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add infrastructure float btMultiBodyLink m_jointDamping, m_jointFriction (actual damping/friction is in a separate commit)

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add door.urdf for testing damping/friction
This commit is contained in:
erwincoumans
2016-03-17 14:54:46 -07:00
parent 937b6d84e5
commit fe92de3e50
15 changed files with 1005 additions and 874 deletions
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10
examples/Importers/ImportURDFDemo/ROSURDFImporter.cpp
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@@ -223,18 +223,22 @@ void ROSURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVector3
}
}
bool ROSURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const
bool ROSURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
{
jointLowerLimit = 0.f;
jointUpperLimit = 0.f;
jointDamping = 0.f;
jointFriction = 0.f;
if ((*m_data->m_links[urdfLinkIndex]).parent_joint)
{
my_shared_ptr<Joint> pj =(*m_data->m_links[urdfLinkIndex]).parent_joint;
const urdf::Vector3 pos = pj->parent_to_joint_origin_transform.position;
const urdf::Rotation orn = pj->parent_to_joint_origin_transform.rotation;
jointDamping = pj->dynamics->damping;
jointFriction = pj->dynamics->friction;
jointAxisInJointSpace.setValue(pj->axis.x,pj->axis.y,pj->axis.z);
parent2joint.setOrigin(btVector3(pos.x,pos.y,pos.z));
parent2joint.setRotation(btQuaternion(orn.x,orn.y,orn.z,orn.w));