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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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14
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -25,7 +25,7 @@ enum btMultiBodyLinkFlags
BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1
};
//#define BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS
#define BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS
#define TEST_SPATIAL_ALGEBRA_LAYER
//
@@ -368,7 +368,9 @@ struct btMultibodyLink
// revolute: vector from parent's COM to the pivot point, in PARENT's frame.
btVector3 m_eVector;
#ifdef TEST_SPATIAL_ALGEBRA_LAYER
btSpatialMotionVector m_absFrameTotVelocity, m_absFrameLocVelocity;
#endif
enum eFeatherstoneJointType
{
@@ -378,6 +380,7 @@ struct btMultibodyLink
#ifdef BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS
ePlanar = 3,
#endif
eFixed = 4,
eInvalid
};
@@ -505,11 +508,18 @@ struct btMultibodyLink
case ePlanar:
{
m_cachedRotParentToThis = btQuaternion(getAxisTop(0),-pJointPos[0]) * m_zeroRotParentToThis;
m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0),-pJointPos[0]), pJointPos[1] * m_axesBottom[1] + pJointPos[2] * m_axesBottom[2]) + quatRotate(m_cachedRotParentToThis,m_eVector);
m_cachedRVector = quatRotate(btQuaternion(getAxisTop(0),-pJointPos[0]), pJointPos[1] * getAxisBottom(1) + pJointPos[2] * getAxisBottom(2)) + quatRotate(m_cachedRotParentToThis,m_eVector);
break;
}
#endif
case eFixed:
{
m_cachedRotParentToThis = m_zeroRotParentToThis;
m_cachedRVector = quatRotate(m_cachedRotParentToThis,m_eVector);
break;
}
default:
{
//invalid type