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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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13
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -18,9 +18,13 @@ struct ErrorLogger
struct UrdfMaterial
{
std::string m_name;
std::string m_name;
std::string m_textureFilename;
btVector4 m_rgbaColor;
btVector4 m_rgbaColor; // [0]==r [1]==g [2]==b [3]==a
UrdfMaterial():
m_rgbaColor(0.8, 0.8, 0.8, 1)
{
}
};
struct UrdfInertia
@@ -79,6 +83,9 @@ struct UrdfGeometry
int m_meshFileType;
std::string m_meshFileName;
btVector3 m_meshScale;
UrdfMaterial m_localMaterial;
bool m_hasLocalMaterial;
};
bool findExistingMeshFile(const std::string& urdf_path, std::string fn,
@@ -96,8 +103,6 @@ struct UrdfShape
struct UrdfVisual: UrdfShape
{
std::string m_materialName;
bool m_hasLocalMaterial;
UrdfMaterial m_localMaterial;
};
struct UrdfCollision: UrdfShape