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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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6
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -195,9 +195,11 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
btVector3 jointAxisInJointSpace;
btScalar jointLowerLimit;
btScalar jointUpperLimit;
btScalar jointDamping;
btScalar jointFriction;
bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit);
bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction);
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
@@ -297,6 +299,8 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
offsetInA.inverse().getRotation()*offsetInB.getRotation(), quatRotate(offsetInB.inverse().getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
-offsetInB.getOrigin(),
disableParentCollision);
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
} else