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move PD control from PhysicsServerCommandProcessor into btMultiBodyJointMotor

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improvements/changes in pybullet API
This commit is contained in:
Erwin Coumans
2016-06-24 11:06:56 -07:00
parent 6d1948e79e
commit c17c39c2c9
5 changed files with 146 additions and 81 deletions
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21
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
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@@ -24,9 +24,12 @@ struct btSolverInfo;
class btMultiBodyJointMotor : public btMultiBodyConstraint
{
protected:
btScalar m_desiredVelocity;
btScalar m_desiredVelocity;
btScalar m_desiredPosition;
btScalar m_kd;
btScalar m_kp;
public:
@@ -42,10 +45,18 @@ public:
btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal);
virtual void setVelocityTarget(btScalar velTarget)
virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 1.f)
{
m_desiredVelocity = velTarget;
m_desiredVelocity = velTarget;
m_kd = kd;
}
virtual void setPositionTarget(btScalar posTarget, btScalar kp = 1.f)
{
m_desiredPosition = posTarget;
m_kp = kp;
}
virtual void debugDraw(class btIDebugDraw* drawer)
{