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rename m_jointForce -> m_jointMotorForce to separate the name from m_jointForceTorque (which should have been called m_jointReactionForce)

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This commit is contained in:
Erwin Coumans
2016-04-19 12:22:38 -07:00
parent 05845d7df9
commit 0f5ee7a0a9
2 changed files with 2 additions and 2 deletions
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2
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -218,7 +218,7 @@ void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandl
for (int ii(0); ii < 6; ++ii) { for (int ii(0); ii < 6; ++ii) {
state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii]; state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
} }
state->m_jointTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex]; state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
} }
} }

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -94,7 +94,7 @@ struct b3JointSensorState
double m_jointPosition; double m_jointPosition;
double m_jointVelocity; double m_jointVelocity;
double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */ double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */
double m_jointTorque; double m_jointMotorTorque;
}; };
struct b3DebugLines struct b3DebugLines