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Test four IK modes: with and without orientation constraint, with and without null space task.

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This commit is contained in:
yunfeibai
2016-09-30 00:15:51 -07:00
parent fd3cb061cb
commit ee00696ae9
3 changed files with 15 additions and 12 deletions
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4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2666,7 +2666,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btAlignedObjectArray<double> q_new;
q_new.resize(numDofs);
int ikMethod = 0;
if (clientCmd.m_updateFlags& (IK_HAS_TARGET_ORIENTATION+IK_HAS_NULL_SPACE_VELOCITY))
if ((clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)&&(clientCmd.m_updateFlags&IK_HAS_NULL_SPACE_VELOCITY))
{
ikMethod = IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE;
}
@@ -2683,7 +2683,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
ikMethod = IK2_VEL_DLS;
}
if (clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)
if (clientCmd.m_updateFlags& IK_HAS_NULL_SPACE_VELOCITY)
{
btAlignedObjectArray<double> lower_limit;
btAlignedObjectArray<double> upper_limit;