I am trying to have a model rotate along a Lissajous curve. I am using torques to set the angular acceleration to be able to simulate this movement.
For this to work, I have to set the initial angular velocity.
I tried this by adding a parameter which checks if the update method has run before, and then set the angular velocity the first time the Update method of the plugin is called.
> if (!this->dataPtr->runOnce){
this->dataPtr->link->SetAngularVel({0,50,0});
this->dataPtr->runOnce = true;
}
However, if I print out the
> this->dataPtr->link->WorldAngularVel()
I can see that it is set, but the next time the Update method is called, it is already set to a value close to zero.
Just to be sure I added a delay before setting the torques, but they don't have any influence on the initial value, so they must be reset somewhere else...
Any idea what I am doing wrong?
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