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Fix: Inertial Origin Resetting During Merge Links #4683

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Fix: Inertial Origin Resetting During Merge Links #4683

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9 changes: 0 additions & 9 deletions examples/Importers/ImportURDFDemo/UrdfParser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2002,14 +2002,6 @@ bool UrdfParser::mergeFixedLinks(UrdfModel& model, UrdfLink* link, ErrorLogger*
link->m_visualArray.push_back(viz);
}

if (!link->m_inertia.m_hasLinkLocalFrame)
{
link->m_inertia.m_linkLocalFrame.setIdentity();
}
if (!childLink->m_inertia.m_hasLinkLocalFrame)
{
childLink->m_inertia.m_linkLocalFrame.setIdentity();
}
//for a 'forceFixedBase' don't merge
bool isStaticBase = false;
if (forceFixedBase && link->m_parentJoint == 0)
Expand All @@ -2034,7 +2026,6 @@ bool UrdfParser::mergeFixedLinks(UrdfModel& model, UrdfLink* link, ErrorLogger*
btVector3 inertiaOut;
btTransform principal;
CalculatePrincipalAxisTransform(masses, transforms, inertiasIn, principal, inertiaOut);
link->m_inertia.m_hasLinkLocalFrame = true;
link->m_inertia.m_linkLocalFrame.setIdentity();
//link->m_inertia.m_linkLocalFrame = principal;
link->m_inertia.m_linkLocalFrame.setOrigin(principal.getOrigin());
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2 changes: 0 additions & 2 deletions examples/Importers/ImportURDFDemo/UrdfParser.h
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Expand Up @@ -32,14 +32,12 @@ struct UrdfMaterial
struct UrdfInertia
{
btTransform m_linkLocalFrame;
bool m_hasLinkLocalFrame;

double m_mass;
double m_ixx, m_ixy, m_ixz, m_iyy, m_iyz, m_izz;

UrdfInertia()
{
m_hasLinkLocalFrame = false;
m_linkLocalFrame.setIdentity();
m_mass = 0.f;
m_ixx = m_ixy = m_ixz = m_iyy = m_iyz = m_izz = 0.f;
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