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fix some btMultiBody URDF conversion issues in ImportURDFSetup

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remove various vertex format structures and use GLInstanceVertex from #include "OpenGLWindow/GLInstanceGraphicsShape.h"
btMultiBody::setupPrismatic takes an additional argument to allow a shift of inertia tensor, relative to the joint frame (link frame at q=0)
This commit is contained in:
=
2015-02-12 09:11:55 -08:00
parent 70221aeb3e
commit 27aa959059
11 changed files with 473 additions and 142 deletions
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5
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -167,13 +167,15 @@ void btMultiBody::setupFixed(int i,
}
void btMultiBody::setupPrismatic(int i,
btScalar mass,
const btVector3 &inertia,
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &jointAxis,
const btVector3 &parentComToThisComOffset,
const btVector3 &parentComToThisComOffset,
const btVector3 &thisPivotToThisComOffset,
bool disableParentCollision)
{
if(m_isMultiDof)
@@ -189,6 +191,7 @@ void btMultiBody::setupPrismatic(int i,
m_links[i].setAxisTop(0, 0., 0., 0.);
m_links[i].setAxisBottom(0, jointAxis);
m_links[i].m_eVector = parentComToThisComOffset;
m_links[i].m_dVector = thisPivotToThisComOffset;
m_links[i].m_cachedRotParentToThis = rotParentToThis;
m_links[i].m_jointType = btMultibodyLink::ePrismatic;

20
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -65,16 +65,16 @@ public:
const btVector3 &thisPivotToThisComOffset,
bool disableParentCollision);
void setupPrismatic(int linkIndex, // 0 to num_links-1
btScalar mass,
const btVector3 &inertia, // in my frame; assumed diagonal
int parent,
const btQuaternion &rotParentToThis, // rotate points in parent frame to my frame.
const btVector3 &jointAxis, // in my frame
const btVector3 &parentComToThisComOffset, // vector from parent COM to my COM, in my frame, when q = 0.
bool disableParentCollision=false
);
void setupPrismatic(int i,
btScalar mass,
const btVector3 &inertia,
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &jointAxis,
const btVector3 &parentComToThisComOffset,
const btVector3 &thisPivotToThisComOffset,
bool disableParentCollision);
void setupRevolute(int linkIndex, // 0 to num_links-1
btScalar mass,

2
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -493,7 +493,7 @@ struct btMultibodyLink
case ePrismatic:
{
// m_cachedRotParentToThis never changes, so no need to update
m_cachedRVector = quatRotate(m_cachedRotParentToThis,m_eVector) + pJointPos[0] * getAxisBottom(0);
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector) + pJointPos[0] * getAxisBottom(0);
break;
}