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fix lack of collision scaling in pybullet URDF/SDF files (only graphics meshes supported scaling, collision objects ignored scaling)

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This commit is contained in:
Erwin Coumans
2017-02-28 16:30:57 -08:00
parent 0131754173
commit 89e8e30de6
1 changed files with 2 additions and 0 deletions
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2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -704,6 +704,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
} }
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true); btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
shape = trimesh; shape = trimesh;
} else } else
{ {
@@ -713,6 +714,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
convexHull->optimizeConvexHull(); convexHull->optimizeConvexHull();
//convexHull->initializePolyhedralFeatures(); //convexHull->initializePolyhedralFeatures();
convexHull->setMargin(gUrdfDefaultCollisionMargin); convexHull->setMargin(gUrdfDefaultCollisionMargin);
convexHull->setLocalScaling(collision->m_geometry.m_meshScale);
shape = convexHull; shape = convexHull;
} }
} else } else