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Code Issues Releases Wiki Activity

disable velocity clamp (maxVelocity) in velocity control mode,

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remove some warnings
This commit is contained in:
Erwin Coumans 2018-04-10 17:21:14 -07:00
parent f37e22bfba
commit 0832d3fd22
1 changed files with 23 additions and 20 deletions
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43
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -482,10 +482,10 @@ struct CommandLogPlayback
SharedMemoryCommand unused;
#endif//BACKWARD_COMPAT
bool result = false;
size_t s = 0;
if (m_file)
{
size_t s = 0;
int commandType = -1;
if (m_fileIs64bit)
@ -518,8 +518,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT
cmd->m_mjcfArguments = unused.m_mjcfArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_mjcfArguments,sizeof(MjcfArgs),1,m_file);
s=fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
s = fread(&cmd->m_mjcfArguments,sizeof(MjcfArgs),1,m_file);
#endif
result=true;
break;
@ -529,8 +529,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT
cmd->m_sdfRequestInfoArgs = unused.m_sdfRequestInfoArgs;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_sdfRequestInfoArgs,sizeof(SdfRequestInfoArgs),1,m_file);
s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
s = fread(&cmd->m_sdfRequestInfoArgs,sizeof(SdfRequestInfoArgs),1,m_file);
#endif
result=true;
break;
@ -540,8 +540,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT
cmd->m_requestVisualShapeDataArguments = unused.m_requestVisualShapeDataArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestVisualShapeDataArguments,sizeof(RequestVisualShapeDataArgs),1,m_file);
s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
s = fread(&cmd->m_requestVisualShapeDataArguments,sizeof(RequestVisualShapeDataArgs),1,m_file);
#endif
result=true;
break;
@ -551,8 +551,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT
cmd->m_urdfArguments = unused.m_urdfArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_urdfArguments,sizeof(UrdfArgs),1,m_file);
s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
s = fread(&cmd->m_urdfArguments,sizeof(UrdfArgs),1,m_file);
#endif
result=true;
break;
@ -562,8 +562,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT
cmd->m_initPoseArgs = unused.m_initPoseArgs;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);
s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
s = fread(&cmd->m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);
#endif
result=true;
@ -574,8 +574,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT
cmd->m_requestActualStateInformationCommandArgument = unused.m_requestActualStateInformationCommandArgument;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestActualStateInformationCommandArgument,sizeof(RequestActualStateArgs),1,m_file);
s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
s = fread(&cmd->m_requestActualStateInformationCommandArgument,sizeof(RequestActualStateArgs),1,m_file);
#endif
result=true;
break;
@ -585,8 +585,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT
cmd->m_sendDesiredStateCommandArgument = unused.m_sendDesiredStateCommandArgument;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_sendDesiredStateCommandArgument ,sizeof(SendDesiredStateArgs),1,m_file);
s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
s = fread(&cmd->m_sendDesiredStateCommandArgument ,sizeof(SendDesiredStateArgs),1,m_file);
#endif
result = true;
@ -597,8 +597,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT
cmd->m_physSimParamArgs = unused.m_physSimParamArgs;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_physSimParamArgs ,sizeof(b3PhysicsSimulationParameters),1,m_file);
s= s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
s = fread(&cmd->m_physSimParamArgs ,sizeof(b3PhysicsSimulationParameters),1,m_file);
#endif
result = true;
@ -609,8 +609,8 @@ struct CommandLogPlayback
#ifdef BACKWARD_COMPAT
cmd->m_requestContactPointArguments = unused.m_requestContactPointArguments;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_requestContactPointArguments ,sizeof(RequestContactDataArgs),1,m_file);
s = fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
s = fread(&cmd->m_requestContactPointArguments ,sizeof(RequestContactDataArgs),1,m_file);
#endif
result = true;
@ -4794,6 +4794,9 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
}
if (hasDesiredVelocity)
{
//disable velocity clamp in velocity mode
motor->setRhsClamp(SIMD_INFINITY);
btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime;
if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex]&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
{