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btHingeConstraint::getHingeAngle() is always between [-PI,PI] #796

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
The `btHingeConstraint::getHingeAngle()` function always returns values wrapped 
to [-PI,PI]. It would be nice to have an unwrapped angle. We patched Gazebo's 
internal copy of ODE to return unwrapped angles for hinge joints (see 
[hinge.cpp](https://bitbucket.org/osrf/gazebo/src/f5f87276c49956ee4df6902966a6fd
c2ff9b7e4f/deps/opende/src/joints/hinge.cpp?at=default#cl-359)). We should try 
to push that back upstream to ODE and potentially here to bullet if the 
implementation is reasonable to you.

Original issue reported on code.google.com by scpet...@osrfoundation.org on 28 Feb 2014 at 10:56

GoogleCodeExporter commented 9 years ago 
Yes, seems a good idea. I would suggest a new method, getHingeAngleUnwrapped or 
so, to maintain backwards compatibility. Note that Bullet 2 has moved into the 
Bullet 3 repo at github. I will migrate all issues into the new tracker. 
https://github.com/erwincoumans/bullet3/issues?state=open

Thanks!
Erwin

Original comment by erwin.coumans on 1 Mar 2014 at 1:40

GoogleCodeExporter commented 9 years ago 
Ok, I migrated this over to https://github.com/erwincoumans/bullet3/issues/42

Original comment by scpet...@osrfoundation.org on 1 Mar 2014 at 1:45

GoogleCodeExporter commented 9 years ago 
thanks, closing this issue and marked as moved to 
https://github.com/erwincoumans/bullet3/issues/42

Original comment by erwin.coumans on 30 Mar 2014 at 4:47

GoogleCodeExporter commented 9 years ago 
actually the new URL is https://github.com/bulletphysics/bullet3/issues/53

Original comment by erwin.coumans on 30 Mar 2014 at 4:48