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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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src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -122,7 +122,7 @@ btMultiBody::btMultiBody(int n_links,
m_dofCount(0),
m_posVarCnt(0),
m_useRK4(false),
m_useGlobalVelocities(true),
m_useGlobalVelocities(false),
m_internalNeedsJointFeedback(false)
{
m_cachedInertiaTopLeft.setValue(0,0,0,0,0,0,0,0,0);