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reduced motor grasp example is working

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jingyuc
2021-09-24 13:16:33 -04:00
parent 5e0a805d73
commit 107c5526eb
7 changed files with 53 additions and 35 deletions
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examples/MultiBody/MultiDofDemo.cpp
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@@ -165,7 +165,7 @@ void MultiDofDemo::initPhysics()
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), baseHalfExtents, linkHalfExtents, spherical, g_floatingBase);
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
mbC->setCanSleep(canSleep);