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

re-enable auto-joint velocity target motors in URDF multibody import

Browse Source
This commit is contained in:
Erwin Coumans
2015-03-20 14:54:34 -07:00
parent 20a270bc94
commit 54b2bd9ff1
4 changed files with 96 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
Demos3/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -285,6 +285,7 @@ void ConvertURDF2BulletInternal(const URDF2Bullet& u2b, URDF2BulletCachedData& c
btQuaternion rot = offsetInA.inverse().getRotation();//parent2joint.inverse().getRotation();
cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
rot*offsetInB.getRotation(), offsetInA.getOrigin(),-offsetInB.getOrigin(),disableParentCollision);
u2b.addLinkMapping(urdfLinkIndex,mbLinkIndex);
btMatrix3x3 rm(rot);
btScalar y,p,r;
@@ -325,6 +326,7 @@ void ConvertURDF2BulletInternal(const URDF2Bullet& u2b, URDF2BulletCachedData& c
offsetInA.inverse().getRotation()*offsetInB.getRotation(), quatRotate(offsetInB.inverse().getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
-offsetInB.getOrigin(),
disableParentCollision);
u2b.addLinkMapping(urdfLinkIndex,mbLinkIndex);
} else
{
@@ -387,7 +389,7 @@ void ConvertURDF2BulletInternal(const URDF2Bullet& u2b, URDF2BulletCachedData& c
-offsetInB.getOrigin(),
disableParentCollision);
u2b.addLinkMapping(urdfLinkIndex,mbLinkIndex);
} else
{