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

see also pybullet/examples/motorMaxVelocity.py this fixes issue 1444
2017-11-21 17:05:28 -08:00
parent 3f60be59ad
commit ab843b26f0
6 changed files with 42 additions and 4 deletions
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4531,6 +4531,10 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct

 							if (motor)
 							{
+								if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex]&SIM_DESIRED_STATE_HAS_RHS_CLAMP)!=0)
+								{
+									motor->setRhsClamp(clientCmd.m_sendDesiredStateCommandArgument.m_rhsClamp[velIndex]);
+								}

 								bool hasDesiredPosOrVel = false;
 								btScalar kp = 0.f;