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Merge pull request #1025 from olegklimov/master

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URDF loader improvement 2
This commit is contained in:
erwincoumans
2017-03-21 17:12:22 -07:00
committed by GitHub
parent 2b698688f4 80a0b51a1d
commit a30b887595
62 changed files with 398 additions and 331 deletions
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8
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -315,7 +315,7 @@ void ConvertURDF2BulletInternal(
//untested: u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,body);
//untested: u2b.convertLinkVisualShapes2(linkIndex,urdfLinkIndex,pathPrefix,localInertialFrame,body);
} else
{
if (cache.m_bulletMultiBody==0)
@@ -473,8 +473,8 @@ void ConvertURDF2BulletInternal(
btVector4 color = selectColor2();//(0.0,0.0,0.5);
u2b.getLinkColor(urdfLinkIndex,color);
creation.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,col, u2b.getBodyUniqueId());
u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame,col, u2b.getBodyUniqueId());
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
@@ -491,7 +491,7 @@ void ConvertURDF2BulletInternal(
}
} else
{
//u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,compoundShape);
//u2b.convertLinkVisualShapes2(urdfLinkIndex,urdfIndex,pathPrefix,localInertialFrame,compoundShape);
}
}