a few pybullet tweaks to set desired joint motor targets (pos/vel/torque)

2016-06-22 23:21:47 -07:00
parent f5ffb11bc5
commit 8b96e2de3c
3 changed files with 67 additions and 30 deletions
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -218,6 +218,7 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
    b3Assert(command);
    command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
+    command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE;
    return 0;
 }