From 126537bd93d7d67f62ec6578bbf0e074c9b47700 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sun, 28 Oct 2018 19:51:01 -0700 Subject: [PATCH] pybullet: fix issue with loadBullet command --- .../Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp b/Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp index 28d069505..884da0072 100644 --- a/Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp +++ b/Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp @@ -219,6 +219,7 @@ void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data) mb->setupPrismatic(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex, parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision); mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]); + mb->finalizeMultiDof(); mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]); break; } @@ -230,6 +231,7 @@ void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data) mb->setupRevolute(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex, parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision); mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]); + mb->finalizeMultiDof(); mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]); break; } @@ -242,6 +244,7 @@ void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data) btScalar jointPos[4] = {(btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3]}; btScalar jointVel[3] = {(btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2]}; mb->setJointPosMultiDof(i, jointPos); + mb->finalizeMultiDof(); mb->setJointVelMultiDof(i, jointVel); break;