mirror of
https://github.com/bulletphysics/bullet3
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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
56 lines
1.3 KiB
XML
56 lines
1.3 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="Amazon Pod">
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<static>1</static>
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<pose>0 2 1.21 0 0 0</pose>
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<link name="pod_link">
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<inertial>
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<pose>0.0 0.0 1.2045 0 0 0</pose>
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<mass>76.26</mass>
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<inertia>
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<ixx>47</ixx>
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<ixy>-0.003456</ixy>
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<ixz>0.001474</ixz>
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<izz>13.075</izz>
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<iyz>-0.014439</iyz>
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<iyy>47</iyy>
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</inertia>
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</inertial>
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<visual name="pod_visual">
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<pose>0 0 0 1.5707 0 0 </pose>
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<geometry>
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<mesh>
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<uri>meshes/pod_lowres.stl</uri>
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</mesh>
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</geometry>
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<material>
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<diffuse>0.9 0.8 0.5 1</diffuse>
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</material>
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</visual>
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<collision name="pod_collision">
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<pose>0 0 0 1.5707 0 0</pose>
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<geometry>
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<mesh>
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<uri>meshes/pod_lowres.stl</uri>
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</mesh>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.8</mu>
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<mu2>0.8</mu2>
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<fdir1>0.0 0.0 0.0</fdir1>
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<slip1>1.0</slip1>
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<slip2>1.0</slip2>
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</ode>
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</friction>
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</surface>
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</collision>
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</link>
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</model>
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</sdf>
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