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URDF parser: allow inertial element in just ixx, iyy, izz format (non-standard URDF)

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tiny_obj_loader: don't crash when/if normals are not specified
This commit is contained in:
Erwin Coumans
2017-01-31 18:09:44 -08:00
parent d0fa10db63
commit 7df123025f
2 changed files with 37 additions and 12 deletions
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47
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -295,8 +295,19 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
inertia.m_izz = urdfLexicalCast<double>(izz->GetText()); inertia.m_izz = urdfLexicalCast<double>(izz->GetText());
} else } else
{ {
logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz child elements"); if (ixx && iyy && izz)
return false; {
inertia.m_ixx = urdfLexicalCast<double>(ixx->GetText());
inertia.m_ixy = 0;
inertia.m_ixz = 0;
inertia.m_iyy = urdfLexicalCast<double>(iyy->GetText());
inertia.m_iyz = 0;
inertia.m_izz = urdfLexicalCast<double>(izz->GetText());
} else
{
logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz child elements");
return false;
}
} }
} else } else
{ {
@@ -304,15 +315,29 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
inertia_xml->Attribute("iyy") && inertia_xml->Attribute("iyz") && inertia_xml->Attribute("iyy") && inertia_xml->Attribute("iyz") &&
inertia_xml->Attribute("izz"))) inertia_xml->Attribute("izz")))
{ {
logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes"); if ((inertia_xml->Attribute("ixx") && inertia_xml->Attribute("iyy") &&
return false; inertia_xml->Attribute("izz")))
} {
inertia.m_ixx = urdfLexicalCast<double>(inertia_xml->Attribute("ixx")); inertia.m_ixx = urdfLexicalCast<double>(inertia_xml->Attribute("ixx"));
inertia.m_ixy = urdfLexicalCast<double>(inertia_xml->Attribute("ixy")); inertia.m_ixy = 0;
inertia.m_ixz = urdfLexicalCast<double>(inertia_xml->Attribute("ixz")); inertia.m_ixz = 0;
inertia.m_iyy = urdfLexicalCast<double>(inertia_xml->Attribute("iyy")); inertia.m_iyy = urdfLexicalCast<double>(inertia_xml->Attribute("iyy"));
inertia.m_iyz = urdfLexicalCast<double>(inertia_xml->Attribute("iyz")); inertia.m_iyz = 0;
inertia.m_izz = urdfLexicalCast<double>(inertia_xml->Attribute("izz")); inertia.m_izz = urdfLexicalCast<double>(inertia_xml->Attribute("izz"));
} else
{
logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes");
return false;
}
} else
{
inertia.m_ixx = urdfLexicalCast<double>(inertia_xml->Attribute("ixx"));
inertia.m_ixy = urdfLexicalCast<double>(inertia_xml->Attribute("ixy"));
inertia.m_ixz = urdfLexicalCast<double>(inertia_xml->Attribute("ixz"));
inertia.m_iyy = urdfLexicalCast<double>(inertia_xml->Attribute("iyy"));
inertia.m_iyz = urdfLexicalCast<double>(inertia_xml->Attribute("iyz"));
inertia.m_izz = urdfLexicalCast<double>(inertia_xml->Attribute("izz"));
}
} }
return true; return true;

2
examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
View File

@@ -211,7 +211,7 @@ updateVertex(
positions.push_back(in_positions[3*i.v_idx+1]); positions.push_back(in_positions[3*i.v_idx+1]);
positions.push_back(in_positions[3*i.v_idx+2]); positions.push_back(in_positions[3*i.v_idx+2]);
if (i.vn_idx >= 0) { if (i.vn_idx >= 0 && ((3*i.vn_idx+2)<in_normals.size())) {
normals.push_back(in_normals[3*i.vn_idx+0]); normals.push_back(in_normals[3*i.vn_idx+0]);
normals.push_back(in_normals[3*i.vn_idx+1]); normals.push_back(in_normals[3*i.vn_idx+1]);
normals.push_back(in_normals[3*i.vn_idx+2]); normals.push_back(in_normals[3*i.vn_idx+2]);