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Code Issues Releases Wiki Activity

enable prismatic joint motor in URDF demo, by default. Thanks to Takuya!

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prepare for prismatic joint limit for btMultiBody in the URDF demo.
There is an issue with it, working on fixing this.
This commit is contained in:
Erwin Coumans 2015-06-03 18:02:15 -07:00
parent 85acb2a009
commit f74e3782aa
2 changed files with 8 additions and 2 deletions
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4
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@ -217,7 +217,9 @@ void ImportUrdfSetup::initPhysics()
for (int i=0;i<mb->getNumLinks();i++)
{
int mbLinkIndex = i;
if (mb->getLink(mbLinkIndex).m_jointType==btMultibodyLink::eRevolute)
if (mb->getLink(mbLinkIndex).m_jointType==btMultibodyLink::eRevolute
||mb->getLink(mbLinkIndex).m_jointType==btMultibodyLink::ePrismatic
)
{
if (m_data->m_numMotors<MAX_NUM_MOTORS)
{

6
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@ -5,6 +5,7 @@
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#include "URDFImporterInterface.h"
#include "MultiBodyCreationInterface.h"
@ -389,7 +390,10 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
disableParentCollision);
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody,mbLinkIndex,jointLowerLimit, jointUpperLimit);
//world1->addMultiBodyConstraint(con);
printf("joint lower limit=%d, upper limit = %f\n", jointLowerLimit, jointUpperLimit);
} else
{
btGeneric6DofSpring2Constraint* dof6 = creation.allocateGeneric6DofSpring2Constraint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB);