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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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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")
{