Merge remote-tracking branch 'upstream/master'

examples/SharedMemory/SharedMemoryCommands.h

@@ -223,6 +223,7 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS=4,	
 	SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8,
 	SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16,
+	SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP=32
 };
 
 ///Controlling a robot involves sending the desired state to its joint motor controllers.
@@ -234,6 +235,7 @@ struct SendPhysicsSimulationParameters
 	int m_numSimulationSubSteps;
 	int m_numSolverIterations;
 	bool m_allowRealTimeSimulation;
+	double m_defaultContactERP;
 };
 
 struct RequestActualStateArgs
@@ -389,6 +391,21 @@ struct CalculateJacobianResultArgs
     double m_angularJacobian[3*MAX_DEGREE_OF_FREEDOM];
 };
 
+struct CalculateInverseKinematicsArgs
+{
+	int m_bodyUniqueId;
+	double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
+	double m_targetPosition[3];
+	double m_targetOrientation[4];//orientation represented as quaternion, x,y,z,w
+};
+
+struct CalculateInverseKinematicsResultArgs
+{
+	int m_bodyUniqueId;
+	int m_dofCount;
+	double m_jointPositions[MAX_DEGREE_OF_FREEDOM];
+};
+
 struct CreateJointArgs
 {
     int m_parentBodyIndex;
@@ -431,6 +448,7 @@ struct SharedMemoryCommand
         struct CalculateJacobianArgs m_calculateJacobianArguments;
         struct CreateJointArgs m_createJointArguments;
         struct RequestContactDataArgs m_requestContactPointArguments;
+		struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments;
     };
 };
 
@@ -464,6 +482,7 @@ struct SharedMemoryStatus
 		struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs;
         struct CalculateJacobianResultArgs m_jacobianResultArgs;
 		struct SendContactDataArgs m_sendContactPointArgs;
+		struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;
 	};
 };