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leave m_useGlobalVelocities to false, until enabled, for backward compatibility

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use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
This commit is contained in:
erwincoumans
2018-01-10 11:16:50 -08:00
parent c4b1b84687
commit 22b4809891
11 changed files with 61 additions and 47 deletions
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examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -19,7 +19,7 @@ class BulletMJCFImporter : public URDFImporterInterface
struct BulletMJCFImporterInternalData* m_data;
public:
BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter);
BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags);
virtual ~BulletMJCFImporter();
virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);