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tune gripper parameters for VR demo

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This commit is contained in:
erwin coumans
2016-09-19 14:31:47 -07:00
parent db3122233f
commit a3aa8ef7f1
4 changed files with 34 additions and 22 deletions
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10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -557,7 +557,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
m_data = new PhysicsServerCommandProcessorInternalData();
createEmptyDynamicsWorld();
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0;
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0001;
}
@@ -596,8 +596,8 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.04;
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
@@ -2957,7 +2957,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_data->m_gripperMultiBody->getLink(i ).m_userPtr;
if (motor)
{
motor->setErp(0.1);
motor->setErp(0.2);
btScalar posTarget = 0.1 + (1 - btMin(0.75,gVRGripperAnalog)*1.5)*SIMD_HALF_PI*0.29;
btScalar maxPosTarget = 0.55;
@@ -2972,7 +2972,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
motor->setPositionTarget(posTarget, 1);
motor->setVelocityTarget(0, 0.5);
btScalar maxImp = 500*m_data->m_physicsDeltaTime;
btScalar maxImp = 1*m_data->m_physicsDeltaTime;
motor->setMaxAppliedImpulse(maxImp);
}
}