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fix in URDF loading: apply visual transform locally, not after compensating for inertia transform.

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add option in COLLADA loading to specify client up axis (so that if client=Z and COLLADA =Z, upAxisTransform is identity,
while if client=Y and COLLADA=Y, upAxisTransform is identity etc)
This commit is contained in:
Erwin Coumans
2015-02-13 16:18:16 -08:00
parent a65d8fc209
commit d8b08eaf2a
4 changed files with 86 additions and 43 deletions
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5
Demos3/ImportColladaDemo/ImportColladaSetup.cpp
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@@ -46,7 +46,8 @@ static int ColladaGraphicsInstanceSortfnc(const ColladaGraphicsInstance& a,const
void ImportColladaSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
gfxBridge.setUpAxis(1);
int upAxis=1;
gfxBridge.setUpAxis(upAxis);
this->createEmptyDynamicsWorld();
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
@@ -112,7 +113,7 @@ void ImportColladaSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
fileIndex = 0;
}
LoadMeshFromCollada(relativeFileName, visualShapes, visualShapeInstances,upAxisTrans,unitMeterScaling);
LoadMeshFromCollada(relativeFileName, visualShapes, visualShapeInstances,upAxisTrans,unitMeterScaling, upAxis);
#endif// COMPARE_WITH_ASSIMP