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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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26
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6425,6 +6425,32 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
}
for (int d = 0; d < mb->getLink(l).m_dofCount; d++)
{
serverCmd.m_sendActualStateArgs.m_jointMotorForce[totalDegreeOfFreedomU] = 0;
if (mb->getLink(l).m_jointType == btMultibodyLink::eSpherical)
{
btMultiBodySphericalJointMotor* motor = (btMultiBodySphericalJointMotor*)mb->getLink(l).m_userPtr;
if (motor)
{
btScalar impulse = motor->getAppliedImpulse(d);
btScalar force = impulse / m_data->m_physicsDeltaTime;
serverCmd.m_sendActualStateArgs.m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
else
{
if (supportsJointMotor(mb, l))
{
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)body->m_multiBody->getLink(l).m_userPtr;
if (motor && m_data->m_physicsDeltaTime > btScalar(0))
{
btScalar force = motor->getAppliedImpulse(0) / m_data->m_physicsDeltaTime;
serverCmd.m_sendActualStateArgs.m_jointMotorForceMultiDof[totalDegreeOfFreedomU] = force;
}
}
}
serverCmd.m_sendActualStateArgs.m_actualStateQdot[totalDegreeOfFreedomU++] = mb->getJointVelMultiDof(l)[d];
}