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implement pybullet.createUserConstraint for maximalCoordinates (fixed, p2p, gear)

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maximalCoordinates, make sure parent is bodyA, child is BodyB
This commit is contained in:
erwincoumans
2017-08-30 09:54:38 -07:00
parent 9d404f5316
commit 8dfa76e924
2 changed files with 143 additions and 30 deletions
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6
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -390,7 +390,7 @@ void ConvertURDF2BulletInternal(
{
//b3Printf("Fixed joint\n");
btGeneric6DofSpring2Constraint* dof6 = creation.createFixedJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA);
btGeneric6DofSpring2Constraint* dof6 = creation.createFixedJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
if (enableConstraints)
world1->addConstraint(dof6,true);
@@ -417,7 +417,7 @@ void ConvertURDF2BulletInternal(
} else
{
btGeneric6DofSpring2Constraint* dof6 = creation.createRevoluteJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
btGeneric6DofSpring2Constraint* dof6 = creation.createRevoluteJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
if (enableConstraints)
world1->addConstraint(dof6,true);
@@ -449,9 +449,7 @@ void ConvertURDF2BulletInternal(
} else
{
//btGeneric6DofSpring2Constraint* dof6 = creation.createPrismaticJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,jointLowerLimit,jointUpperLimit);
btGeneric6DofSpring2Constraint* dof6 = creation.createPrismaticJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB,jointAxisInJointSpace,jointLowerLimit,jointUpperLimit);
if (enableConstraints)
world1->addConstraint(dof6,true);