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remove pose frame from SDF,

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allow plane collision shape in SDF
load the Roboschool stadium.sdf in humanoid_knee_position_control.py
This commit is contained in:
erwincoumans
2017-06-01 20:13:39 -07:00
parent baa8c3adc2
commit 3987bdd333
8 changed files with 64 additions and 42 deletions
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54
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3940,38 +3940,40 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
else
{
if (mb->getLinkCollider(linkIndex))
if (linkIndex >= 0 && linkIndex < mb->getNumLinks())
{
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
if (mb->getLinkCollider(linkIndex))
{
mb->getLinkCollider(linkIndex)->setRestitution(restitution);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
{
mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
{
mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
{
mb->getLinkCollider(linkIndex)->setRestitution(restitution);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
{
mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
{
mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
{
mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
{
mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
{
mb->getLink(linkIndex).m_mass = mass;
if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
{
btVector3 localInertia;
mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass,localInertia);
mb->getLink(linkIndex).m_inertiaLocal = localInertia;
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
{
mb->getLink(linkIndex).m_mass = mass;
if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
{
btVector3 localInertia;
mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass,localInertia);
mb->getLink(linkIndex).m_inertiaLocal = localInertia;
}
}
}
}
} else