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pybullet: fix issue with loadBullet command

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This commit is contained in:
erwincoumans
2018-10-28 19:51:01 -07:00
parent eedca6020b
commit 126537bd93
1 changed files with 3 additions and 0 deletions
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3
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
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@@ -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, mb->setupPrismatic(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision); parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]); mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
mb->finalizeMultiDof();
mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]); mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
break; 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, mb->setupRevolute(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision); parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]); mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
mb->finalizeMultiDof();
mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]); mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
break; 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 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]}; 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->setJointPosMultiDof(i, jointPos);
mb->finalizeMultiDof();
mb->setJointVelMultiDof(i, jointVel); mb->setJointVelMultiDof(i, jointVel);
break; break;