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Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof.

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This commit is contained in:
erwincoumans
2019-02-27 09:54:12 -08:00
parent 09dbb8ba1b
commit 8e1c1448ab
6 changed files with 291 additions and 299 deletions
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3
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1047,6 +1047,7 @@ B3_SHARED_API int b3GetJointStateMultiDof(b3PhysicsClientHandle physClient, b3Sh
for (int i = 0; i < state->m_uDofSize; i++)
{
state->m_jointVelocity[i] = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex+i];
state->m_jointMotorTorqueMultiDof[i] = status->m_sendActualStateArgs.m_jointMotorForceMultiDof[info.m_uIndex + i];
}
}
else
@@ -1058,7 +1059,7 @@ B3_SHARED_API int b3GetJointStateMultiDof(b3PhysicsClientHandle physClient, b3Sh
{
state->m_jointReactionForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
}
state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
return 1;
}
}