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implement accurate inverse kinematics in C++. PyBullet.calculateInverseKinematics gets "maxNumIterations=20", "residualThreshold=1.04" to tune

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allow to provide current joint positions in IK, overriding the body joint positions, also IK target will be in local coordinates.
expose b3ComputeDofCount in C-API
This commit is contained in:
erwincoumans
2018-05-31 16:06:15 -07:00
parent 11d8f069f0
commit edc70582dd
7 changed files with 429 additions and 247 deletions
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3
examples/SharedMemory/SharedMemoryCommands.h
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@@ -695,6 +695,9 @@ struct CalculateInverseKinematicsArgs
double m_jointRange[MAX_DEGREE_OF_FREEDOM];
double m_restPose[MAX_DEGREE_OF_FREEDOM];
double m_jointDamping[MAX_DEGREE_OF_FREEDOM];
double m_currentPositions[MAX_DEGREE_OF_FREEDOM];
int m_maxNumIterations;
double m_residualThreshold;
};
struct CalculateInverseKinematicsResultArgs