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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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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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examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -59,6 +59,8 @@ public:
virtual std::string getJointName(int linkIndex) const;
virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
virtual void getMassAndInertia2(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame, int flags) const;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;