Merge pull request #39 from yosuke/master

remove special handling of empy vrml link (ref #38)
fkanehiro · Sep 11, 2015 · c0065b1 · c0065b1
2 parents 735c1db + d3a1da8
commit c0065b1
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diff --git a/simtrans/template/vrml.wrl b/simtrans/template/vrml.wrl
@@ -188,7 +188,6 @@ Transform {
 DEF {{model.name}} Humanoid {
   humanoidBody [
     {%- for l in model.children recursive %}
-    {%- if l.link and (l.link.visuals|length or l.link.collisions|length or l.children|length) %}
     DEF {{l.joint.name}} Joint {
       jointType "{{l.jointtype}}"
       {%- if l.joint.axis.axis %}
@@ -210,6 +209,7 @@ DEF {{model.name}} Humanoid {
       lvlimit {{l.joint.axis.velocitylimit[1]}}
       {%- endif %}
       children [
+        {%- if l.link %}
         DEF {{l.link.name}} Segment {
           mass {{l.link.mass}}
           centerOfMass {{l.link.centerofmass[0]}} {{l.link.centerofmass[1]}} {{l.link.centerofmass[2]}}
@@ -239,10 +239,10 @@ DEF {{model.name}} Humanoid {
             {%- endif %}
           ]
         }
+        {%- endif %}
         {{ loop(l.children)|indent(4, True) }}
       ]
     }
-    {%- endif %}
     {%- endfor %}
   ]
   joints [

diff --git a/simtrans/vrml.py b/simtrans/vrml.py
@@ -479,8 +479,7 @@ def convertchildren(self, mdata, pjoint, joints, links):
             nmodel['link'] = clink2
             nmodel['children'] = cchildren
             children.append(nmodel)
-            if clink and (clink.visuals or clink.collisions or len(cchildren) > 0):
-                joints.append(cjoint.name)
+            joints.append(cjoint.name)
             links.append(cjoint.child)
         return (children, joints, links)