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add check for #dof of KUKA in VR demo

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disable debug drawing again in VR demo
This commit is contained in:
erwin coumans
2016-10-09 21:48:56 -07:00
parent c6b61cc52a
commit a6225d4cd0
2 changed files with 5 additions and 5 deletions
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4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3068,7 +3068,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute1);
m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute2);
if (kukaBody->m_multiBody)
if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs()==7)
{
gripperBody->m_multiBody->setHasSelfCollision(0);
btVector3 pivotInParent(0, 0, 0.05);
@@ -3204,7 +3204,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
//if (0)
{
InternalBodyHandle* bodyHandle = m_data->getHandle(m_data->m_KukaId);
if (bodyHandle && bodyHandle->m_multiBody)
if (bodyHandle && bodyHandle->m_multiBody && bodyHandle->m_multiBody->getNumDofs()==7)
{
btMultiBody* mb = bodyHandle->m_multiBody;
btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2();