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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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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2341,6 +2341,19 @@ void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(b3SharedMemoryCommandHan
}
void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCommandHandle commandHandle, int numDof, const double* jointDampingCoeff)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CALCULATE_INVERSE_KINEMATICS);
command->m_updateFlags |= IK_HAS_JOINT_DAMPING;
for (int i = 0; i < numDof; ++i)
{
command->m_calculateInverseKinematicsArguments.m_jointDamping[i] = jointDampingCoeff[i];
}
}
int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,