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rename loadUrdf -> loadMultiBodyFromUrdf in lua script

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remove unused m_usrd2mblink
This commit is contained in:
erwin
2015-05-14 09:16:13 -07:00
parent e196ed1edb
commit c9a630e7c6
5 changed files with 8 additions and 11 deletions
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4
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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@@ -20,7 +20,7 @@ MyMultiBodyCreator::MyMultiBodyCreator(GUIHelperInterface* guiHelper)
class btMultiBody* MyMultiBodyCreator::allocateMultiBody(int /* urdfLinkIndex */, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep, bool multiDof)
{
m_urdf2mbLink.resize(totalNumJoints+1,-2);
// m_urdf2mbLink.resize(totalNumJoints+1,-2);
m_mb2urdfLink.resize(totalNumJoints+1,-2);
m_bulletMultiBody = new btMultiBody(totalNumJoints,mass,localInertiaDiagonal,isFixedBase,canSleep,multiDof);
@@ -50,7 +50,7 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::allocateGeneric6DofSpr
void MyMultiBodyCreator::addLinkMapping(int urdfLinkIndex, int mbLinkIndex)
{
m_urdf2mbLink[urdfLinkIndex] = mbLinkIndex;
// m_urdf2mbLink[urdfLinkIndex] = mbLinkIndex;
m_mb2urdfLink[mbLinkIndex] = urdfLinkIndex;
}