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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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8
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -562,8 +562,8 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
case URDF_GEOM_CYLINDER:
{
btScalar cylRadius = collision->m_geometry.m_cylinderRadius;
btScalar cylLength = collision->m_geometry.m_cylinderLength;
btScalar cylRadius = collision->m_geometry.m_capsuleRadius;
btScalar cylLength = collision->m_geometry.m_capsuleHalfHeight;
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
@@ -785,8 +785,8 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
for (int i = 0; i<numSteps; i++)
{
btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
btScalar cylLength = visual->m_geometry.m_cylinderLength;
btScalar cylRadius = visual->m_geometry.m_capsuleRadius;
btScalar cylLength = visual->m_geometry.m_capsuleHalfHeight;
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
vertices.push_back(vert);

5
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -401,8 +401,9 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
logger->reportError("Cylinder shape must have both length and radius attributes");
return false;
}
geom.m_cylinderRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_cylinderLength = urdfLexicalCast<double>(shape->Attribute("length"));
geom.m_hasFromTo = false;
geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHalfHeight = urdfLexicalCast<double>(shape->Attribute("length"));
}
else if (type_name == "capsule")

3
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -70,9 +70,6 @@ struct UrdfGeometry
btVector3 m_capsuleFrom;
btVector3 m_capsuleTo;
double m_cylinderRadius;
double m_cylinderLength;
btVector3 m_planeNormal;
enum {