Support for reading <inertial> elements from MJCF

2017-12-23 08:49:48 +01:00
parent 60d2af8ed2
commit 4d70d54d19
2 changed files with 20 additions and 8 deletions
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -296,7 +296,9 @@ void ConvertURDF2BulletInternal(
         */
        if (mass)
        {
-            if (!(flags & CUF_USE_URDF_INERTIA))
+            if (!(flags & CUF_USE_URDF_INERTIA) && (localInertiaDiagonal[0] == 0.0 ||
+													localInertiaDiagonal[1] == 0.0 ||
+													localInertiaDiagonal[2] == 0.0))
            {
                compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
                btAssert(localInertiaDiagonal[0] < 1e10);