Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

enable motor control for maximal coordinates robots (btRigidBody, btTypedConstraint) for force, velocity, position control.

Browse Source
This commit is contained in:
erwincoumans
2017-08-29 19:14:27 -07:00
parent 4ff6befc6d
commit 1f7db4519e
5 changed files with 386 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
View File

@@ -180,7 +180,7 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createFixedJoint(int u
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
m_6DofConstraints.push_back(dof6);
return dof6;
}
@@ -188,6 +188,10 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::createFixedJoint(int u
void MyMultiBodyCreator::addLinkMapping(int urdfLinkIndex, int mbLinkIndex)
{
if (m_mb2urdfLink.size()<(mbLinkIndex+1))
{
m_mb2urdfLink.resize((mbLinkIndex+1),-2);
}
// m_urdf2mbLink[urdfLinkIndex] = mbLinkIndex;
m_mb2urdfLink[mbLinkIndex] = urdfLinkIndex;
}