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

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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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5
Demos3/ImportURDFDemo/URDF2Bullet.h
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@@ -1,6 +1,7 @@
#ifndef _URDF2BULLET_H
#define _URDF2BULLET_H
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include <string>
class btVector3;
class btTransform;
@@ -31,6 +32,7 @@ struct URDF2BulletCachedData
btAlignedObjectArray<int> m_urdfLinkParentIndices;
btAlignedObjectArray<int> m_urdfLinkIndices2BulletLinkIndices;
btAlignedObjectArray<class btRigidBody*> m_urdfLink2rigidBodies;
btAlignedObjectArray<btTransform> m_urdfLinkLocalInertialFrames;
int m_currentMultiBodyLinkIndex;
@@ -52,7 +54,7 @@ struct URDF2BulletCachedData
void registerMultiBody( int urdfLinkIndex, class btMultiBody* body, const btTransform& worldTransform, btScalar mass, const btVector3& localInertiaDiagonal, const class btCompoundShape* compound, const btTransform& localInertialFrame)
{
m_urdfLinkLocalInertialFrames[urdfLinkIndex] = localInertialFrame;
}
class btRigidBody* getRigidBodyFromLink(int urdfLinkIndex)
@@ -65,6 +67,7 @@ struct URDF2BulletCachedData
btAssert(m_urdfLink2rigidBodies[urdfLinkIndex]==0);
m_urdfLink2rigidBodies[urdfLinkIndex] = body;
m_urdfLinkLocalInertialFrames[urdfLinkIndex] = localInertialFrame;
/*
struct URDF_LinkInformation