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few fixes in inverse dynamics

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This commit is contained in:
erwincoumans
2018-12-19 20:15:30 -08:00
parent 78de1f070f
commit 8e8c3fb315
5 changed files with 35 additions and 3 deletions
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12
Extras/InverseDynamics/btMultiBodyTreeCreator.cpp
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@@ -202,8 +202,16 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
break;
case btMultibodyLink::eSpherical:
bt_id_error_message("spherical joints not implemented\n");
return -1;
link.joint_type = SPHERICAL;
link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0];
link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1];
link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2];
// random unit vector
link.body_axis_of_motion(0) = 0;
link.body_axis_of_motion(1) = 0;
link.body_axis_of_motion(2) = 1;
break;
case btMultibodyLink::ePlanar:
bt_id_error_message("planar joints not implemented\n");
return -1;