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Modify shared memory client example to test joint motor torque measurement.

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yunfeibai committed 2016-04-19 16:52:47 -07:00
1 parent c384383250
commit cbeddfc897
19 files changed
+321 -14
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examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+4 -5
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@@ -219,11 +219,10 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
}
*/
//btVector3 localInertiaDiagonal(0, 0, 0);
//if (mass)
//{
// shape->calculateLocalInertia(mass, localInertiaDiagonal);
//}
if (mass)
{
compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
}
btRigidBody* linkRigidBody = 0;
btTransform inertialFrameInWorldSpace = linkTransformInWorldSpace*localInertialFrame;