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expose a maximum velocity due to the joint motor in position control.

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see also pybullet/examples/motorMaxVelocity.py
this fixes issue 1444
This commit is contained in:
erwincoumans
2017-11-21 17:05:28 -08:00
parent 3f60be59ad
commit ab843b26f0
6 changed files with 42 additions and 4 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -606,6 +606,19 @@ B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle,
return 0;
}
B3_SHARED_API int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double maximumVelocity)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
{
command->m_sendDesiredStateCommandArgument.m_rhsClamp[dofIndex] = maximumVelocity;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_RHS_CLAMP;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_RHS_CLAMP;
}
return 0;
}
B3_SHARED_API int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;