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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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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2704,7 +2704,7 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
m_data->m_sdfRecentLoadedBodies.clear();
BulletMJCFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
BulletMJCFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, flags);
bool useFixedBase = false;
MyMJCFLogger2 logger;

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -673,7 +673,7 @@ enum eURDF_Flags
URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
URDF_RESERVED=64,
URDF_USE_IMPLICIT_CYLINDER =128,
URDF_NO_GLOBAL_VELOCITIES_MB =256,
URDF_GLOBAL_VELOCITIES_MB =256,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes