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add 'fixed' joint for btMultiBody

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improve btMultiBody version of URDF reader (still work-in-progress)
enabled planar joint for btMultiBody (untested)
enable loading from relative path for .stl meshes
This commit is contained in:
erwin coumans
2014-08-28 18:42:08 -07:00
parent 3c558ec995
commit 89addd438e
19 changed files with 1276 additions and 304 deletions
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2
btgui/urdf/urdfdom/urdf_parser/src/model.cpp
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@@ -116,6 +116,7 @@ my_shared_ptr<ModelInterface> parseURDF(const std::string &xml_string)
{
my_shared_ptr<Link> link;
link.reset(new Link);
model->m_numLinks++;
try {
parseLink(*link, link_xml);
@@ -176,6 +177,7 @@ my_shared_ptr<ModelInterface> parseURDF(const std::string &xml_string)
{
my_shared_ptr<Joint> joint;
joint.reset(new Joint);
model->m_numJoints++;
if (parseJoint(*joint, joint_xml))
{