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parse root transformation and test loading two robots

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This commit is contained in:
yunfeibai
2016-05-11 15:52:50 -07:00
parent 06a2669b32
commit 7929bee128
12 changed files with 879 additions and 37 deletions
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13
examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
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@@ -131,7 +131,7 @@ ImportSDFSetup::ImportSDFSetup(struct GUIHelperInterface* helper, int option, co
if (gFileNameArray.size()==0)
{
gFileNameArray.push_back("kuka_iiwa/model.sdf");
gFileNameArray.push_back("two_cubes.sdf");
}
@@ -214,10 +214,8 @@ void ImportSDFSetup::initPhysics()
//u2b.printTree();
btTransform identityTrans;
identityTrans.setIdentity();
btTransform rootTrans;
rootTrans.setIdentity();
for (int m =0; m<u2b.getNumModels();m++)
{
@@ -232,7 +230,8 @@ void ImportSDFSetup::initPhysics()
b3Printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_guiHelper);
ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());
u2b.getRootTransformInWorld(rootTrans);
ConvertURDF2Bullet(u2b,creation, rootTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix(),true);
mb = creation.getBulletMultiBody();
}
@@ -291,7 +290,7 @@ void ImportSDFSetup::stepSimulation(float deltaTime)
}
//the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge
//m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
}
}