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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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17
examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
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@@ -120,14 +120,25 @@ ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option,
if (gMCFJFileNameArray.size()==0)
{
gMCFJFileNameArray.push_back("MPL/MPL.xml");
gMCFJFileNameArray.push_back("mjcf/humanoid.xml");
gMCFJFileNameArray.push_back("mjcf/inverted_pendulum.xml");
gMCFJFileNameArray.push_back("mjcf/ant.xml");
gMCFJFileNameArray.push_back("mjcf/hello_mjcf.xml");
gMCFJFileNameArray.push_back("mjcf/cylinder.xml");
gMCFJFileNameArray.push_back("mjcf/cylinder_fromtoX.xml");
gMCFJFileNameArray.push_back("mjcf/cylinder_fromtoY.xml");
gMCFJFileNameArray.push_back("mjcf/cylinder_fromtoZ.xml");
gMCFJFileNameArray.push_back("mjcf/capsule.xml");
// gMCFJFileNameArray.push_back("mjcf/hopper.xml");
// gMCFJFileNameArray.push_back("mjcf/swimmer.xml");
// gMCFJFileNameArray.push_back("mjcf/reacher.xml");
gMCFJFileNameArray.push_back("mjcf/capsule_fromtoX.xml");
gMCFJFileNameArray.push_back("mjcf/capsule_fromtoY.xml");
gMCFJFileNameArray.push_back("mjcf/capsule_fromtoZ.xml");
gMCFJFileNameArray.push_back("mjcf/hopper.xml");
gMCFJFileNameArray.push_back("mjcf/swimmer.xml");
gMCFJFileNameArray.push_back("mjcf/reacher.xml");
}
int numFileNames = gMCFJFileNameArray.size();