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disable velocity clamp (maxVelocity) in velocity control mode,

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remove some warnings
This commit is contained in:
Erwin Coumans
2018-04-10 17:21:14 -07:00
parent f37e22bfba
commit 0832d3fd22
1 changed files with 23 additions and 20 deletions
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43
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -482,10 +482,10 @@ struct CommandLogPlayback
SharedMemoryCommand unused; SharedMemoryCommand unused;
#endif//BACKWARD_COMPAT #endif//BACKWARD_COMPAT
bool result = false; bool result = false;
size_t s = 0;
if (m_file) if (m_file)
{ {
size_t s = 0;
int commandType = -1; int commandType = -1;
if (m_fileIs64bit) if (m_fileIs64bit)
@@ -518,8 +518,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT #ifdef BACKWARD_COMPAT
cmd->m_mjcfArguments = unused.m_mjcfArguments; cmd->m_mjcfArguments = unused.m_mjcfArguments;
#else #else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file); s=fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_mjcfArguments,sizeof(MjcfArgs),1,m_file); s = fread(&cmd->m_mjcfArguments,sizeof(MjcfArgs),1,m_file);
#endif #endif
result=true; result=true;
break; break;
@@ -529,8 +529,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT #ifdef BACKWARD_COMPAT
cmd->m_sdfRequestInfoArgs = unused.m_sdfRequestInfoArgs; cmd->m_sdfRequestInfoArgs = unused.m_sdfRequestInfoArgs;
#else #else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file); s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_sdfRequestInfoArgs,sizeof(SdfRequestInfoArgs),1,m_file); s = fread(&cmd->m_sdfRequestInfoArgs,sizeof(SdfRequestInfoArgs),1,m_file);
#endif #endif
result=true; result=true;
break; break;
@@ -540,8 +540,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT #ifdef BACKWARD_COMPAT
cmd->m_requestVisualShapeDataArguments = unused.m_requestVisualShapeDataArguments; cmd->m_requestVisualShapeDataArguments = unused.m_requestVisualShapeDataArguments;
#else #else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file); s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestVisualShapeDataArguments,sizeof(RequestVisualShapeDataArgs),1,m_file); s = fread(&cmd->m_requestVisualShapeDataArguments,sizeof(RequestVisualShapeDataArgs),1,m_file);
#endif #endif
result=true; result=true;
break; break;
@@ -551,8 +551,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT #ifdef BACKWARD_COMPAT
cmd->m_urdfArguments = unused.m_urdfArguments; cmd->m_urdfArguments = unused.m_urdfArguments;
#else #else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file); s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_urdfArguments,sizeof(UrdfArgs),1,m_file); s = fread(&cmd->m_urdfArguments,sizeof(UrdfArgs),1,m_file);
#endif #endif
result=true; result=true;
break; break;
@@ -562,8 +562,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT #ifdef BACKWARD_COMPAT
cmd->m_initPoseArgs = unused.m_initPoseArgs; cmd->m_initPoseArgs = unused.m_initPoseArgs;
#else #else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file); s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_initPoseArgs,sizeof(InitPoseArgs),1,m_file); s = fread(&cmd->m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);
#endif #endif
result=true; result=true;
@@ -574,8 +574,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT #ifdef BACKWARD_COMPAT
cmd->m_requestActualStateInformationCommandArgument = unused.m_requestActualStateInformationCommandArgument; cmd->m_requestActualStateInformationCommandArgument = unused.m_requestActualStateInformationCommandArgument;
#else #else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file); s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestActualStateInformationCommandArgument,sizeof(RequestActualStateArgs),1,m_file); s = fread(&cmd->m_requestActualStateInformationCommandArgument,sizeof(RequestActualStateArgs),1,m_file);
#endif #endif
result=true; result=true;
break; break;
@@ -585,8 +585,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT #ifdef BACKWARD_COMPAT
cmd->m_sendDesiredStateCommandArgument = unused.m_sendDesiredStateCommandArgument; cmd->m_sendDesiredStateCommandArgument = unused.m_sendDesiredStateCommandArgument;
#else #else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file); s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_sendDesiredStateCommandArgument ,sizeof(SendDesiredStateArgs),1,m_file); s = fread(&cmd->m_sendDesiredStateCommandArgument ,sizeof(SendDesiredStateArgs),1,m_file);
#endif #endif
result = true; result = true;
@@ -597,8 +597,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT #ifdef BACKWARD_COMPAT
cmd->m_physSimParamArgs = unused.m_physSimParamArgs; cmd->m_physSimParamArgs = unused.m_physSimParamArgs;
#else #else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file); s= s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_physSimParamArgs ,sizeof(b3PhysicsSimulationParameters),1,m_file); s = fread(&cmd->m_physSimParamArgs ,sizeof(b3PhysicsSimulationParameters),1,m_file);
#endif #endif
result = true; result = true;
@@ -609,8 +609,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT #ifdef BACKWARD_COMPAT
cmd->m_requestContactPointArguments = unused.m_requestContactPointArguments; cmd->m_requestContactPointArguments = unused.m_requestContactPointArguments;
#else #else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file); s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestContactPointArguments ,sizeof(RequestContactDataArgs),1,m_file); s = fread(&cmd->m_requestContactPointArguments ,sizeof(RequestContactDataArgs),1,m_file);
#endif #endif
result = true; result = true;
@@ -4794,6 +4794,9 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
} }
if (hasDesiredVelocity) if (hasDesiredVelocity)
{ {
//disable velocity clamp in velocity mode
motor->setRhsClamp(SIMD_INFINITY);
btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime; btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime;
if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex]&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex]&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
{ {