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use multibody by default when using FILE/Open URDF (instead of maximal coordinate rigid body+typed constraints)

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This commit is contained in:
Erwin Coumans
2015-08-06 00:35:03 -07:00
parent 6d8ad72d68
commit dcab0e2b1f
5 changed files with 15 additions and 17 deletions
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20
examples/Tutorial/Tutorial.cpp
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@@ -61,6 +61,9 @@ struct LWRightBody
//Exponential map
//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
//btQuaternion q_w = [ sin(|w|*dt/2) * w/|w| , cos(|w|*dt/2)]
//btQuaternion q_new = q_w * q_old;
btVector3 axis;
btScalar fAngle = m_angularVelocity.length();
//limit the angular motion
@@ -88,6 +91,7 @@ struct LWRightBody
predictedOrn.normalize();
m_worldPose.m_worldOrientation = predictedOrn;
}
}
@@ -99,13 +103,9 @@ struct LWRightBody
///quick demo showing the right-handed coordinate system and positive rotations around each axis
class Tutorial : public CommonExampleInterface
{
CommonGraphicsApp* m_app;
float m_x;
float m_y;
float m_z;
int m_tutorialIndex;
LWRightBody* m_body;
@@ -114,14 +114,14 @@ public:
Tutorial(CommonGraphicsApp* app, int tutorialIndex)
:m_app(app),
m_x(0),
m_y(0),
m_z(0),
m_tutorialIndex(tutorialIndex)
{
m_app->setUpAxis(2);
switch (m_tutorialIndex)
{
}
{
int boxId = m_app->registerCubeShape(100,100,1);
@@ -186,10 +186,6 @@ public:
}
virtual void stepSimulation(float deltaTime)
{
m_x+=0.01f;
m_y+=0.01f;
m_z+=0.01f;
//m_body->m_worldPose.m_worldPosition+= btVector3(0,0.01,0);
//m_body->m_linearVelocity=btVector3(0,0.1,0);
m_body->m_angularVelocity =btVector3(0,0.1,0);
m_body->integrateTransform(deltaTime);