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Merge pull request #601 from erwincoumans/master

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fix scaling in URDF importer
This commit is contained in:
erwincoumans
2016-04-18 21:57:01 -07:00
parent 889a113cca 3a8ffebc28
commit f05bef2ea3
2 changed files with 16 additions and 3 deletions
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2
examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp
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@@ -93,6 +93,8 @@ public:
float accumulated_time=0,parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time(); float accumulated_time=0,parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time();
int i; int i;
int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset(); int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
if (0==frames_since_reset)
return 0.f;
//printf("Profiling: %s (total running time: %.3f ms) ---\n", profileIterator->Get_Current_Parent_Name(), parent_time ); //printf("Profiling: %s (total running time: %.3f ms) ---\n", profileIterator->Get_Current_Parent_Name(), parent_time );
float totalTime = 0.f; float totalTime = 0.f;

15
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -481,8 +481,16 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
} }
if (glmesh && (glmesh->m_numvertices>0)) if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
{ {
//apply the geometry scaling
for (int i=0;i<glmesh->m_vertices->size();i++)
{
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
}
} }
else else
{ {
@@ -802,7 +810,10 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
convertedVerts.reserve(glmesh->m_numvertices); convertedVerts.reserve(glmesh->m_numvertices);
for (int i=0;i<glmesh->m_numvertices;i++) for (int i=0;i<glmesh->m_numvertices;i++)
{ {
convertedVerts.push_back(btVector3(glmesh->m_vertices->at(i).xyzw[0],glmesh->m_vertices->at(i).xyzw[1],glmesh->m_vertices->at(i).xyzw[2])); convertedVerts.push_back(btVector3(
glmesh->m_vertices->at(i).xyzw[0]*collision->m_geometry.m_meshScale[0],
glmesh->m_vertices->at(i).xyzw[1]*collision->m_geometry.m_meshScale[1],
glmesh->m_vertices->at(i).xyzw[2]*collision->m_geometry.m_meshScale[2]));
} }
//btConvexHullShape* cylZShape = new btConvexHullShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex)); //btConvexHullShape* cylZShape = new btConvexHullShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex));
btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3)); btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));