use a fixed joint instead of crashing for unsupported joint types (planar, floating joint)

2017-05-25 13:02:20 -07:00
parent f090752cbb
commit e6180ef98a
1 changed files with 6 additions and 0 deletions
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -362,8 +362,14 @@ void ConvertURDF2BulletInternal(

            switch (jointType)
            {
+				case URDFFloatingJoint:
+				case URDFPlanarJoint:
                case URDFFixedJoint:
                {
+					if ((jointType==URDFFloatingJoint)||(jointType==URDFPlanarJoint))
+					{
+						printf("Warning: joint unsupported, creating a fixed joint instead.");
+					}
                    if (createMultiBody)
                    {
                        //todo: adjust the center of mass transform and pivot axis properly