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add capsule support in urdf parser (non-standard extension), capsule.urdf

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fix btCapsuleShape (X,Y,Z) margin issue
fix uninitialized variables in TinyRenderer: m_hasLightDistance, m_hasLightAmbientCoeff, m_hasLightDiffuseCoeff, m_hasLightSpecularCoeff
pybullet/shared memory API 'getClosestPoints' / b3InitClosestDistanceQuery, only report contacts equal/smaller distance than given
This commit is contained in:
Erwin Coumans
2017-01-23 16:45:18 -08:00
parent 73e83d6e84
commit d465e1eea5
6 changed files with 87 additions and 22 deletions
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10
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -455,6 +455,16 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
switch (collision->m_geometry.m_type)
{
case URDF_GEOM_CAPSULE:
{
btScalar radius = collision->m_geometry.m_capsuleRadius;
btScalar height = btScalar(2.f)*collision->m_geometry.m_capsuleHalfHeight;
btCapsuleShapeZ* capsuleShape = new btCapsuleShapeZ(radius,height);
shape = capsuleShape;
shape ->setMargin(gUrdfDefaultCollisionMargin);
break;
}
case URDF_GEOM_CYLINDER:
{
btScalar cylRadius = collision->m_geometry.m_cylinderRadius;

15
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -380,7 +380,20 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
geom.m_cylinderLength = urdfLexicalCast<double>(shape->Attribute("length"));
}
else if (type_name == "capsule")
{
geom.m_type = URDF_GEOM_CAPSULE;
if (!shape->Attribute("length") ||
!shape->Attribute("radius"))
{
logger->reportError("Capsule shape must have both length and radius attributes");
return false;
}
geom.m_hasFromTo = false;
geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHalfHeight = btScalar(0.5)*urdfLexicalCast<double>(shape->Attribute("length"));
}
else if (type_name == "mesh")
{
geom.m_type = URDF_GEOM_MESH;