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bugfix: in torque control mode, torque index starts at 6.

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This commit is contained in:
erwin coumans
2016-08-18 15:36:18 -07:00
parent 5b0253ed47
commit 2c636b52f7
1 changed files with 1 additions and 1 deletions
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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1418,7 +1418,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
b3Printf("Using CONTROL_MODE_TORQUE"); b3Printf("Using CONTROL_MODE_TORQUE");
} }
// mb->clearForcesAndTorques(); // mb->clearForcesAndTorques();
int torqueIndex = 0; int torqueIndex = 6;
if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
{ {
for (int link=0;link<mb->getNumLinks();link++) for (int link=0;link<mb->getNumLinks();link++)