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add experimental pr2-gripper support in VR physics server

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add setErp to btMultiBodyJointMotor
This commit is contained in:
erwin coumans
2016-09-09 14:30:37 -07:00
parent f72982306e
commit 3c706306cd
7 changed files with 234 additions and 41 deletions
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5
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
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@@ -26,7 +26,8 @@ btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScal
m_desiredVelocity(desiredVelocity),
m_desiredPosition(0),
m_kd(1.),
m_kp(0)
m_kp(0),
m_erp(1)
{
m_maxAppliedImpulse = maxMotorImpulse;
@@ -123,7 +124,7 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con
int dof = 0;
btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
btScalar positionStabiliationTerm = (m_desiredPosition-currentPosition)/infoGlobal.m_timeStep;
btScalar positionStabiliationTerm = m_erp*(m_desiredPosition-currentPosition)/infoGlobal.m_timeStep;
btScalar velocityError = (m_desiredVelocity - currentVelocity);
btScalar rhs = m_kp * positionStabiliationTerm + currentVelocity+m_kd * velocityError;