MJCF: support for "axisangle", small code improvements

2017-04-06 04:25:56 +03:00
parent 49eda303bc
commit 1524004aa8
3 changed files with 30 additions and 26 deletions
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -285,6 +285,9 @@ void ConvertURDF2BulletInternal(
            if (!(flags & CUF_USE_URDF_INERTIA))
            {
                compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
+                assert(localInertiaDiagonal[0] < 1e10);
+                assert(localInertiaDiagonal[1] < 1e10);
+                assert(localInertiaDiagonal[2] < 1e10);
            }
            URDFLinkContactInfo contactInfo;
            u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);