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Merge pull request #746 from erwincoumans/master

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bugfix: in torque control mode, torque index starts at 6.
This commit is contained in:
erwincoumans
2016-08-18 16:11:46 -07:00
committed by GitHub
parent 2a3020d975 8c2b1386ce
commit aee6b35382
2 changed files with 2 additions and 2 deletions
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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1418,7 +1418,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
b3Printf("Using CONTROL_MODE_TORQUE"); b3Printf("Using CONTROL_MODE_TORQUE");
} }
// mb->clearForcesAndTorques(); // mb->clearForcesAndTorques();
int torqueIndex = 0; int torqueIndex = 6;
if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
{ {
for (int link=0;link<mb->getNumLinks();link++) for (int link=0;link<mb->getNumLinks();link++)

2
examples/Utils/b3Clock.cpp
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@@ -239,7 +239,7 @@ void b3Clock::usleep(int microSeconds)
Sleep(millis); Sleep(millis);
#else #else
usleep(microSeconds); ::usleep(microSeconds);
//struct timeval tv; //struct timeval tv;
//tv.tv_sec = microSeconds/1000000L; //tv.tv_sec = microSeconds/1000000L;
//tv.tv_usec = microSeconds%1000000L; //tv.tv_usec = microSeconds%1000000L;