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create URDF skeleton for a demo (only loading data, not converting it yet)

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This commit is contained in:
Erwin Coumans
2014-07-31 16:54:28 -07:00
parent af446c79b5
commit a08d4a94e3
19 changed files with 219 additions and 41 deletions
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11
Demos/CommonRigidBodySetup.h
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@@ -70,14 +70,15 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
{
m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
}
if (m_dynamicsWorld)
{
int i;
for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
{
m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
}
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];