From f5952a73e77a5f9fcb0ba0fdc179e7ad519fd5be Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 23 May 2018 00:28:49 +1000
Subject: [PATCH] UrdfImporter: Collada DAE, rudimentary support for polylist
 (for ANYmal), assumes all polygons have 3 vertices remove obsolete env from
 __init__.py

---
 .../ImportColladaDemo/LoadMeshFromCollada.cpp        | 12 ++++++++++++
 .../pybullet/gym/pybullet_envs/bullet/__init__.py    |  1 -
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp b/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
index f5c5cc563..47fa737d8 100644
--- a/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+++ b/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
@@ -188,8 +188,20 @@ void readLibraryGeometries(XMLDocument& doc, btAlignedObjectArray<GLInstanceGrap
 			}
 			vertexSources.insert(vertexId,vs);
 
+			btAlignedObjectArray<XMLElement*> trianglesAndPolylists;
+
 			for (XMLElement* primitive = mesh->FirstChildElement("triangles"); primitive; primitive = primitive->NextSiblingElement("triangles"))
 			{
+				trianglesAndPolylists.push_back(primitive);
+			}
+			for (XMLElement* primitive = mesh->FirstChildElement("polylist"); primitive; primitive = primitive->NextSiblingElement("polylist"))
+			{
+				trianglesAndPolylists.push_back(primitive);
+			}
+
+			for (int i=0;i<trianglesAndPolylists.size();i++)
+			{
+				XMLElement* primitive = trianglesAndPolylists[i];
 				std::string positionSourceName;
 				std::string normalSourceName;
 				int primitiveCount;
diff --git a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
index 4c08abbba..75c133276 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
@@ -3,6 +3,5 @@ from pybullet_envs.bullet.minitaur_gym_env import MinitaurBulletEnv
 from pybullet_envs.bullet.minitaur_duck_gym_env import MinitaurBulletDuckEnv
 from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
 from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
-from pybullet_envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv
 from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
 from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv