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parse root transformation and test loading two robots

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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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3
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -88,7 +88,7 @@ struct UrdfLink
{
std::string m_name;
UrdfInertia m_inertia;
btTransform m_parentLinktoLinkTransform;
btTransform m_linkTransformInWorld;
btArray<UrdfVisual> m_visualArray;
btArray<UrdfCollision> m_collisionArray;
UrdfLink* m_parentLink;
@@ -128,6 +128,7 @@ struct UrdfJoint
struct UrdfModel
{
std::string m_name;
btTransform m_rootTransformInWorld;
btHashMap<btHashString, UrdfMaterial*> m_materials;
btHashMap<btHashString, UrdfLink*> m_links;
btHashMap<btHashString, UrdfJoint*> m_joints;