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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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8
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -311,7 +311,7 @@ void ConvertURDF2BulletInternal(
//untested: u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,body);
//untested: u2b.convertLinkVisualShapes2(linkIndex,urdfLinkIndex,pathPrefix,localInertialFrame,body);
} else
{
if (cache.m_bulletMultiBody==0)
@@ -469,8 +469,8 @@ void ConvertURDF2BulletInternal(
btVector4 color = selectColor2();//(0.0,0.0,0.5);
u2b.getLinkColor(urdfLinkIndex,color);
creation.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,col, u2b.getBodyUniqueId());
u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame,col, u2b.getBodyUniqueId());
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
@@ -487,7 +487,7 @@ void ConvertURDF2BulletInternal(
}
} else
{
//u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,compoundShape);
//u2b.convertLinkVisualShapes2(urdfLinkIndex,urdfIndex,pathPrefix,localInertialFrame,compoundShape);
}
}