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improvements in MJCF importer: fix capsule shape inertia (for fromto definition)

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add cylinder support
don't crash when no "quat" is provided
inertia fix in btMinkowskiSumShape (based on AABB)
This commit is contained in:
Erwin Coumans
2017-04-05 12:22:38 -07:00
parent b095e1d917
commit e32debdca4
11 changed files with 180 additions and 16 deletions
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2
data/mjcf/capsule.xml
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@@ -7,7 +7,7 @@
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
<body pos="0 0 1">
<joint type="free"/>
<geom fromto="0.0 0.0 0.0 0. 0.2 0.0" name="aux_1_geom" size="0.05" type="capsule"/>
<geom name="aux_1_geom" size="0.05 0.1" type="capsule"/>
</body>
</worldbody>
</mujoco>