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more GRPC work

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This commit is contained in:
erwincoumans
2018-09-03 23:13:15 -07:00
parent 23e84ca9b6
commit 9e2f6c7935
21 changed files with 22906 additions and 780 deletions
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18
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -789,10 +789,13 @@ void b3RobotSimulatorClientAPI_NoDirect::setJointMotorControl(int bodyUniqueId,
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
b3JointControlSetKd(command, uIndex, args.m_kd);
b3JointControlSetDesiredVelocity(command, uIndex, args.m_targetVelocity);
b3JointControlSetMaximumForce(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
if (uIndex >= 0)
{
b3JointControlSetKd(command, uIndex, args.m_kd);
b3JointControlSetDesiredVelocity(command, uIndex, args.m_targetVelocity);
b3JointControlSetMaximumForce(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
@@ -817,8 +820,11 @@ void b3RobotSimulatorClientAPI_NoDirect::setJointMotorControl(int bodyUniqueId,
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
b3JointControlSetDesiredForceTorque(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
if (uIndex >= 0)
{
b3JointControlSetDesiredForceTorque(command, uIndex, args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}
break;
}
case CONTROL_MODE_PD: