Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

remove pose frame from SDF,

Browse Source 
allow plane collision shape in SDF
load the Roboschool stadium.sdf in humanoid_knee_position_control.py
This commit is contained in:
erwincoumans
2017-06-01 20:13:39 -07:00
parent baa8c3adc2
commit 3987bdd333
8 changed files with 64 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -568,6 +568,15 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
switch (collision->m_geometry.m_type)
{
case URDF_GEOM_PLANE:
{
btVector3 planeNormal = collision->m_geometry.m_planeNormal;
btScalar planeConstant = 0;//not available?
btStaticPlaneShape* plane = new btStaticPlaneShape(planeNormal,planeConstant);
shape = plane;
shape ->setMargin(gUrdfDefaultCollisionMargin);
break;
}
case URDF_GEOM_CAPSULE:
{
btScalar radius = collision->m_geometry.m_capsuleRadius;
@@ -789,7 +798,7 @@ upAxisMat.setIdentity();
default:
b3Warning("Error: unknown collision geometry type %i\n", collision->m_geometry.m_type);
// for example, URDF_GEOM_PLANE
}
return shape;
}