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Merge pull request #1588 from GaborPuhr/Fix-#1582

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Fix for #1582
This commit is contained in:
erwincoumans
2018-04-12 13:32:51 -07:00
committed by GitHub
parent be46d73ef8 2348c6ba0a
commit 391b0e4061
11 changed files with 28 additions and 36 deletions
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16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5010,9 +5010,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
{
con->enableMotor(3+limitAxis,true);
con->setTargetVelocity(3+limitAxis, qdotTarget);
//this is max motor force impulse
btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
con->setMaxMotorForce(3+limitAxis,torqueImpulse);
con->setMaxMotorForce(3+limitAxis, torque);
}
break;
}
@@ -5025,9 +5023,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
//next one is the maximum velocity to reach target position.
//the maximum velocity is limited by maxMotorForce
con->setTargetVelocity(3+limitAxis, 100);
//this is max motor force impulse
btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
con->setMaxMotorForce(3+limitAxis,torqueImpulse);
con->setMaxMotorForce(3+limitAxis, torque);
con->enableMotor(3+limitAxis,true);
}
break;
@@ -5063,9 +5059,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
{
con->enableMotor(limitAxis,true);
con->setTargetVelocity(limitAxis, -qdotTarget);
//this is max motor force impulse
btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
con->setMaxMotorForce(limitAxis,torqueImpulse);
con->setMaxMotorForce(limitAxis, torque);
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
@@ -5075,9 +5069,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
//next one is the maximum velocity to reach target position.
//the maximum velocity is limited by maxMotorForce
con->setTargetVelocity(limitAxis, 100);
//this is max motor force impulse
btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
con->setMaxMotorForce(limitAxis,torqueImpulse);
con->setMaxMotorForce(limitAxis, torque);
con->enableMotor(limitAxis,true);
break;
}