Function b3JointControlSetKd

examples/SharedMemory/PhysicsClientC_API.cpp:1134–1145

}

B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
	b3Assert(command);
	if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
	{
		command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex] = value;
		command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KD;
		command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_KD;
	}
	return 0;
}

B3_SHARED_API int b3JointControlSetKdMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kds, int dofCount)
{