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Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations.

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Fix two_cubes.sdf (was lacking collision shape for second cube)
This commit is contained in:
Erwin Coumans
2017-08-14 14:59:41 -07:00
parent dfaa717fed
commit aafaa7e33e
15 changed files with 130 additions and 34 deletions
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10
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -69,6 +69,12 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
{
m_pathPrefix[0] = 0;
}
void setGlobalScaling(btScalar scaling)
{
m_urdfParser.setGlobalScaling(scaling);
}
};
void BulletURDFImporter::printTree()
@@ -76,10 +82,10 @@ void BulletURDFImporter::printTree()
// btAssert(0);
}
BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter)
BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling)
{
m_data = new BulletURDFInternalData;
m_data->setGlobalScaling(globalScaling);
m_data->m_guiHelper = helper;
m_data->m_customVisualShapesConverter = customConverter;