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allow to control of powered joints after loading a URDF file, through shared memory

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more refactor of shared memory joint control API
This commit is contained in:
Erwin Coumans
2015-07-20 23:35:29 -07:00
parent 68b53feb9c
commit 8e163c984d
10 changed files with 279 additions and 118 deletions
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10
examples/SharedMemory/PhysicsServer.cpp
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@@ -33,7 +33,7 @@ struct PhysicsServerInternalData
SharedMemoryInterface* m_sharedMemory;
SharedMemoryExampleData* m_testBlock1;
bool m_isConnected;
btScalar m_physicsDeltaTime;
//btAlignedObjectArray<btJointFeedback*> m_jointFeedbacks;
btAlignedObjectArray<btBulletWorldImporter*> m_worldImporters;
@@ -49,6 +49,7 @@ struct PhysicsServerInternalData
:m_sharedMemory(0),
m_testBlock1(0),
m_isConnected(false),
m_physicsDeltaTime(1./60.),
m_dynamicsWorld(0),
m_guiHelper(0)
{
@@ -426,9 +427,7 @@ void PhysicsServerSharedMemory::processClientCommands()
btScalar desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex];
motor->setVelocityTarget(desiredVelocity);
btScalar physicsDeltaTime=1./60.;//todo: set the physicsDeltaTime explicitly in the API, separate from the 'stepSimulation'
btScalar maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex]*physicsDeltaTime;
btScalar maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex]*m_data->m_physicsDeltaTime;
motor->setMaxAppliedImpulse(maxImp);
numMotors++;
@@ -552,8 +551,7 @@ void PhysicsServerSharedMemory::processClientCommands()
{
b3Printf("Step simulation request");
double timeStep = clientCmd.m_stepSimulationArguments.m_deltaTimeInSeconds;
m_data->m_dynamicsWorld->stepSimulation(timeStep);
m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime);
SharedMemoryCommand& serverCmd =m_data->m_testBlock1->m_serverCommands[0];