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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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46
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -192,31 +192,6 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
switch (visual->m_geometry.m_type)
{
case URDF_GEOM_CYLINDER:
{
btAlignedObjectArray<btVector3> vertices;
visualShapeOut.m_dimensions[0] = visual->m_geometry.m_cylinderLength;
visualShapeOut.m_dimensions[1] = visual->m_geometry.m_cylinderRadius;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i = 0; i<numSteps; i++)
{
btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
btScalar cylLength = visual->m_geometry.m_cylinderLength;
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
vertices.push_back(vert);
vert[2] = -cylLength / 2.;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(0.001);
convexColShape = cylZShape;
break;
}
case URDF_GEOM_CAPSULE:
{
btVector3 p1 = visual->m_geometry.m_capsuleFrom;
@@ -257,6 +232,27 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
visualShapeOut.m_localVisualFrame[6] = tr.getRotation()[3];
visualShapeOut.m_dimensions[0] = len;
visualShapeOut.m_dimensions[1] = rad;
btAlignedObjectArray<btVector3> vertices;
int numSteps = 32;
for (int i = 0; i<numSteps; i++)
{
btVector3 vert(rad*btSin(SIMD_2_PI*(float(i) / numSteps)), rad*btCos(SIMD_2_PI*(float(i) / numSteps)), len / 2.);
vertices.push_back(vert);
vert[2] = -len / 2.;
vertices.push_back(vert);
}
if (visual->m_geometry.m_type==URDF_GEOM_CAPSULE) {
// TODO: check if tiny renderer works with that, didn't check -- Oleg
btVector3 pole1(0, 0, + len / 2. + rad);
btVector3 pole2(0, 0, - len / 2. - rad);
vertices.push_back(pole1);
vertices.push_back(pole2);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(0.001);
convexColShape = cylZShape;
break;
}
case URDF_GEOM_BOX: