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add some minor fixes for URDF2Bullet to make it work (needs more testing)

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This commit is contained in:
erwincoumans
2015-03-18 15:12:27 -07:00
parent b35527ad5c
commit 3d19aec7fa
3 changed files with 20 additions and 7 deletions
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8
Demos3/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -123,7 +123,7 @@ public:
jointType = URDF2Bullet::PlanarJoint;
break;
case Joint::CONTINUOUS:
jointType = URDF2Bullet::FloatingJoint;
jointType = URDF2Bullet::ContinuousJoint;
break;
default:
{
@@ -1429,8 +1429,8 @@ void ImportUrdfSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
int numJoints = (*robot).m_numJoints;
static bool useFeatherstone = false;
bool useUrdfInterfaceClass = false;
static bool useFeatherstone = true;
bool useUrdfInterfaceClass = true;
{
URDF2BulletMappings mappings;
@@ -1446,7 +1446,7 @@ void ImportUrdfSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
URDF2BulletConfig config;
config.m_createMultiBody = useFeatherstone;
//ConvertURDF2Bullet(URDF2Bullet& u2b, int linkIndex, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,URDF2BulletConfig& config, const char* pathPrefix)
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user