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MJCF: fix capsule length when given in size="", fix slider joint limits

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This commit is contained in:
Oleg Klimov
2017-03-27 22:29:24 +03:00
parent 3048326add
commit 77608154a3
5 changed files with 74 additions and 80 deletions
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8
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -564,9 +564,9 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
case URDF_GEOM_CAPSULE:
{
btScalar radius = collision->m_geometry.m_capsuleRadius;
btScalar height = btScalar(2.f)*collision->m_geometry.m_capsuleHalfHeight;
btScalar height = collision->m_geometry.m_capsuleHeight;
btCapsuleShapeZ* capsuleShape = new btCapsuleShapeZ(radius,height);
shape = capsuleShape;
shape = capsuleShape;
shape ->setMargin(gUrdfDefaultCollisionMargin);
break;
}
@@ -574,7 +574,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
case URDF_GEOM_CYLINDER:
{
btScalar cylRadius = collision->m_geometry.m_capsuleRadius;
btScalar cylLength = collision->m_geometry.m_capsuleHalfHeight;
btScalar cylLength = collision->m_geometry.m_capsuleHeight;
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
@@ -797,7 +797,7 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
{
btScalar cylRadius = visual->m_geometry.m_capsuleRadius;
btScalar cylLength = visual->m_geometry.m_capsuleHalfHeight;
btScalar cylLength = visual->m_geometry.m_capsuleHeight;
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
vertices.push_back(vert);

4
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -403,7 +403,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
}
geom.m_hasFromTo = false;
geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHalfHeight = urdfLexicalCast<double>(shape->Attribute("length"));
geom.m_capsuleHeight = urdfLexicalCast<double>(shape->Attribute("length"));
}
else if (type_name == "capsule")
@@ -417,7 +417,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
}
geom.m_hasFromTo = false;
geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHalfHeight = btScalar(0.5)*urdfLexicalCast<double>(shape->Attribute("length"));
geom.m_capsuleHeight = urdfLexicalCast<double>(shape->Attribute("length"));
}
else if (type_name == "mesh")
{

2
examples/Importers/ImportURDFDemo/UrdfParser.h
View File

@@ -65,7 +65,7 @@ struct UrdfGeometry
btVector3 m_boxSize;
double m_capsuleRadius;
double m_capsuleHalfHeight;
double m_capsuleHeight;
int m_hasFromTo;
btVector3 m_capsuleFrom;
btVector3 m_capsuleTo;