mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 05:10:08 +00:00
4a705d1e03
Fix uninitialized variable jointDamping/jointFriction in SDF importer Add SDF <pose> parsing in visual, inertial, collision elements. Slight improvement in TinyRender loading performance of largish meshes (30k vertices) Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is. b3RobotSimAPI support SDF file loading Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures
27 lines
623 B
XML
27 lines
623 B
XML
<?xml version="0.0" ?>
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<robot name="cube.urdf">
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<link name="baseLink">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value=".0"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="plane.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="10 10 0.001"/>
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</geometry>
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</collision>
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</link>
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</robot>
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