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

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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
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3
Demos3/ImportURDFDemo/URDF2Bullet.h
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@@ -27,6 +27,8 @@ public:
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const =0;
virtual std::string getJointName(int linkIndex) const = 0;
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const =0;
@@ -54,6 +56,7 @@ public:
virtual class btMultiBodyLinkCollider* allocateMultiBodyLinkCollider(int urdfLinkIndex, int mbLinkIndex, btMultiBody* body) const = 0;
virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex) const = 0;
};