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Remove the pdController when maxForce = 0

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This commit is contained in:
YunfeiBai
2018-06-24 17:06:16 -07:00
parent 6b2cae1b1d
commit 812c229736
2 changed files with 5 additions and 2 deletions
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6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5189,7 +5189,6 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
} }
b3PluginArguments args; b3PluginArguments args;
args.m_ints[0] = eSetPDControl;
args.m_ints[1] = bodyUniqueId; args.m_ints[1] = bodyUniqueId;
//find the joint motors and apply the desired velocity and maximum force/torque //find the joint motors and apply the desired velocity and maximum force/torque
{ {
@@ -5242,6 +5241,11 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
args.m_ints[2] = link; args.m_ints[2] = link;
args.m_numInts = 3; args.m_numInts = 3;
args.m_numFloats = 5; args.m_numFloats = 5;
args.m_ints[0] = eSetPDControl;
if (args.m_floats[4] < B3_EPSILON) {
args.m_ints[0] = eRemovePDControl;
}
m_data->m_pluginManager.executePluginCommand(m_data->m_pdControlPlugin, &args); m_data->m_pluginManager.executePluginCommand(m_data->m_pdControlPlugin, &args);
} }
} }

1
examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
View File

@@ -107,7 +107,6 @@ B3_SHARED_API int executePluginCommand_pdControlPlugin(struct b3PluginContext* c
if (arguments->m_numInts != 3) if (arguments->m_numInts != 3)
return -1; return -1;
switch (arguments->m_ints[0]) switch (arguments->m_ints[0])
{ {
case eSetPDControl: case eSetPDControl: