Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -2602,7 +2602,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
bodyHandle->m_bodyName = u2b.getBodyName();
btVector3 localInertiaDiagonal(0,0,0);
int urdfLinkIndex = u2b.getRootLinkIndex();
u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame);
u2b.getMassAndInertia2(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame,flags);
}
@@ -2664,7 +2664,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
btScalar mass;
btVector3 localInertiaDiagonal(0,0,0);
btTransform localInertialFrame;
u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame);
u2b.getMassAndInertia2(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame, flags);
bodyHandle->m_linkLocalInertialFrames.push_back(localInertialFrame);
std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str());