Minor update

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@293 042f3d55-54a8-47e9-b7fb-15903f145c44

SimDynamics/DynamicsEngine/DynamicsRobot.cpp

@@ -95,7 +95,24 @@ void DynamicsRobot::disableNodeActuation( VirtualRobot::RobotNodePtr node )
 		actuationTargets.erase(node);
 	}
 }
-
+void DynamicsRobot::enableActuation()
+{
+	std::map<VirtualRobot::RobotNodePtr, robotNodeActuationTarget>::iterator it = actuationTargets.begin();
+	while (it!=actuationTargets.end())
+	{
+		it->second.enabled = true;
+		it++;
+	}
+}
+void DynamicsRobot::disableActuation()
+{
+	std::map<VirtualRobot::RobotNodePtr, robotNodeActuationTarget>::iterator it = actuationTargets.begin();
+	while (it!=actuationTargets.end())
+	{
+		it->second.enabled = false;
+		it++;
+	}
+}
 void DynamicsRobot::actuateJoints(float dt)
 {
 

SimDynamics/DynamicsEngine/DynamicsRobot.h

@@ -64,6 +64,8 @@ public:
 	virtual void disableNodeActuation(VirtualRobot::RobotNodePtr node);
 	virtual bool isNodeActuated(VirtualRobot::RobotNodePtr node);
 	virtual float getNodeTarget(VirtualRobot::RobotNodePtr node);
+	virtual void enableActuation();
+	virtual void disableActuation();
 
 	/*!
 		Usually this method is called by the framework in every tick to perform joint actuation.

SimDynamics/examples/BulletDebugViewerGlut/BulletDebugViewerGlut.cpp

@@ -26,12 +26,12 @@ int main(int argc,char* argv[])
 	world->addObject(dynObj);*/
 
 
-	//std::string robFile("robots/examples/SimpleRobot/Joint3DH.xml");
+	std::string robFile("robots/examples/SimpleRobot/Joint3DH.xml");
 	//std::string robFile("robots/iCub/iCub.xml");
 	//std::string robFile("robots/iCub/iCub_LeftLegTest.xml");
 	//std::string robFile("robots/ArmarIII/ArmarIII-RightArm.xml");
 	//std::string robFile("robots/ArmarIII/ArmarIII-RightHandTest.xml");
-	std::string robFile("robots/ArmarIII/ArmarIII-HeadTest.xml");
+	//std::string robFile("robots/ArmarIII/ArmarIII-HeadTest.xml");
 	//std::string robFile("robots/ArmarIII/ArmarIII-RightArmTest2.xml");
 	//std::string robFile("robots/ArmarIII/ArmarIII.xml");
 	//std::string robFile("robots/iCub/iCub_RightHand.xml");
@@ -45,8 +45,8 @@ int main(int argc,char* argv[])
 		gp(2,3) = 400.0f;
 		robot->setGlobalPose(gp);
 		DynamicsRobotPtr dynRob = world->CreateDynamicsRobot(robot);
+		dynRob->disableActuation();
 		world->addRobot(dynRob);
-
 	}
 	BulletOpenGLViewer viewer(world);
 	viewer.enableContraintsDebugDrawing();