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don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA is set, not for the diagonal and also not for the inertial frame shift.

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This commit is contained in:
Erwin Coumans
2018-05-03 14:24:16 -07:00
parent d70a9ae3a3
commit 84b20bda80
5 changed files with 51 additions and 6 deletions
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39
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -300,6 +300,45 @@ std::string BulletURDFImporter::getJointName(int linkIndex) const
return "";
}
void BulletURDFImporter::getMassAndInertia2(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame, int flags) const
{
if (flags & CUF_USE_URDF_INERTIA)
{
getMassAndInertia(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrame);
}
else
{
//the link->m_inertia is NOT necessarily aligned with the inertial frame
//so an additional transform might need to be computed
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdfLinkIndex);
btAssert(linkPtr);
if (linkPtr)
{
UrdfLink* link = *linkPtr;
btScalar linkMass;
if (link->m_parentJoint == 0 && m_data->m_urdfParser.getModel().m_overrideFixedBase)
{
linkMass = 0.f;
}
else
{
linkMass = link->m_inertia.m_mass;
}
mass = linkMass;
localInertiaDiagonal.setValue(0,0,0);
inertialFrame.setOrigin(link->m_inertia.m_linkLocalFrame.getOrigin());
inertialFrame.setBasis(link->m_inertia.m_linkLocalFrame.getBasis());
}
else
{
mass = 1.f;
localInertiaDiagonal.setValue(1, 1, 1);
inertialFrame.setIdentity();
}
}
}
void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
{