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Merge pull request #1041 from olegklimov/master

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Random improvements (MJCF, error messages, gravity)
This commit is contained in:
erwincoumans
2017-03-29 09:12:48 -07:00
committed by GitHub
parent 993e98e37a 77608154a3
commit 0750d502a8
6 changed files with 109 additions and 89 deletions
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17
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1398,8 +1398,8 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
int rootLinkIndex = u2b.getRootLinkIndex();
b3Printf("urdf root link index = %d\n",rootLinkIndex);
//int rootLinkIndex = u2b.getRootLinkIndex();
//b3Printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_data->m_guiHelper);
u2b.getRootTransformInWorld(rootTrans);
@@ -3812,6 +3812,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
linkIndexB = mblB->m_link;
objectIndexB = mblB->m_multiBody->getUserIndex2();
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
{
continue;
}
}
int objectIndexA = -1;
@@ -3824,8 +3830,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (mblA && mblA->m_multiBody)
{
linkIndexA = mblA->m_link;
objectIndexA = mblA->m_multiBody->getUserIndex2();
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
{
continue;
}
}
btAssert(bodyA || mblA);

7
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -220,7 +220,7 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
rad = visual->m_geometry.m_capsuleRadius;
} else {
tr = visual->m_linkLocalFrame;
len = visual->m_geometry.m_capsuleHalfHeight;
len = visual->m_geometry.m_capsuleHeight;
rad = visual->m_geometry.m_capsuleRadius;
}
visualShapeOut.m_localVisualFrame[0] = tr.getOrigin()[0];
@@ -414,6 +414,11 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
break;
} // case mesh
case URDF_GEOM_PLANE:
// TODO: plane in tiny renderer
// TODO: export visualShapeOut for external render
break;
default:
{
b3Warning("TinyRenderer: unknown visual geometry type %i\n", visual->m_geometry.m_type);