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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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4
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -215,7 +215,7 @@ void ConvertURDF2BulletInternal(
//b3Printf("urdf parent index = %d\n",urdfParentIndex);
//b3Printf("mb parent index = %d\n",mbParentIndex);
parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
u2b.getMassAndInertia(urdfParentIndex, parentMass,parentLocalInertiaDiagonal,parentLocalInertialFrame);
u2b.getMassAndInertia2(urdfParentIndex, parentMass,parentLocalInertiaDiagonal,parentLocalInertialFrame, flags);
}
@@ -223,7 +223,7 @@ void ConvertURDF2BulletInternal(
btTransform localInertialFrame;
localInertialFrame.setIdentity();
btVector3 localInertiaDiagonal(0,0,0);
u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame);
u2b.getMassAndInertia2(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame, flags);