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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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17
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -56,7 +56,16 @@ public:
~btMultiBody();
void setupPrismatic(int i, // 0 to num_links-1
void btMultiBody::setupFixed(int linkIndex,
btScalar mass,
const btVector3 &inertia,
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &parentComToThisComOffset,
bool disableParentCollision);
void setupPrismatic(int linkIndex, // 0 to num_links-1
btScalar mass,
const btVector3 &inertia, // in my frame; assumed diagonal
int parent,
@@ -66,17 +75,17 @@ public:
bool disableParentCollision=false
);
void setupRevolute(int i, // 0 to num_links-1
void setupRevolute(int linkIndex, // 0 to num_links-1
btScalar mass,
const btVector3 &inertia,
int parent,
int parentIndex,
const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0
const btVector3 &jointAxis, // in my frame
const btVector3 &parentComToThisPivotOffset, // vector from parent COM to joint axis, in PARENT frame
const btVector3 &thisPivotToThisComOffset, // vector from joint axis to my COM, in MY frame
bool disableParentCollision=false);
void setupSpherical(int i, // 0 to num_links-1
void setupSpherical(int linkIndex, // 0 to num_links-1
btScalar mass,
const btVector3 &inertia,
int parent,