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default gains 1 -> 0.1

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This commit is contained in:
erwincoumans
2016-06-24 11:12:19 -07:00
committed by GitHub
parent c17c39c2c9
commit a15eb3035e
1 changed files with 12 additions and 12 deletions
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24
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
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@@ -24,11 +24,11 @@ struct btSolverInfo;
class btMultiBodyJointMotor : public btMultiBodyConstraint class btMultiBodyJointMotor : public btMultiBodyConstraint
{ {
protected: protected:
btScalar m_desiredVelocity; btScalar m_desiredVelocity;
btScalar m_desiredPosition; btScalar m_desiredPosition;
btScalar m_kd; btScalar m_kd;
btScalar m_kp; btScalar m_kp;
public: public:
@@ -45,18 +45,18 @@ public:
btMultiBodyJacobianData& data, btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal); const btContactSolverInfo& infoGlobal);
virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 1.f) virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 0.1f)
{ {
m_desiredVelocity = velTarget; m_desiredVelocity = velTarget;
m_kd = kd; m_kd = kd;
} }
virtual void setPositionTarget(btScalar posTarget, btScalar kp = 1.f) virtual void setPositionTarget(btScalar posTarget, btScalar kp = 0.1f)
{ {
m_desiredPosition = posTarget; m_desiredPosition = posTarget;
m_kp = kp; m_kp = kp;
} }
virtual void debugDraw(class btIDebugDraw* drawer) virtual void debugDraw(class btIDebugDraw* drawer)
{ {