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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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20
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7705,19 +7705,35 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int ikMethod = 0;
if ((clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)&&(clientCmd.m_updateFlags&IK_HAS_NULL_SPACE_VELOCITY))
{
//Nullspace task only works with DLS now. TODO: add nullspace task to SDLS.
ikMethod = IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE;
}
else if (clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)
{
ikMethod = IK2_VEL_DLS_WITH_ORIENTATION;
if (clientCmd.m_updateFlags & IK_SDLS)
{
ikMethod = IK2_VEL_SDLS_WITH_ORIENTATION;
}
else
{
ikMethod = IK2_VEL_DLS_WITH_ORIENTATION;
}
}
else if (clientCmd.m_updateFlags& IK_HAS_NULL_SPACE_VELOCITY)
{
//Nullspace task only works with DLS now. TODO: add nullspace task to SDLS.
ikMethod = IK2_VEL_DLS_WITH_NULLSPACE;
}
else
{
ikMethod = IK2_VEL_DLS;
if (clientCmd.m_updateFlags & IK_SDLS)
{
ikMethod = IK2_VEL_SDLS;
}
else
{
ikMethod = IK2_VEL_DLS;;
}
}
if (clientCmd.m_updateFlags& IK_HAS_NULL_SPACE_VELOCITY)