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

fix scaling in URDF importer

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

15
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -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 else
{ {
@@ -802,7 +810,10 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
convertedVerts.reserve(glmesh->m_numvertices); convertedVerts.reserve(glmesh->m_numvertices);
for (int i=0;i<glmesh->m_numvertices;i++) 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(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex));
btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3)); btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));