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Merge remote-tracking branch 'bp/master'

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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
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26
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3977,7 +3977,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case ePoint2PointType:
{
sprintf(jointTypeStr,"p.JOINT_POINT2POINT");
break; }
break;
}
case eGearType:
{
sprintf(jointTypeStr,"p.JOINT_GEAR");
break;
}
default:
{
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);
for (int i = 0; i < numDofs; i++)
{
q_current[i] = bodyHandle->m_multiBody->getJointPos(i);
q[i+baseDofs] = bodyHandle->m_multiBody->getJointPos(i);
qdot[i + baseDofs] = 0;
nu[i+baseDofs] = 0;
}
// Set the gravity to correspond to the world gravity
int DofIndex = 0;
for (int i = 0; i < bodyHandle->m_multiBody->getNumLinks(); ++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_current[DofIndex] = bodyHandle->m_multiBody->getJointPos(i);
q[DofIndex+baseDofs] = bodyHandle->m_multiBody->getJointPos(i);
qdot[DofIndex+baseDofs] = 0;
nu[DofIndex+baseDofs] = 0;
DofIndex++;
}
} // Set the gravity to correspond to the world gravity
btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity());
if (-1 != tree->setGravityInWorldFrame(id_grav) &&