add experimental pr2-gripper support in VR physics server

add setErp to btMultiBodyJointMotor
2016-09-09 14:30:37 -07:00
parent f72982306e
commit 3c706306cd
7 changed files with 234 additions and 41 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
@@ -29,6 +29,7 @@ protected:
 	btScalar	m_desiredPosition;
 	btScalar    m_kd;
 	btScalar    m_kp;
+	btScalar	m_erp;
 	

 public:
@@ -57,6 +58,14 @@ public:
        m_kp = kp;
    }
    
+	virtual void setErp(btScalar erp)
+	{
+		m_erp = erp;
+	}
+	virtual btScalar getErp() const
+	{
+		return m_erp;
+	}

 	virtual void debugDraw(class btIDebugDraw* drawer)
 	{