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added LICENSE.txt and AUTHORS.txt file

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add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures.
add btMultiBody::setBaseWorldTransform method
todo: fix cmake build, this patch is premake only
This commit is contained in:
erwin coumans
2015-04-23 15:41:17 -07:00
parent 51938d642e
commit 05bf86d95f
19 changed files with 501 additions and 196 deletions
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16
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -290,11 +290,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
rot*offsetInB.getRotation(), offsetInA.getOrigin(),-offsetInB.getOrigin(),disableParentCollision);
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
btMatrix3x3 rm(rot);
btScalar y,p,r;
rm.getEulerZYX(y,p,r);
printf("y=%f,p=%f,r=%f\n", y,p,r);
} else
{
printf("Fixed joint\n");
@@ -505,6 +501,16 @@ void ConvertURDF2Bullet(const URDFImporterInterface& u2b, MultiBodyCreationInter
int urdfLinkIndex = u2b.getRootLinkIndex();
ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix);
if (world1 && cache.m_bulletMultiBody)
{
btMultiBody* mb = cache.m_bulletMultiBody;
mb->setHasSelfCollision(false);
mb->finalizeMultiDof();
mb->setBaseWorldTransform(rootTransformInWorldSpace);
world1->addMultiBody(mb);
}
}