Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

13
data/mjcf/cylinder.xml Normal file
View File

@@ -0,0 +1,13 @@
<!--
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
-->
<mujoco>
<worldbody>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
<body pos="0 0 1">
<joint type="free"/>
<geom name="aux_1_geom" size="0.05 0.1" type="cylinder"/>
</body>
</worldbody>
</mujoco>