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Support the <static> field under <model> in SDF to make the model immovable, similar to setting the mass to zero.

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Add joint velocity motors in ImportSDF example.
This commit is contained in:
erwin coumans
2016-06-02 18:04:22 -07:00
parent 5bf125cab5
commit 0b69ba7f61
4 changed files with 88 additions and 4 deletions
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17
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -267,14 +267,25 @@ void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVect
//the link->m_inertia is NOT necessarily aligned with the inertial frame
//so an additional transform might need to be computed
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
btAssert(linkPtr);
if (linkPtr)
{
UrdfLink* link = *linkPtr;
mass = link->m_inertia.m_mass;
if (link->m_parentJoint==0 && m_data->m_urdfParser.getModel().m_overrideFixedBase)
{
mass = 0.f;
localInertiaDiagonal.setValue(0,0,0);
}
else
{
mass = link->m_inertia.m_mass;
localInertiaDiagonal.setValue(link->m_inertia.m_ixx,link->m_inertia.m_iyy,
link->m_inertia.m_izz);
}
inertialFrame = link->m_inertia.m_linkLocalFrame;
localInertiaDiagonal.setValue(link->m_inertia.m_ixx,link->m_inertia.m_iyy,
link->m_inertia.m_izz);
}
else
{