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

Merge remote-tracking branch 'bp/master'

Browse Source
This commit is contained in:
erwincoumans
2017-10-09 21:09:23 -07:00
parent d48e2a20af 0be7584eee
commit 6b4f69f733
1 changed files with 17 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -3977,7 +3977,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case ePoint2PointType: case ePoint2PointType:
{ {
sprintf(jointTypeStr,"p.JOINT_POINT2POINT"); sprintf(jointTypeStr,"p.JOINT_POINT2POINT");
break; } break;
}
case eGearType:
{
sprintf(jointTypeStr,"p.JOINT_GEAR");
break;
}
default: default:
{ {
hasKnownJointType = false; hasKnownJointType = false;
@@ -7661,14 +7667,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btInverseDynamics::vecx nu(numDofs+baseDofs), qdot(numDofs + baseDofs), q(numDofs + baseDofs), joint_force(numDofs + baseDofs); btInverseDynamics::vecx nu(numDofs+baseDofs), qdot(numDofs + baseDofs), q(numDofs + baseDofs), joint_force(numDofs + baseDofs);
for (int i = 0; i < numDofs; i++) int DofIndex = 0;
{ for (int i = 0; i < bodyHandle->m_multiBody->getNumLinks(); ++i) {
q_current[i] = bodyHandle->m_multiBody->getJointPos(i); if (bodyHandle->m_multiBody->getLink(i).m_jointType >= 0 && bodyHandle->m_multiBody->getLink(i).m_jointType <= 2) { // 0, 1, 2 represent revolute, prismatic, and spherical joint types respectively. Skip the fixed joints.
q[i+baseDofs] = bodyHandle->m_multiBody->getJointPos(i); q_current[DofIndex] = bodyHandle->m_multiBody->getJointPos(i);
qdot[i + baseDofs] = 0; q[DofIndex+baseDofs] = bodyHandle->m_multiBody->getJointPos(i);
nu[i+baseDofs] = 0; qdot[DofIndex+baseDofs] = 0;
nu[DofIndex+baseDofs] = 0;
DofIndex++;
} }
// Set the gravity to correspond to the world gravity } // Set the gravity to correspond to the world gravity
btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity()); btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity());
if (-1 != tree->setGravityInWorldFrame(id_grav) && if (-1 != tree->setGravityInWorldFrame(id_grav) &&