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expose optional targetVelocity to pybullet.resetJointState

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add C-API: b3CreatePoseCommandSetJointVelocities and b3CreatePoseCommandSetJointVelocity
This commit is contained in:
Erwin Coumans
2017-03-23 10:29:16 -07:00
parent e381e84319
commit 0a654c2d58
5 changed files with 66 additions and 12 deletions
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19
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3362,15 +3362,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_JOINT_STATE)
{
int dofIndex = 7;
int uDofIndex = 6;
int posVarCountIndex = 7;
for (int i=0;i<mb->getNumLinks();i++)
{
if ( (clientCmd.m_initPoseArgs.m_hasInitialStateQ[dofIndex]) && (mb->getLink(i).m_dofCount==1))
if ( (clientCmd.m_initPoseArgs.m_hasInitialStateQ[posVarCountIndex]) && (mb->getLink(i).m_dofCount==1))
{
mb->setJointPos(i,clientCmd.m_initPoseArgs.m_initialStateQ[dofIndex]);
mb->setJointVel(i,0);
mb->setJointPos(i,clientCmd.m_initPoseArgs.m_initialStateQ[posVarCountIndex]);
mb->setJointVel(i,0);//backwards compatibility
}
dofIndex += mb->getLink(i).m_dofCount;
if ((clientCmd.m_initPoseArgs.m_hasInitialStateQdot[uDofIndex]) && (mb->getLink(i).m_dofCount==1))
{
btScalar vel = clientCmd.m_initPoseArgs.m_initialStateQdot[uDofIndex];
mb->setJointVel(i,vel);
}
posVarCountIndex += mb->getLink(i).m_posVarCount;
uDofIndex += mb->getLink(i).m_dofCount;
}
}