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fix some issues related to controlling a robot/multibody beyond body index 0

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(most testing happened with a single robot/multibody so far)
preliminary pybullet.setJointControl implementation
This commit is contained in:
Erwin Coumans
2016-06-16 18:46:34 -07:00
parent 3f5f8d3e00
commit 53a0772257
7 changed files with 248 additions and 70 deletions
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3
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -132,6 +132,8 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
const char* m_linkName;//m_linkName memory needs to be managed by the developer/user!
const char* m_jointName;//m_jointName memory needs to be managed by the developer/user!
const void* m_userPtr;//m_userPtr ptr needs to be managed by the developer/user!
btScalar m_jointDamping; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping.
btScalar m_jointFriction; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor.
@@ -149,6 +151,7 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
m_jointFeedback(0),
m_linkName(0),
m_jointName(0),
m_userPtr(0),
m_jointDamping(0),
m_jointFriction(0)
{