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allow to control of powered joints after loading a URDF file, through shared memory

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more refactor of shared memory joint control API
This commit is contained in:
Erwin Coumans
2015-07-20 23:35:29 -07:00
parent 68b53feb9c
commit 8e163c984d
10 changed files with 279 additions and 118 deletions
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6
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -457,7 +457,11 @@ void ConvertURDF2Bullet(const URDFImporterInterface& u2b, MultiBodyCreationInter
mb->finalizeMultiDof();
mb->setBaseWorldTransform(rootTransformInWorldSpace);
btAlignedObjectArray<btQuaternion> scratch_q;
btAlignedObjectArray<btVector3> scratch_m;
mb->forwardKinematics(scratch_q,scratch_m);
mb->updateCollisionObjectWorldTransforms(scratch_q,scratch_m);
world1->addMultiBody(mb);
}
}