mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 13:20:07 +00:00
101 lines
3.0 KiB
XML
101 lines
3.0 KiB
XML
<?xml version="1.0" ?>
|
|
<robot name="cube">
|
|
<bullet>
|
|
<user-data key="userDataInRobot">
|
|
Inside the robot tag. Expected identifier: linkIndex: -1, visualShapeIndex: -1
|
|
</user-data>
|
|
</bullet>
|
|
<link name="baseLink">
|
|
<bullet>
|
|
<user-data key="userDataInBaseLink">
|
|
Inside the base link. Expected identifier: linkIndex: -1, visualShapeIndex: -1
|
|
</user-data>
|
|
</bullet>
|
|
<bullet>
|
|
<user-data key="secondBulletTagInBaseLink1">
|
|
Second bullet tag inside the base link. Expected identifier: linkIndex: -1, visualShapeIndex: -1
|
|
</user-data>
|
|
<user-data key="secondBulletTagInBaseLink2">
|
|
Second bullet tag inside the base link. Expected identifier: linkIndex: -1, visualShapeIndex: -1
|
|
</user-data>
|
|
</bullet>
|
|
<contact>
|
|
<lateral_friction value="1.0"/>
|
|
<rolling_friction value="0.0"/>
|
|
<contact_cfm value="0.0"/>
|
|
<contact_erp value="1.0"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="1.0"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<bullet>
|
|
<user-data key="userDataInVisualShape">
|
|
This is user data inside the visual shape. Expected identifier: linkIndex: -1, visualShapeIndex: 0
|
|
</user-data>
|
|
</bullet>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="cube.obj" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="1 1 1"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link name="childLink">
|
|
<bullet>
|
|
<user-data key="userDataInChildLink">
|
|
Inside the robot tag. Expected identifier: linkIndex: 0, visualShapeIndex: -1
|
|
</user-data>
|
|
</bullet>
|
|
<contact>
|
|
<lateral_friction value="1.0"/>
|
|
<rolling_friction value="0.0"/>
|
|
<contact_cfm value="0.0"/>
|
|
<contact_erp value="1.0"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="1.0"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<bullet>
|
|
<user-data key="userDataInVisualShape2">
|
|
This is user data inside the visual shape. Expected identifier: linkIndex: 0, visualShapeIndex: 0
|
|
</user-data>
|
|
</bullet>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="cube.obj" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="1 1 1"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="joint" type="fixed">
|
|
<parent link="baseLink"/>
|
|
<child link="childLink"/>
|
|
<dynamics damping="1.0" friction="0.0001"/>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<axis xyz="0 0 0"/>
|
|
</joint>
|
|
</robot>
|
|
|