactERP = defaultContactERP;
return 0;
}
int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
@@ -1303,4 +1316,61 @@ int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJ
}
return true;
}
///compute the joint positions to move the end effector to a desired target using inverse kinematics
b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,
const double* jointPositionsQ, const double targetPosition[3])
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CALCULATE_INVERSE_KINEMATICS;
command->m_updateFlags = 0;
command->m_calculateInverseKinematicsArguments.m_bodyUniqueId = bodyIndex;
int numJoints = cl->getNumJoints(bodyIndex);
for (int i = 0; i < numJoints;i++)
{
command->m_calculateInverseKinematicsArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
}
command->m_calculateInverseKinematicsArguments.m_targetPosition[0] = targetPosition[0];
command->m_calculateInverseKinematicsArguments.m_targetPosition[1] = targetPosition[1];
command->m_calculateInverseKinematicsArguments.m_targetPosition[2] = targetPosition[2];
return (b3SharedMemoryCommandHandle)command;
}
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,
double* jointPositions)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED);
if (status->m_type != CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED)
return false;
if (dofCount)
{
*dofCount = status->m_inverseKinematicsResultArgs.m_dofCount;
}
if (bodyUniqueId)
{
*bodyUniqueId = status->m_inverseKinematicsResultArgs.m_bodyUniqueId;
}
if (jointPositions)
{
for (int i = 0; i < status->m_inverseKinematicsResultArgs.m_dofCount; i++)
{
jointPositions[i] = status->m_inverseKinematicsResultArgs.m_jointPositions[i];
}
}
return false;
}