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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)
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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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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;
}