mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-12 21:00:11 +00:00
101 lines
3.0 KiB
XML
101 lines
3.0 KiB
XML
<?xml version="1.0" ?>
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<robot name="cube">
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<bullet>
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<user-data key="userDataInRobot">
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Inside the robot tag. Expected identifier: linkIndex: -1, visualShapeIndex: -1
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</user-data>
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</bullet>
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<link name="baseLink">
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<bullet>
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<user-data key="userDataInBaseLink">
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Inside the base link. Expected identifier: linkIndex: -1, visualShapeIndex: -1
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</user-data>
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</bullet>
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<bullet>
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<user-data key="secondBulletTagInBaseLink1">
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Second bullet tag inside the base link. Expected identifier: linkIndex: -1, visualShapeIndex: -1
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</user-data>
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<user-data key="secondBulletTagInBaseLink2">
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Second bullet tag inside the base link. Expected identifier: linkIndex: -1, visualShapeIndex: -1
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</user-data>
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</bullet>
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<contact_cfm value="0.0"/>
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<contact_erp value="1.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="1.0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<bullet>
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<user-data key="userDataInVisualShape">
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This is user data inside the visual shape. Expected identifier: linkIndex: -1, visualShapeIndex: 0
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</user-data>
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</bullet>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="cube.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<link name="childLink">
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<bullet>
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<user-data key="userDataInChildLink">
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Inside the robot tag. Expected identifier: linkIndex: 0, visualShapeIndex: -1
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</user-data>
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</bullet>
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<contact_cfm value="0.0"/>
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<contact_erp value="1.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="1.0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<bullet>
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<user-data key="userDataInVisualShape2">
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This is user data inside the visual shape. Expected identifier: linkIndex: 0, visualShapeIndex: 0
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</user-data>
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</bullet>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="cube.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint" type="fixed">
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<parent link="baseLink"/>
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<child link="childLink"/>
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<dynamics damping="1.0" friction="0.0001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<axis xyz="0 0 0"/>
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</joint>
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</robot>
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