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fix scaling in URDF importer

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This commit is contained in:
Erwin Coumans
2016-04-18 17:41:54 -07:00
parent 59e0bef988
commit 476eb342ab
1 changed files with 13 additions and 2 deletions
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15
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -481,8 +481,16 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
}
if (glmesh && (glmesh->m_numvertices>0))
if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
{
//apply the geometry scaling
for (int i=0;i<glmesh->m_vertices->size();i++)
{
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
}
}
else
{
@@ -802,7 +810,10 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
convertedVerts.reserve(glmesh->m_numvertices);
for (int i=0;i<glmesh->m_numvertices;i++)
{
convertedVerts.push_back(btVector3(glmesh->m_vertices->at(i).xyzw[0],glmesh->m_vertices->at(i).xyzw[1],glmesh->m_vertices->at(i).xyzw[2]));
convertedVerts.push_back(btVector3(
glmesh->m_vertices->at(i).xyzw[0]*collision->m_geometry.m_meshScale[0],
glmesh->m_vertices->at(i).xyzw[1]*collision->m_geometry.m_meshScale[1],
glmesh->m_vertices->at(i).xyzw[2]*collision->m_geometry.m_meshScale[2]));
}
//btConvexHullShape* cylZShape = new btConvexHullShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex));
btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));