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Only support btMultiBody multi-dof version (remove non-multi-dof path)

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Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
This commit is contained in:
erwincoumans
2015-11-05 21:17:46 -08:00
parent d6464ce40d
commit 2920d7e61f
16 changed files with 125 additions and 374 deletions
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6
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -241,11 +241,11 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
{
if (cache.m_bulletMultiBody==0)
{
bool multiDof = true;
bool canSleep = false;
bool isFixedBase = (mass==0);//todo: figure out when base is fixed
int totalNumJoints = cache.m_totalNumJoints1;
cache.m_bulletMultiBody = creation.allocateMultiBody(urdfLinkIndex, totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep, multiDof);
cache.m_bulletMultiBody = creation.allocateMultiBody(urdfLinkIndex, totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep);
cache.registerMultiBody(urdfLinkIndex, cache.m_bulletMultiBody, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
}
@@ -271,7 +271,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
//b3Printf("Fixed joint (btMultiBody)\n");
btQuaternion rot = offsetInA.inverse().getRotation();//parent2joint.inverse().getRotation();
cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
rot*offsetInB.getRotation(), offsetInA.getOrigin(),-offsetInB.getOrigin(),disableParentCollision);
rot*offsetInB.getRotation(), offsetInA.getOrigin(),-offsetInB.getOrigin());
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);