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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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15
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -85,26 +85,23 @@ bool findExistingMeshFile(const std::string& urdf_path, std::string fn,
const std::string& error_message_prefix,
std::string* out_found_filename, int* out_type); // intended to fill UrdfGeometry::m_meshFileName and Type, but can be used elsewhere
struct UrdfVisual
struct UrdfShape
{
std::string m_sourceFileLocation;
btTransform m_linkLocalFrame;
UrdfGeometry m_geometry;
std::string m_name;
};
struct UrdfVisual: UrdfShape
{
std::string m_materialName;
bool m_hasLocalMaterial;
UrdfMaterial m_localMaterial;
};
struct UrdfCollision
struct UrdfCollision: UrdfShape
{
std::string m_sourceFileLocation;
btTransform m_linkLocalFrame;
UrdfGeometry m_geometry;
std::string m_name;
int m_flags;
int m_collisionGroup;
int m_collisionMask;