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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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6
examples/Importers/ImportURDFDemo/ROSURDFImporter.cpp
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@@ -223,7 +223,7 @@ void ROSURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVector3
}
}
bool ROSURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
bool ROSURDFImporter::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;
@@ -281,7 +281,9 @@ bool ROSURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint,
}
}
bool ROSURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
{
}
void ROSconvertURDFToVisualShape(const Visual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
{