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Use meshloader to support multiple file formats loading (#744)

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Co-authored-by: Tin Lai <tin@tinyiu.com>
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Thierry Berger
2024-11-12 09:02:55 +01:00
committed by GitHub
parent 0d791eb794
commit 71f65fe55a
14 changed files with 214 additions and 189 deletions
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8
crates/rapier3d-urdf/README.md
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@@ -1,4 +1,4 @@
## STL loader for the Rapier physics engine
## Mesh loader for the Rapier physics engine
Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-urdf`
crate lets you convert an URDF file into a set of rigid-bodies, colliders, and joints, for usage with the
@@ -6,7 +6,9 @@ crate lets you convert an URDF file into a set of rigid-bodies, colliders, and j
## Optional cargo features
- `stl`: enables loading STL meshes referenced by the URDF file.
- `stl`: enables loading `.STL` meshes referenced by the URDF file.
- `collada`: enables loading `.dae` meshes referenced by the URDF file.
- `wavefront`: enables loading `.obj` meshes referenced by the URDF file.
## Limitations
@@ -14,7 +16,7 @@ Are listed below some known limitations you might want to be aware of before pic
improve
these elements are very welcome!
- Mesh file types other than `stl` are not supported yet. Contributions are welcome. You my check the `rapier3d-stl`
- Supported mesh formats are `stl`, `collada` and `wavefront`. Contributions are welcome. You my check the `rapier3d-meshloader`
repository for an example of mesh loader.
- When inserting joints as multibody joints, they will be reset to their neutral position (all coordinates = 0).
- The following fields are currently ignored: