Expose fixed constraint in RobotSimAPI.

2016-08-22 18:14:29 -07:00
parent 8eccac6fd8
commit d46710e447
7 changed files with 94 additions and 3 deletions
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -28,7 +28,8 @@ enum EnumSharedMemoryClientCommand
    CMD_REQUEST_CAMERA_IMAGE_DATA,
    CMD_APPLY_EXTERNAL_FORCE,
 	CMD_CALCULATE_INVERSE_DYNAMICS,
-    CMD_MAX_CLIENT_COMMANDS
+    CMD_MAX_CLIENT_COMMANDS,
+    CMD_CREATE_JOINT
 };

 enum EnumSharedMemoryServerStatus
@@ -99,6 +100,9 @@ struct b3JointInfo
        int m_flags;
 		double m_jointDamping;
 		double m_jointFriction;
+    double m_parentFrame[7]; // position and orientation (quaternion)
+    double m_childFrame[7]; // ^^^
+    double m_jointAxis[3]; // joint axis in parent local frame
 };

 struct b3JointSensorState