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expose multibody link world transform in the shared memory API

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This commit is contained in:
Erwin Coumans
2016-04-23 17:29:46 -07:00
parent 16cbc191bd
commit f99d1c45aa
5 changed files with 40 additions and 1 deletions
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11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1349,9 +1349,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//}
}
}
btVector3 linkOrigin = mb->getLink(l).m_cachedWorldTransform.getOrigin();
btQuaternion linkRotation = mb->getLink(l).m_cachedWorldTransform.getRotation();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+0] = linkOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+1] = linkOrigin.getY();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+2] = linkOrigin.getZ();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+3] = linkRotation.x();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+4] = linkRotation.y();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkRotation.z();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkRotation.w();
}
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU;