Merge pull request #309 from jhwangbo/master

fixed mesh orientation issue. fixed visual body naming issue

examples/src/server/visualObjects.cpp

@@ -24,19 +24,27 @@ int main(int argc, char* argv[]) {
   /// launch raisim server
   raisim::RaisimServer server(&world);
   server.launchServer();
+  raisim::Vec<4> quat = {0.6, 0.2, -0.6, 0.1};
+  quat = quat / quat.norm();
+  raisim::Mat<3, 3> inertia;
+  inertia.setIdentity();
+  const raisim::Vec<3> com = {0, 0, 0};
 
   auto visSphere = server.addVisualSphere("v_sphere", 1.0, 1, 1, 1, 1);
   auto visBox = server.addVisualBox("v_box", 1, 1, 1, 1, 1, 1, 1);
   auto visCylinder = server.addVisualCylinder("v_cylinder", 1, 1, 0, 1, 0, 1);
-  auto visCapsule = server.addVisualCapsule("v_capsule", 1, 0.5, 0, 0, 1, 1);
-  auto visMesh = server.addVisualMesh("v_mesh", binaryPath.getDirectory() + "/rsc/a1/meshes/trunk.stl");
+  auto visCapsule = server.addVisualCapsule("Cylinder", 1, 0.5, 0, 0, 1, 1);
+  auto mesh = world.addMesh(binaryPath.getDirectory() + "/rsc/monkey/monkey.obj", 1, inertia, com);
+  auto visMesh = server.addVisualMesh("v_mesh", binaryPath.getDirectory() + "/rsc/monkey/monkey.obj");
   auto anymalB = server.addVisualArticulatedSystem("v_anymal", binaryPath.getDirectory() + "/rsc/anymal/urdf/anymal.urdf");
   anymalB->color = {0.5, 0.0, 0.0, 0.5};
-
+  mesh->setOrientation(quat);
+  visMesh->setOrientation(quat.e());
   visSphere->setPosition(2,0,0);
   visCylinder->setPosition(0,2,0);
   visCapsule->setPosition(2,2,0);
   visMesh->setPosition(2,-2,1);
+  mesh->setPosition(2,-2,1.1);
   Eigen::VectorXd gc(19);
   gc << 0, 0, 3.54, 1.0, 0.0, 0.0, 0.0, 0.03, 0.4, -0.8, -0.03, 0.4, -0.8, 0.03, -0.4, 0.8, -0.03, -0.4, 0.8;
   anymalB->setGeneralizedCoordinate(gc);