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backwards compatibility...

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This commit is contained in:
Erwin Coumans
2017-09-07 11:40:11 -07:00
parent c30e9aea92
commit 9ecd345783
3 changed files with 24 additions and 5 deletions
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23
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -390,8 +390,16 @@ void ConvertURDF2BulletInternal(
{
//b3Printf("Fixed joint\n");
btGeneric6DofSpring2Constraint* dof6 = creation.createFixedJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
btGeneric6DofSpring2Constraint* dof6 = 0;
//backward compatibility
if (flags & URDF_ORDER_TYPED_CONSTRAINT )
{
dof6 = creation.createFixedJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
} else
{
dof6 = creation.createFixedJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA);
}
if (enableConstraints)
world1->addConstraint(dof6,true);
}
@@ -417,8 +425,15 @@ void ConvertURDF2BulletInternal(
} else
{
btGeneric6DofSpring2Constraint* dof6 = creation.createRevoluteJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
btGeneric6DofSpring2Constraint* dof6 = 0;
//backwards compatibility
if (flags & URDF_ORDER_TYPED_CONSTRAINT )
{
dof6 = creation.createRevoluteJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
} else
{
dof6 = creation.createRevoluteJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
}
if (enableConstraints)
world1->addConstraint(dof6,true);
//b3Printf("Revolute/Continuous joint\n");

1
examples/Importers/ImportURDFDemo/URDFJointTypes.h
View File

@@ -61,6 +61,7 @@ enum UrdfCollisionFlags
URDF_FORCE_CONCAVE_TRIMESH=1,
URDF_HAS_COLLISION_GROUP=2,
URDF_HAS_COLLISION_MASK=4,
URDF_ORDER_TYPED_CONSTRAINT=8,
};
struct UrdfMaterialColor