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fix some out-of-date comments in btMultiBody, thanks to Thomas Buschmann

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disable disactivation for btRigidBody in import urdf demo, increase strength of joint motor for btMultiBody
This commit is contained in:
Erwin Coumans
2015-07-15 17:39:43 -07:00
parent b563c7c8ce
commit 7698d5f95c
5 changed files with 25 additions and 14 deletions
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4
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -182,7 +182,7 @@ void btMultiBody::setupPrismatic(int i,
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &jointAxis,
const btVector3 &parentComToThisComOffset,
const btVector3 &parentComToThisPivotOffset,
const btVector3 &thisPivotToThisComOffset,
bool disableParentCollision)
{
@@ -198,7 +198,7 @@ void btMultiBody::setupPrismatic(int i,
m_links[i].m_zeroRotParentToThis = rotParentToThis;
m_links[i].setAxisTop(0, 0., 0., 0.);
m_links[i].setAxisBottom(0, jointAxis);
m_links[i].m_eVector = parentComToThisComOffset;
m_links[i].m_eVector = parentComToThisPivotOffset;
m_links[i].m_dVector = thisPivotToThisComOffset;
m_links[i].m_cachedRotParentToThis = rotParentToThis;

2
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -83,7 +83,7 @@ public:
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &jointAxis,
const btVector3 &parentComToThisComOffset,
const btVector3 &parentComToThisPivotOffset,
const btVector3 &thisPivotToThisComOffset,
bool disableParentCollision);

13
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -56,11 +56,14 @@ struct btMultibodyLink
btQuaternion m_zeroRotParentToThis; // rotates vectors in parent-frame to vectors in local-frame (when q=0). constant.
btVector3 m_dVector; // vector from the inboard joint pos to this link's COM. (local frame.) constant. set for revolute joints only.
// m_eVector is constant, but depends on the joint type
// prismatic: vector from COM of parent to COM of this link, WHEN Q = 0. (local frame.)
// revolute: vector from parent's COM to the pivot point, in PARENT's frame.
btVector3 m_dVector; // vector from the inboard joint pos to this link's COM. (local frame.) constant.
//this is set to zero for planar joint (see also m_eVector comment)
// m_eVector is constant, but depends on the joint type:
// revolute, fixed, prismatic, spherical: vector from parent's COM to the pivot point, in PARENT's frame.
// planar: vector from COM of parent to COM of this link, WHEN Q = 0. (local frame.)
// todo: fix the planar so it is consistent with the other joints
btVector3 m_eVector;
btSpatialMotionVector m_absFrameTotVelocity, m_absFrameLocVelocity;