actuating joints

[blackbird_dream]

I'd like to control torques in joints, assuming that each torque is the summation of several torques (lets say an accumulator).
Currently I'm doing :

Code: Select all

ctorque = body1->GetTorque() +torqueval1;
body1->SetTorque(ctorque);
ctorque = body1->GetTorque() +torqueval2; 
body1->SetTorque(ctorque);
etc
ctorque = body2->GetTorque() -torqueval1;
body2->SetTorque(ctorque);
ctorque = body2->GetTorque() -torqueval2; 
body2->SetTorque(ctorque);
etc

where body1 and body2 are respectively parent and child of a given joint.
Is it correc t?
Thks beforehand.

[Julio Jerez]

that should work.

[blackbird_dream]

great thks.
I forgot to say, Irrespective of the joint being implemented with a spring damper (SetAsSpringDamper)?
and my code sample was equivalent to :

Code: Select all

ctorque = body1->GetTorque() +torqueval1+torqueval2;
body1->SetTorque(ctorque);
etc


naturally

[Julio Jerez]

Yes, it is analogous to gravity.
It act on all bodies, even the one connected by active joints.