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Further improvements in Bullet MuJoCo MJCF import:

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[MJCF import] improved humanoid.xml, inverted_pendulum.xml import (automatically add dummy-links to connect multiple joints between bodies)
[MJCF import] fix bug in quaternion conversion (w,x,y,z) -> (x,y,z,w)
This commit is contained in:
Erwin Coumans
2017-01-15 11:22:24 -08:00
parent 42ef8f538e
commit 310fabcd7e
9 changed files with 451 additions and 71 deletions
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7
examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
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@@ -77,7 +77,7 @@ struct ImportMJCFInternalData
ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
:CommonMultiBodyBase(helper),
m_grav(0),
m_grav(-10),
m_upAxis(2)
{
m_data = new ImportMJCFInternalData;
@@ -118,9 +118,10 @@ ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option,
if (gMCFJFileNameArray.size()==0)
{
gMCFJFileNameArray.push_back("mjcf/humanoid.xml");
gMCFJFileNameArray.push_back("mjcf/inverted_pendulum.xml");
gMCFJFileNameArray.push_back("mjcf/ant.xml");
gMCFJFileNameArray.push_back("mjcf/hello_mjcf2.xml");
gMCFJFileNameArray.push_back("mjcf/capsule.xml");
gMCFJFileNameArray.push_back("mjcf/ant.xml");
// gMCFJFileNameArray.push_back("mjcf/hopper.xml");
// gMCFJFileNameArray.push_back("mjcf/swimmer.xml");
// gMCFJFileNameArray.push_back("mjcf/reacher.xml");
@@ -238,7 +239,7 @@ void ImportMJCFSetup::initPhysics()
ConvertURDF2Bullet(importer,creation, rootTrans,m_dynamicsWorld,m_useMultiBody,importer.getPathPrefix(),CUF_USE_MJCF);
mb = creation.getBulletMultiBody();
if (/* DISABLES CODE */ (0)) // mb)
if (mb)
{
printf("first MJCF file converted!\n");
std::string* name =