Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Do not add limits for continuous joints.

Browse Source
This commit is contained in:
Logan Su
2016-09-23 11:45:46 -07:00
parent 666c8f47b7
commit 3b779ad3e9
1 changed files with 6 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -320,15 +320,12 @@ void ConvertURDF2BulletInternal(
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping; cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction; cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex); creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
if (jointLowerLimit <= jointUpperLimit) if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) {
{
//std::string name = u2b.getLinkName(urdfLinkIndex); //std::string name = u2b.getLinkName(urdfLinkIndex);
//printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit); //printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit);
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit); btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
world1->addMultiBodyConstraint(con); world1->addMultiBodyConstraint(con);
} }
} else } else
{ {