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

Expose 'flags' option for loadURDF, to allow customization of the URDF loading process while maintaining backward compatibility.

Browse Source 
For example: URDF_USE_INERTIA_FROM_FILE flag. By default, URDF2Bullet will re-compute the inertia tensor based on mass and volume, because most URDF files have bogus Inertia values.
This commit is contained in:
Erwin Coumans
2017-03-27 08:30:20 -07:00
parent d78909aef9
commit 4911916937
9 changed files with 44 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
View File

@@ -15,12 +15,14 @@ struct b3RobotSimulatorLoadUrdfFileArgs
b3Quaternion m_startOrientation;
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
int m_flags;
b3RobotSimulatorLoadUrdfFileArgs()
: m_startPosition(b3MakeVector3(0, 0, 0)),
m_startOrientation(b3Quaternion(0, 0, 0, 1)),
m_forceOverrideFixedBase(false),
m_useMultiBody(true)
m_useMultiBody(true),
m_flags(0)
{
}
};