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report localVisualFrame instead localInertialFrame

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This commit is contained in:
Erwin Coumans
2017-01-25 08:29:45 -08:00
parent 76dcf3a751
commit e652696f52
3 changed files with 25 additions and 18 deletions
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27
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -289,7 +289,14 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
visualShapeOut.m_dimensions[0] = visual->m_geometry.m_meshScale[0];
visualShapeOut.m_dimensions[1] = visual->m_geometry.m_meshScale[1];
visualShapeOut.m_dimensions[2] = visual->m_geometry.m_meshScale[2];
visualShapeOut.m_localVisualFrame[0] = visual->m_linkLocalFrame.getOrigin()[0];
visualShapeOut.m_localVisualFrame[1] = visual->m_linkLocalFrame.getOrigin()[1];
visualShapeOut.m_localVisualFrame[2] = visual->m_linkLocalFrame.getOrigin()[2];
visualShapeOut.m_localVisualFrame[3] = visual->m_linkLocalFrame.getRotation()[0];
visualShapeOut.m_localVisualFrame[4] = visual->m_linkLocalFrame.getRotation()[1];
visualShapeOut.m_localVisualFrame[5] = visual->m_linkLocalFrame.getRotation()[2];
visualShapeOut.m_localVisualFrame[6] = visual->m_linkLocalFrame.getRotation()[3];
int sl = strlen(fullPath);
if (sl < (VISUAL_SHAPE_MAX_PATH_LEN-1))
{
@@ -550,7 +557,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
const UrdfLink* link = *linkPtr;
for (int v = 0; v < link->m_visualArray.size();v++)
for (int v1 = 0; v1 < link->m_visualArray.size();v1++)
{
btAlignedObjectArray<MyTexture2> textures;
btAlignedObjectArray<GLInstanceVertex> vertices;
@@ -558,7 +565,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
btTransform startTrans; startTrans.setIdentity();
//int graphicsIndex = -1;
const UrdfVisual& vis = link->m_visualArray[v];
const UrdfVisual& vis = link->m_visualArray[v1];
btTransform childTrans = vis.m_linkLocalFrame;
btHashString matName(vis.m_materialName.c_str());
UrdfMaterial *const * matPtr = model.m_materials[matName];
@@ -586,13 +593,13 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
b3VisualShapeData visualShape;
visualShape.m_objectUniqueId = bodyUniqueId;
visualShape.m_linkIndex = linkIndex;
visualShape.m_localInertiaFrame[0] = localInertiaFrame.getOrigin()[0];
visualShape.m_localInertiaFrame[1] = localInertiaFrame.getOrigin()[1];
visualShape.m_localInertiaFrame[2] = localInertiaFrame.getOrigin()[2];
visualShape.m_localInertiaFrame[3] = localInertiaFrame.getRotation()[0];
visualShape.m_localInertiaFrame[4] = localInertiaFrame.getRotation()[1];
visualShape.m_localInertiaFrame[5] = localInertiaFrame.getRotation()[2];
visualShape.m_localInertiaFrame[6] = localInertiaFrame.getRotation()[3];
visualShape.m_localVisualFrame[0] = vis.m_linkLocalFrame.getOrigin()[0];
visualShape.m_localVisualFrame[1] = vis.m_linkLocalFrame.getOrigin()[1];
visualShape.m_localVisualFrame[2] = vis.m_linkLocalFrame.getOrigin()[2];
visualShape.m_localVisualFrame[3] = vis.m_linkLocalFrame.getRotation()[0];
visualShape.m_localVisualFrame[4] = vis.m_linkLocalFrame.getRotation()[1];
visualShape.m_localVisualFrame[5] = vis.m_linkLocalFrame.getRotation()[2];
visualShape.m_localVisualFrame[6] = vis.m_linkLocalFrame.getRotation()[3];
visualShape.m_rgbaColor[0] = rgbaColor[0];
visualShape.m_rgbaColor[1] = rgbaColor[1];
visualShape.m_rgbaColor[2] = rgbaColor[2];