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

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This commit is contained in:
Erwin Coumans
2017-05-25 13:02:20 -07:00
parent f090752cbb
commit e6180ef98a
1 changed files with 6 additions and 0 deletions
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6
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -362,8 +362,14 @@ void ConvertURDF2BulletInternal(
switch (jointType) switch (jointType)
{ {
case URDFFloatingJoint:
case URDFPlanarJoint:
case URDFFixedJoint: case URDFFixedJoint:
{ {
if ((jointType==URDFFloatingJoint)||(jointType==URDFPlanarJoint))
{
printf("Warning: joint unsupported, creating a fixed joint instead.");
}
if (createMultiBody) if (createMultiBody)
{ {
//todo: adjust the center of mass transform and pivot axis properly //todo: adjust the center of mass transform and pivot axis properly