fix lack of collision scaling in pybullet URDF/SDF files (only graphi…

…cs meshes supported scaling, collision objects ignored scaling)
HumanED · Mar 1, 2017 · 89e8e30 · 89e8e30
1 parent 0131754
commit 89e8e30
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -704,6 +704,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 								}
 
 								btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
+								trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
 								shape = trimesh;
 							} else
 							{
@@ -713,6 +714,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 								convexHull->optimizeConvexHull();
 								//convexHull->initializePolyhedralFeatures();
 								convexHull->setMargin(gUrdfDefaultCollisionMargin);
+								convexHull->setLocalScaling(collision->m_geometry.m_meshScale);
 								shape = convexHull;
 							}
 						} else