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MJCF: fix cylinders in MJCF, also (possibly) fixes capsules in tiny renderer

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This commit is contained in:
Oleg Klimov
2017-03-22 00:36:28 +03:00
parent 41df15a464
commit 80a0b51a1d
5 changed files with 32 additions and 48 deletions
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18
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -618,10 +618,10 @@ struct BulletMJCFImporterInternalData
handledGeomType = true;
}
//todo: capsule, cylinder, meshes or heightfields etc
if (geomType == "capsule")
if (geomType == "capsule" || geomType == "cylinder")
{
geom.m_type = URDF_GEOM_CAPSULE;
// <geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
geom.m_type = geomType=="cylinder" ? URDF_GEOM_CYLINDER : URDF_GEOM_CAPSULE;
btArray<std::string> pieces;
btArray<float> sizes;
@@ -695,13 +695,6 @@ struct BulletMJCFImporterInternalData
}
}
}
#if 0
if (geomType == "cylinder")
{
geom.m_type = URDF_GEOM_CYLINDER;
handledGeomType = true;
}
#endif
if (handledGeomType)
{
@@ -866,6 +859,7 @@ struct BulletMJCFImporterInternalData
return orgChildLinkIndex;
}
bool parseBody(TiXmlElement* link_xml, int modelIndex, int orgParentLinkIndex, MJCFErrorLogger* logger)
{
int newParentLinkIndex = orgParentLinkIndex;
@@ -1027,10 +1021,6 @@ struct BulletMJCFImporterInternalData
}
linkPtr->m_linkTransformInWorld = linkTransform;
if (bodyN == "cart1")//front_left_leg")
{
printf("found!\n");
}
if ((newParentLinkIndex != INVALID_LINK_INDEX) && !skipFixedJoint)
{
//linkPtr->m_linkTransformInWorld.setIdentity();