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URDF loader: fix MuJoCo xml load, also closes #993

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This commit is contained in:
Oleg Klimov
2017-03-17 02:09:55 +03:00
parent 86bec45247
commit e8da7bb6f8
13 changed files with 259 additions and 250 deletions
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5
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -18,9 +18,8 @@ class BulletMJCFImporter : public URDFImporterInterface
{
struct BulletMJCFImporterInternalData* m_data;
public:
BulletMJCFImporter(struct GUIHelperInterface* helper);
BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter);
virtual ~BulletMJCFImporter();
virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);
@@ -66,7 +65,7 @@ public:
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const;
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const;
virtual void setBodyUniqueId(int bodyId);
virtual int getBodyUniqueId() const;