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fix issue, use bodyUniqueId/b3JointControlCommandInit2

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This commit is contained in:
Erwin Coumans
2016-07-19 15:53:16 -07:00
parent 2302709e2d
commit 0ae252fa35
1 changed files with 3 additions and 3 deletions
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6
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -556,7 +556,7 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const
{ {
case CONTROL_MODE_VELOCITY: case CONTROL_MODE_VELOCITY:
{ {
b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_VELOCITY); b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_VELOCITY);
b3JointInfo jointInfo; b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo); b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex; int uIndex = jointInfo.m_uIndex;
@@ -567,7 +567,7 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const
} }
case CONTROL_MODE_POSITION_VELOCITY_PD: case CONTROL_MODE_POSITION_VELOCITY_PD:
{ {
b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_POSITION_VELOCITY_PD); b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_POSITION_VELOCITY_PD);
b3JointInfo jointInfo; b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo); b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex; int uIndex = jointInfo.m_uIndex;
@@ -583,7 +583,7 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const
} }
case CONTROL_MODE_TORQUE: case CONTROL_MODE_TORQUE:
{ {
b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_TORQUE); b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_TORQUE);
b3JointInfo jointInfo; b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo); b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex; int uIndex = jointInfo.m_uIndex;