mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-06-11 16:04:00 +00:00
13fa178cf6
Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.
19 lines
720 B
C++
19 lines
720 B
C++
#ifndef MINITAUR_SIMULATION_SETUP_H
|
|
#define MINITAUR_SIMULATION_SETUP_H
|
|
|
|
#include "LinearMath/btVector3.h"
|
|
#include "LinearMath/btQuaternion.h"
|
|
class MinitaurSetup
|
|
{
|
|
struct MinitaurSetupInternalData* m_data;
|
|
void resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim);
|
|
|
|
public:
|
|
MinitaurSetup();
|
|
virtual ~MinitaurSetup();
|
|
|
|
int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class btVector3& startPos = btVector3(0, 0, 0), const class btQuaternion& startOrn = btQuaternion(0, 0, 0, 1));
|
|
|
|
void setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque = 3, double kp = 0.1, double kd = 0.9);
|
|
};
|
|
#endif //MINITAUR_SIMULATION_SETUP_H
|