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fixed a bug that prevented kitchens/1.sdf to render properly (local scaling was double applied)

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disable some left-over clipping that was moved to another part of the code
This commit is contained in:
Erwin Coumans
2017-04-06 21:13:23 -07:00
parent d6125ecb8c
commit 82b576a390
3 changed files with 16 additions and 17 deletions
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15
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -746,16 +746,13 @@ upAxisMat.setIdentity();
btTriangleMesh* meshInterface = new btTriangleMesh();
for (int i=0; i<glmesh->m_numIndices/3; i++)
{
float* v0 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3)).xyzw;
float* v1 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3+1)).xyzw;
float* v2 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3+2)).xyzw;
meshInterface->addTriangle(
btVector3(v0[0],v0[1],v0[2]),
btVector3(v1[0],v1[1],v1[2]),
btVector3(v2[0],v2[1],v2[2]));
const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)];
const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)];
const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)];
meshInterface->addTriangle(v0,v1,v2);
}
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
shape = trimesh;
} else
@@ -765,7 +762,7 @@ upAxisMat.setIdentity();
convexHull->optimizeConvexHull();
//convexHull->initializePolyhedralFeatures();
convexHull->setMargin(gUrdfDefaultCollisionMargin);
convexHull->setLocalScaling(collision->m_geometry.m_meshScale);
//convexHull->setLocalScaling(collision->m_geometry.m_meshScale);
shape = convexHull;
}