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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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10
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -296,7 +296,7 @@ void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVect
}
}
bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
{
jointLowerLimit = 0.f;
jointUpperLimit = 0.f;
@@ -308,7 +308,7 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
if (linkPtr)
{
UrdfLink* link = *linkPtr;
linkTransformInWorld = link->m_linkTransformInWorld;
if (link->m_parentJoint)
{
@@ -333,7 +333,11 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
}
bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
{
rootTransformInWorld = m_data->m_urdfParser.getModel().m_rootTransformInWorld;
return true;
}
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
{