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Add shared memory API and RobotSim API for setting joint damping in IK.

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yunfeibai
2017-02-03 11:08:44 -08:00
parent 0022d0dafb
commit ce9378f819
7 changed files with 44 additions and 5 deletions
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6
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -516,7 +516,11 @@ bool b3RobotSimAPI::calculateInverseKinematics(const struct b3RobotSimInverseKin
{
b3CalculateInverseKinematicsAddTargetPurePosition(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition);
}
if (args.m_flags & B3_HAS_JOINT_DAMPING)
{
b3CalculateInverseKinematicsSetJointDamping(command, args.m_numDegreeOfFreedom, &args.m_jointDamping[0]);
}
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);