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Expose IK solver options including DLS and SDLS.

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This commit is contained in:
yunfeibai
2017-10-19 14:00:53 -07:00
parent 1393666a83
commit dda1b05f4a
10 changed files with 64 additions and 20 deletions
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8
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3683,6 +3683,14 @@ B3_SHARED_API void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCom
}
}
B3_SHARED_API void b3CalculateInverseKinematicsSelectSolver(b3SharedMemoryCommandHandle commandHandle, int solver)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CALCULATE_INVERSE_KINEMATICS);
command->m_updateFlags |= solver;
}
B3_SHARED_API int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,