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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"); //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) if (enableConstraints)
world1->addConstraint(dof6,true); world1->addConstraint(dof6,true);
} }
@@ -417,8 +425,15 @@ void ConvertURDF2BulletInternal(
} else } 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) if (enableConstraints)
world1->addConstraint(dof6,true); world1->addConstraint(dof6,true);
//b3Printf("Revolute/Continuous joint\n"); //b3Printf("Revolute/Continuous joint\n");

1
examples/Importers/ImportURDFDemo/URDFJointTypes.h
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@@ -61,6 +61,7 @@ enum UrdfCollisionFlags
URDF_FORCE_CONCAVE_TRIMESH=1, URDF_FORCE_CONCAVE_TRIMESH=1,
URDF_HAS_COLLISION_GROUP=2, URDF_HAS_COLLISION_GROUP=2,
URDF_HAS_COLLISION_MASK=4, URDF_HAS_COLLISION_MASK=4,
URDF_ORDER_TYPED_CONSTRAINT=8,
}; };
struct UrdfMaterialColor struct UrdfMaterialColor

5
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2416,7 +2416,8 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
MyMultiBodyCreator creation(m_data->m_guiHelper); MyMultiBodyCreator creation(m_data->m_guiHelper);
u2b.getRootTransformInWorld(rootTrans); u2b.getRootTransformInWorld(rootTrans);
ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags); flags |= URDF_ORDER_TYPED_CONSTRAINT;
ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
@@ -2695,6 +2696,8 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
// printf("urdf root link index = %d\n",rootLinkIndex); // printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_data->m_guiHelper); MyMultiBodyCreator creation(m_data->m_guiHelper);
flags |= URDF_ORDER_TYPED_CONSTRAINT;
ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags); ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++) for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)