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allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies

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change snake.py to use useMaximalCoordinate = True by default
This commit is contained in:
erwincoumans
2019-03-08 09:20:32 -08:00
parent b1465c8205
commit 32e93d9f91
3 changed files with 57 additions and 30 deletions
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10
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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@@ -33,9 +33,13 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
{
btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
rbci.m_startWorldTransform = initialWorldTrans;
m_rigidBody = new btRigidBody(rbci);
return m_rigidBody;
btRigidBody* body = new btRigidBody(rbci);
if (m_rigidBody == 0)
{
//only store the root of the multi body
m_rigidBody = body;
}
return body;
}
class btMultiBodyLinkCollider* MyMultiBodyCreator::allocateMultiBodyLinkCollider(int /*urdfLinkIndex*/, int mbLinkIndex, btMultiBody* multiBody)