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improvements to the shared memory physics API:

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support picking in C API etc.
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=
2015-09-24 22:42:22 -07:00
parent 066ff5f2e9
commit e05825f639
8 changed files with 140 additions and 16 deletions
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8
examples/SharedMemory/SharedMemoryCommands.h
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@@ -25,7 +25,6 @@
#endif
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 256
#define MAX_NUM_SENSORS 256
@@ -92,6 +91,12 @@ struct SendDebugLinesArgs
int m_numRemainingDebugLines;
};
struct PickBodyArgs
{
double m_rayFromWorld[3];
double m_rayToWorld[3];
};
///Controlling a robot involves sending the desired state to its joint motor controllers.
///The control mode determines the state variables used for motor control.
@@ -225,6 +230,7 @@ struct SharedMemoryCommand
struct CreateSensorArgs m_createSensorArguments;
struct CreateBoxShapeArgs m_createBoxShapeArguments;
struct RequestDebugLinesArgs m_requestDebugLinesArguments;
struct PickBodyArgs m_pickBodyArguments;
};
};