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add BspDemo.bsp data file

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add sphere2.urdf
move btSpatialAlgebra into LinearMath
remove some warnings, introduce BT_ZERO, BT_ONE, BT_HALF as defines for 0.f/0., 1.f/1., 0.5f/0.5 respectively
This commit is contained in:
erwincoumans
2015-04-16 10:17:35 -07:00
parent a1bf9c5556
commit 794c8ec064
19 changed files with 448 additions and 420 deletions
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data/BspDemo.bsp Normal file
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data/sphere2.urdf Normal file
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<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="fixed">
<parent link="baseLink"/>
<child link="childA"/>
<origin xyz="0 0 1.0"/>
</joint>
</robot>