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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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9
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -58,6 +58,8 @@ struct UrdfGeometry
btVector3 m_boxSize;
double m_capsuleRadius;
double m_capsuleHalfHeight;
int m_hasFromTo;
btVector3 m_capsuleFrom;
btVector3 m_capsuleTo;
@@ -80,10 +82,7 @@ struct UrdfVisual
UrdfMaterial m_localMaterial;
};
enum UrdfCollisionFlags
{
URDF_FORCE_CONCAVE_TRIMESH=1,
};
struct UrdfCollision
@@ -92,6 +91,8 @@ struct UrdfCollision
UrdfGeometry m_geometry;
std::string m_name;
int m_flags;
int m_collisionGroup;
int m_collisionMask;
UrdfCollision()
:m_flags(0)
{