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Remove undesired assert, it makes pybullet mistakes fail in c++

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Shared memory api/pybullet: by default, set joint motors in position PD mode with target 0, to maintain 0 joint angle.
pybullet: allow setJointControlMode(body, link, POSITION_CONTROL,targetPos etc.
This commit is contained in:
erwin coumans
2016-08-18 13:10:28 -07:00
parent 6005e54aa1
commit 5b0253ed47
3 changed files with 94 additions and 28 deletions
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1
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -81,7 +81,6 @@ int PhysicsClientSharedMemory::getNumJoints(int bodyIndex) const
return bodyJoints->m_jointInfo.size();
}
btAssert(0);
return 0;
}

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -700,6 +700,8 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
int dof = 0;
btScalar desiredVelocity = 0.f;
btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb,mbLinkIndex,dof,desiredVelocity,maxMotorImpulse);
motor->setPositionTarget(0, 0.1);
motor->setVelocityTarget(0, 1);
//motor->setMaxAppliedImpulse(0);
mb->getLink(mbLinkIndex).m_userPtr = motor;
m_data->m_dynamicsWorld->addMultiBodyConstraint(motor);