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update minitaur.py to use minitaur.urdf (instead of quadruped.urdf), also sort the legs in the same order as real hardware

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added test urdf files for minitaur with all fixed joints, or fixed knees.
added some stiffness/damping to minitaur legs (testing)
tiny_obj_loader, don't crash on invalid texture coordinates
btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
This commit is contained in:
Erwin Coumans
2017-03-15 15:38:50 -07:00
parent a613911c84
commit 4db6fa9e29
11 changed files with 2043 additions and 118 deletions
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14
examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
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@@ -218,8 +218,18 @@ updateVertex(
}
if (i.vt_idx >= 0) {
texcoords.push_back(in_texcoords[2*i.vt_idx+0]);
texcoords.push_back(in_texcoords[2*i.vt_idx+1]);
int numTexCoords = in_texcoords.size();
int index0 = 2*i.vt_idx+0;
int index1 = 2*i.vt_idx+1;
if (index0>=0 && (index0)<numTexCoords)
{
texcoords.push_back(in_texcoords[index0]);
}
if (index1>=0 && (index1)<numTexCoords)
{
texcoords.push_back(in_texcoords[index1]);
}
}
unsigned int idx = positions.size() / 3 - 1;