Merge remote-tracking branch 'bp/master'

2018-06-16 06:58:10 -07:00
parent 75ec8f3fd9 d660042d76
commit 23f9250e04
6 changed files with 95 additions and 12 deletions
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -659,6 +659,7 @@ enum {
    CONTROL_MODE_VELOCITY=0,
    CONTROL_MODE_TORQUE,
    CONTROL_MODE_POSITION_VELOCITY_PD,
+    CONTROL_MODE_PD, // The standard PD control implemented as soft constraint.
 };

 ///flags for b3ApplyExternalTorque and b3ApplyExternalForce