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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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8
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -251,7 +251,8 @@ protected:
bool m_parseSDF;
int m_activeSdfModel;
btScalar m_urdfScaling;
bool parseTransform(btTransform& tr, class TiXmlElement* xml, ErrorLogger* logger, bool parseSDF = false);
bool parseInertia(UrdfInertia& inertia, class TiXmlElement* config, ErrorLogger* logger);
bool parseGeometry(UrdfGeometry& geom, class TiXmlElement* g, ErrorLogger* logger);
bool parseVisual(UrdfModel& model, UrdfVisual& visual, class TiXmlElement* config, ErrorLogger* logger);
@@ -277,6 +278,11 @@ public:
{
return m_parseSDF;
}
void setGlobalScaling(btScalar scaling)
{
m_urdfScaling = scaling;
}
bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase);
bool loadSDF(const char* sdfText, ErrorLogger* logger);