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MJCF: fix B3_PI, fix colors, fix capsule without 'fromto'

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This commit is contained in:
Oleg Klimov
2017-03-19 00:19:04 +03:00
parent 4526b0a94a
commit 41df15a464
4 changed files with 75 additions and 33 deletions
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27
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -155,6 +155,9 @@ struct BulletMJCFImporterInternalData
// joint defaults
std::string m_defaultJointLimited;
// geom defaults
std::string m_defaultGeomRgba;
//those collision shapes are deleted by caller (todo: make sure this happens!)
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
@@ -270,6 +273,11 @@ struct BulletMJCFImporterInternalData
{
m_defaultCollisionMask = urdfLexicalCast<int>(conAffinityStr);
}
const char* rgba = child_xml->Attribute("rgba");
if (rgba)
{
m_defaultGeomRgba = rgba;
}
}
}
handled=true;
@@ -404,8 +412,8 @@ struct BulletMJCFImporterInternalData
if (sizes.size()==2)
{
// TODO angle units are in "<compiler angle="degree" inertiafromgeom="true"/>
range[0] = sizes[0] * M_PI / 180;
range[1] = sizes[1] * M_PI / 180;
range[0] = sizes[0] * B3_PI / 180;
range[1] = sizes[1] * B3_PI / 180;
} else
{
logger->reportWarning("Expected range[2] in joint with limits");
@@ -526,10 +534,23 @@ struct BulletMJCFImporterInternalData
// const char* rgba = link_xml->Attribute("rgba");
const char* gType = link_xml->Attribute("type");
const char* sz = link_xml->Attribute("size");
const char* posS = link_xml->Attribute("pos");
std::string rgba = m_defaultGeomRgba;
if (const char* rgbattr = link_xml->Attribute("rgba"))
{
rgba = rgbattr;
}
if (!rgba.empty())
{
// "0 0.7 0.7 1"
parseVector4(geom.m_localMaterial.m_rgbaColor, rgba);
geom.m_hasLocalMaterial = true;
geom.m_localMaterial.m_name = rgba;
}
if (posS)
{
btVector3 pos(0,0,0);