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add test end-effector for Kuka iiwa (IK)

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This commit is contained in:
erwin coumans
2016-09-22 19:48:26 -07:00
parent 310a330572
commit e356f4f1f6
6 changed files with 230 additions and 9 deletions
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6
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -21,6 +21,8 @@ btVector3 gVRTeleportPos(0,0,0);
btQuaternion gVRTeleportOrn(0, 0, 0,1);
extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
extern btVector3 gVRController2Pos;
extern btQuaternion gVRController2Orn;
extern btScalar gVRGripperAnalog;
extern bool gEnableRealTimeSimVR;
extern int gCreateObjectSimVR;
@@ -1246,6 +1248,10 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
}
else
{
gVRController2Pos.setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
btQuaternion orgOrn(orn[0], orn[1], orn[2], orn[3]);
gVRController2Orn = orgOrn*btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI);
m_args[0].m_vrControllerPos[controllerId].setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0], orn[1], orn[2], orn[3]);
}