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set desired position target

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This commit is contained in:
yunfeibai
2016-04-19 14:19:18 -07:00
parent 05845d7df9
commit c3afbf7689
1 changed files with 11 additions and 3 deletions
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14
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -16,7 +16,9 @@ struct MyMotorInfo2
{ {
btScalar m_velTarget; btScalar m_velTarget;
btScalar m_maxForce; btScalar m_maxForce;
btScalar m_posTarget;
int m_uIndex; int m_uIndex;
int m_qIndex;
}; };
@@ -40,6 +42,7 @@ public:
//@todo, add accessor methods //@todo, add accessor methods
MyMotorInfo2 m_motorTargetVelocities[MAX_NUM_MOTORS]; MyMotorInfo2 m_motorTargetVelocities[MAX_NUM_MOTORS];
MyMotorInfo2 m_motorTargetPositions[MAX_NUM_MOTORS];
int m_numMotors; int m_numMotors;
@@ -136,10 +139,14 @@ public:
{ {
for (int i=0;i<m_numMotors;i++) for (int i=0;i<m_numMotors;i++)
{ {
btScalar targetVel = m_motorTargetVelocities[i].m_velTarget; // btScalar targetVel = m_motorTargetVelocities[i].m_velTarget;
int uIndex = m_motorTargetVelocities[i].m_uIndex; int uIndex = m_motorTargetVelocities[i].m_uIndex;
b3JointControlSetDesiredVelocity(commandHandle, uIndex,targetVel); // b3JointControlSetDesiredVelocity(commandHandle, uIndex,targetVel);
btScalar targetPos = m_motorTargetPositions[i].m_posTarget;
int qIndex = m_motorTargetPositions[i].m_qIndex;
b3JointControlSetDesiredPosition(commandHandle, qIndex, targetPos);
b3JointControlSetMaximumForce(commandHandle,uIndex,1000); b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
} }
} }
@@ -407,6 +414,7 @@ void PhysicsClientExample::createButtons()
MyMotorInfo2* motorInfo = &m_motorTargetVelocities[m_numMotors]; MyMotorInfo2* motorInfo = &m_motorTargetVelocities[m_numMotors];
motorInfo->m_velTarget = 0.f; motorInfo->m_velTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex; motorInfo->m_uIndex = info.m_uIndex;
motorInfo->m_qIndex = info.m_qIndex;
SliderParams slider(motorName,&motorInfo->m_velTarget); SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4; slider.m_minVal=-4;