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pass the joint parameters for all joints

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This commit is contained in:
Erwin Coumans
2017-03-26 20:05:48 -07:00
parent 7462d55128
commit f4be2c1ee0
1 changed files with 11 additions and 5 deletions
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16
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -346,6 +346,17 @@ void ConvertURDF2BulletInternal(
btQuaternion parentRotToThis = offsetInB.getRotation() * offsetInA.inverse().getRotation(); btQuaternion parentRotToThis = offsetInB.getRotation() * offsetInA.inverse().getRotation();
bool disableParentCollision = true; bool disableParentCollision = true;
if (createMultiBody && cache.m_bulletMultiBody)
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction = jointFriction;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointLowerLimit = jointLowerLimit;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointUpperLimit = jointUpperLimit;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointMaxForce = jointMaxForce;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointMaxVelocity = jointMaxVelocity;
}
switch (jointType) switch (jointType)
{ {
case URDFFixedJoint: case URDFFixedJoint:
@@ -376,11 +387,6 @@ void ConvertURDF2BulletInternal(
parentRotToThis, quatRotate(offsetInB.getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(), parentRotToThis, quatRotate(offsetInB.getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
-offsetInB.getOrigin(), -offsetInB.getOrigin(),
disableParentCollision); disableParentCollision);
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction = jointFriction;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointLowerLimit = jointLowerLimit;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointUpperLimit = jointUpperLimit;
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex); creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) { if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) {
//std::string name = u2b.getLinkName(urdfLinkIndex); //std::string name = u2b.getLinkName(urdfLinkIndex);