add alternative URDF parser that doens't use ROS urdf
This commit is contained in:
Erwin Coumans
918
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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918
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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/* Copyright (C) 2015 Google
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "BulletURDFImporter.h"
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#include "URDFImporterInterface.h"
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#include "btBulletCollisionCommon.h"
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#include "../ImportObjDemo/LoadMeshFromObj.h"
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#include "../ImportSTLDemo/LoadMeshFromSTL.h"
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#include "../ImportColladaDemo/LoadMeshFromCollada.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "Bullet3Common/b3FileUtils.h"
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#include <string>
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#include <iostream>
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#include <fstream>
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#include "UrdfParser.h"
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struct BulletURDFInternalData
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{
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UrdfParser m_urdfParser;
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struct GUIHelperInterface* m_guiHelper;
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char m_pathPrefix[1024];
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};
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void BulletURDFImporter::printTree()
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{
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// btAssert(0);
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}
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enum MyFileType
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{
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FILE_STL=1,
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FILE_COLLADA=2,
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FILE_OBJ=3,
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};
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BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper)
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{
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m_data = new BulletURDFInternalData;
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m_data->m_guiHelper = helper;
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m_data->m_pathPrefix[0]=0;
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}
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struct BulletErrorLogger : public ErrorLogger
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{
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int m_numErrors;
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int m_numWarnings;
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BulletErrorLogger()
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:m_numErrors(0),
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m_numWarnings(0)
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{
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}
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virtual void reportError(const char* error)
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{
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m_numErrors++;
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b3Error(error);
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}
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virtual void reportWarning(const char* warning)
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{
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m_numWarnings++;
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b3Warning(warning);
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}
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virtual void printMessage(const char* msg)
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{
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b3Printf(msg);
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}
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};
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bool BulletURDFImporter::loadURDF(const char* fileName)
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{
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//int argc=0;
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char relativeFileName[1024];
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b3FileUtils fu;
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bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
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std::string xml_string;
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m_data->m_pathPrefix[0] = 0;
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if (!fileFound){
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std::cerr << "URDF file not found" << std::endl;
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return false;
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} else
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{
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int maxPathLen = 1024;
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fu.extractPath(relativeFileName,m_data->m_pathPrefix,maxPathLen);
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std::fstream xml_file(relativeFileName, std::fstream::in);
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while ( xml_file.good() )
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{
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std::string line;
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std::getline( xml_file, line);
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xml_string += (line + "\n");
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}
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xml_file.close();
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}
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BulletErrorLogger loggie;
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bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(),&loggie);
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return result;
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}
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const char* BulletURDFImporter::getPathPrefix()
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{
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return m_data->m_pathPrefix;
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}
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BulletURDFImporter::~BulletURDFImporter()
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{
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delete m_data;
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}
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int BulletURDFImporter::getRootLinkIndex() const
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{
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if (m_data->m_urdfParser.getModel().m_rootLinks.size()==1)
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{
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return m_data->m_urdfParser.getModel().m_rootLinks[0]->m_linkIndex;
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}
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return -1;
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};
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void BulletURDFImporter::getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const
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{
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childLinkIndices.resize(0);
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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if (linkPtr)
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{
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const UrdfLink* link = *linkPtr;
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//int numChildren = m_data->m_urdfParser->getModel().m_links.getAtIndex(linkIndex)->
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for (int i=0;i<link->m_childLinks.size();i++)
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{
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int childIndex =link->m_childLinks[i]->m_linkIndex;
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childLinkIndices.push_back(childIndex);
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}
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}
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}
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std::string BulletURDFImporter::getLinkName(int linkIndex) const
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{
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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std::string n = link->m_name;
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}
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return "";
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}
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std::string BulletURDFImporter::getJointName(int linkIndex) const
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{
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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if (link->m_parentJoint)
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{
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return link->m_parentJoint->m_name;
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}
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}
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return "";
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}
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void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
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{
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//todo(erwincoumans)
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//the link->m_inertia is NOT necessarily aligned with the inertial frame
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//so an additional transform might need to be computed
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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mass = link->m_inertia.m_mass;
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inertialFrame = link->m_inertia.m_linkLocalFrame;
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localInertiaDiagonal.setValue(link->m_inertia.m_ixx,link->m_inertia.m_iyy,
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link->m_inertia.m_izz);
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}
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else
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{
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mass = 1.f;
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localInertiaDiagonal.setValue(1,1,1);
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inertialFrame.setIdentity();
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}
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}
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bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const
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{
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jointLowerLimit = 0.f;
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jointUpperLimit = 0.f;
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdfLinkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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if (link->m_parentJoint)
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{
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UrdfJoint* pj = link->m_parentJoint;
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parent2joint = pj->m_parentLinkToJointTransform;
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jointType = pj->m_type;
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jointAxisInJointSpace = pj->m_localJointAxis;
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jointLowerLimit = pj->m_lowerLimit;
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jointUpperLimit = pj->m_upperLimit;
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return true;
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} else
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{
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parent2joint.setIdentity();
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return false;
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}
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}
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return false;
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}
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void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
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{
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GLInstanceGraphicsShape* glmesh = 0;
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btConvexShape* convexColShape = 0;
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switch (visual->m_geometry.m_type)
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{
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case URDF_GEOM_CYLINDER:
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{
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printf("processing a cylinder\n");
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btAlignedObjectArray<btVector3> vertices;
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//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
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int numSteps = 32;
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for (int i = 0; i<numSteps; i++)
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{
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btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
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btScalar cylLength = visual->m_geometry.m_cylinderLength;
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btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
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vertices.push_back(vert);
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vert[2] = -cylLength / 2.;
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vertices.push_back(vert);
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}
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btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
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cylZShape->setMargin(0.001);
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convexColShape = cylZShape;
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break;
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}
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case URDF_GEOM_BOX:
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{
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printf("processing a box\n");
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btVector3 extents = visual->m_geometry.m_boxSize;
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btBoxShape* boxShape = new btBoxShape(extents*0.5f);
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//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
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convexColShape = boxShape;
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convexColShape->setMargin(0.001);
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break;
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}
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case URDF_GEOM_SPHERE:
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{
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printf("processing a sphere\n");
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btScalar radius = visual->m_geometry.m_sphereRadius;
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btSphereShape* sphereShape = new btSphereShape(radius);
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convexColShape = sphereShape;
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convexColShape->setMargin(0.001);
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break;
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break;
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}
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case URDF_GEOM_MESH:
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{
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if (visual->m_name.length())
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{
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printf("visual->name=%s\n", visual->m_name.c_str());
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}
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if (1)//visual->m_geometry)
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{
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if (visual->m_geometry.m_meshFileName.length())
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{
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const char* filename = visual->m_geometry.m_meshFileName.c_str();
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printf("mesh->filename=%s\n", filename);
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char fullPath[1024];
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int fileType = 0;
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char tmpPathPrefix[1024];
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std::string xml_string;
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int maxPathLen = 1024;
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b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
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char visualPathPrefix[1024];
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sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
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sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
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b3FileUtils::toLower(fullPath);
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if (strstr(fullPath, ".dae"))
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{
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fileType = FILE_COLLADA;
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}
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if (strstr(fullPath, ".stl"))
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{
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fileType = FILE_STL;
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}
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if (strstr(fullPath,".obj"))
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{
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fileType = FILE_OBJ;
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}
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sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
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FILE* f = fopen(fullPath, "rb");
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if (f)
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{
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fclose(f);
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switch (fileType)
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{
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case FILE_OBJ:
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{
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glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
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break;
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}
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case FILE_STL:
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{
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glmesh = LoadMeshFromSTL(fullPath);
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break;
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}
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case FILE_COLLADA:
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{
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btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
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btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
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btTransform upAxisTrans; upAxisTrans.setIdentity();
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float unitMeterScaling = 1;
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int upAxis = 2;
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LoadMeshFromCollada(fullPath,
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visualShapes,
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visualShapeInstances,
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upAxisTrans,
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unitMeterScaling,
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upAxis);
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glmesh = new GLInstanceGraphicsShape;
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int index = 0;
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glmesh->m_indices = new b3AlignedObjectArray<int>();
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glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
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for (int i = 0; i<visualShapeInstances.size(); i++)
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{
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ColladaGraphicsInstance* instance = &visualShapeInstances[i];
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GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
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b3AlignedObjectArray<GLInstanceVertex> verts;
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verts.resize(gfxShape->m_vertices->size());
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int baseIndex = glmesh->m_vertices->size();
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for (int i = 0; i<gfxShape->m_vertices->size(); i++)
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{
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verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
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verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
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verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
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verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
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verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
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verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
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verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
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verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
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verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
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}
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int curNumIndices = glmesh->m_indices->size();
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int additionalIndices = gfxShape->m_indices->size();
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glmesh->m_indices->resize(curNumIndices + additionalIndices);
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for (int k = 0; k<additionalIndices; k++)
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{
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glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
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}
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//compensate upAxisTrans and unitMeterScaling here
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btMatrix4x4 upAxisMat;
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upAxisMat.setIdentity();
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// upAxisMat.setPureRotation(upAxisTrans.getRotation());
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btMatrix4x4 unitMeterScalingMat;
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unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
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btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
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//btMatrix4x4 worldMat = instance->m_worldTransform;
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int curNumVertices = glmesh->m_vertices->size();
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int additionalVertices = verts.size();
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glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
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for (int v = 0; v<verts.size(); v++)
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{
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btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
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pos = worldMat*pos;
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verts[v].xyzw[0] = float(pos[0]);
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verts[v].xyzw[1] = float(pos[1]);
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verts[v].xyzw[2] = float(pos[2]);
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glmesh->m_vertices->push_back(verts[v]);
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}
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}
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glmesh->m_numIndices = glmesh->m_indices->size();
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glmesh->m_numvertices = glmesh->m_vertices->size();
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//glmesh = LoadMeshFromCollada(fullPath);
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break;
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}
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default:
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{
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printf("Error: unsupported file type for Visual mesh: %s\n", fullPath);
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btAssert(0);
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}
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}
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if (glmesh && (glmesh->m_numvertices>0))
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{
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}
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else
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{
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printf("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
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}
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}
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else
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{
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printf("mesh geometry not found %s\n", fullPath);
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}
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}
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}
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||||
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break;
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||||
}
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default:
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{
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printf("Error: unknown visual geometry type\n");
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}
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}
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//if we have a convex, tesselate into localVertices/localIndices
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if (convexColShape)
|
||||
{
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btShapeHull* hull = new btShapeHull(convexColShape);
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||||
hull->buildHull(0.0);
|
||||
{
|
||||
// int strideInBytes = 9*sizeof(float);
|
||||
int numVertices = hull->numVertices();
|
||||
int numIndices = hull->numIndices();
|
||||
|
||||
|
||||
glmesh = new GLInstanceGraphicsShape;
|
||||
int index = 0;
|
||||
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
||||
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
||||
|
||||
|
||||
for (int i = 0; i < numVertices; i++)
|
||||
{
|
||||
GLInstanceVertex vtx;
|
||||
btVector3 pos = hull->getVertexPointer()[i];
|
||||
vtx.xyzw[0] = pos.x();
|
||||
vtx.xyzw[1] = pos.y();
|
||||
vtx.xyzw[2] = pos.z();
|
||||
vtx.xyzw[3] = 1.f;
|
||||
pos.normalize();
|
||||
vtx.normal[0] = pos.x();
|
||||
vtx.normal[1] = pos.y();
|
||||
vtx.normal[2] = pos.z();
|
||||
vtx.uv[0] = 0.5f;
|
||||
vtx.uv[1] = 0.5f;
|
||||
glmesh->m_vertices->push_back(vtx);
|
||||
}
|
||||
|
||||
btAlignedObjectArray<int> indices;
|
||||
for (int i = 0; i < numIndices; i++)
|
||||
{
|
||||
glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
|
||||
}
|
||||
|
||||
glmesh->m_numvertices = glmesh->m_vertices->size();
|
||||
glmesh->m_numIndices = glmesh->m_indices->size();
|
||||
}
|
||||
delete convexColShape;
|
||||
convexColShape = 0;
|
||||
|
||||
}
|
||||
|
||||
if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
|
||||
{
|
||||
|
||||
int baseIndex = verticesOut.size();
|
||||
|
||||
|
||||
|
||||
for (int i = 0; i < glmesh->m_indices->size(); i++)
|
||||
{
|
||||
indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
|
||||
}
|
||||
|
||||
for (int i = 0; i < glmesh->m_vertices->size(); i++)
|
||||
{
|
||||
GLInstanceVertex& v = glmesh->m_vertices->at(i);
|
||||
btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
|
||||
btVector3 vt = visualTransform*vert;
|
||||
v.xyzw[0] = vt[0];
|
||||
v.xyzw[1] = vt[1];
|
||||
v.xyzw[2] = vt[2];
|
||||
btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
|
||||
triNormal = visualTransform.getBasis()*triNormal;
|
||||
v.normal[0] = triNormal[0];
|
||||
v.normal[1] = triNormal[1];
|
||||
v.normal[2] = triNormal[2];
|
||||
verticesOut.push_back(v);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
|
||||
{
|
||||
btCollisionShape* shape = 0;
|
||||
|
||||
switch (collision->m_geometry.m_type)
|
||||
{
|
||||
case URDF_GEOM_CYLINDER:
|
||||
{
|
||||
printf("processing a cylinder\n");
|
||||
btScalar cylRadius = collision->m_geometry.m_cylinderRadius;
|
||||
btScalar cylLength = collision->m_geometry.m_cylinderLength;
|
||||
|
||||
btAlignedObjectArray<btVector3> vertices;
|
||||
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
|
||||
int numSteps = 32;
|
||||
for (int i=0;i<numSteps;i++)
|
||||
{
|
||||
|
||||
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i)/numSteps)),cylRadius*btCos(SIMD_2_PI*(float(i)/numSteps)),cylLength/2.);
|
||||
vertices.push_back(vert);
|
||||
vert[2] = -cylLength/2.;
|
||||
vertices.push_back(vert);
|
||||
|
||||
}
|
||||
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
|
||||
cylZShape->setMargin(0.001);
|
||||
cylZShape->initializePolyhedralFeatures();
|
||||
//btConvexShape* cylZShape = new btConeShapeZ(cyl->radius,cyl->length);//(vexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
|
||||
|
||||
//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
|
||||
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
|
||||
|
||||
|
||||
shape = cylZShape;
|
||||
break;
|
||||
}
|
||||
case URDF_GEOM_BOX:
|
||||
{
|
||||
printf("processing a box\n");
|
||||
btVector3 extents = collision->m_geometry.m_boxSize;
|
||||
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
|
||||
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
|
||||
shape = boxShape;
|
||||
shape ->setMargin(0.001);
|
||||
break;
|
||||
}
|
||||
case URDF_GEOM_SPHERE:
|
||||
{
|
||||
printf("processing a sphere\n");
|
||||
|
||||
btScalar radius = collision->m_geometry.m_sphereRadius;
|
||||
btSphereShape* sphereShape = new btSphereShape(radius);
|
||||
shape = sphereShape;
|
||||
shape ->setMargin(0.001);
|
||||
break;
|
||||
|
||||
break;
|
||||
}
|
||||
case URDF_GEOM_MESH:
|
||||
{
|
||||
if (collision->m_name.length())
|
||||
{
|
||||
printf("collision->name=%s\n",collision->m_name.c_str());
|
||||
}
|
||||
if (1)
|
||||
{
|
||||
if (collision->m_geometry.m_meshFileName.length())
|
||||
{
|
||||
const char* filename = collision->m_geometry.m_meshFileName.c_str();
|
||||
printf("mesh->filename=%s\n",filename);
|
||||
char fullPath[1024];
|
||||
int fileType = 0;
|
||||
sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
|
||||
b3FileUtils::toLower(fullPath);
|
||||
char tmpPathPrefix[1024];
|
||||
int maxPathLen = 1024;
|
||||
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
|
||||
|
||||
char collisionPathPrefix[1024];
|
||||
sprintf(collisionPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
|
||||
|
||||
|
||||
|
||||
if (strstr(fullPath,".dae"))
|
||||
{
|
||||
fileType = FILE_COLLADA;
|
||||
}
|
||||
if (strstr(fullPath,".stl"))
|
||||
{
|
||||
fileType = FILE_STL;
|
||||
}
|
||||
if (strstr(fullPath,".obj"))
|
||||
{
|
||||
fileType = FILE_OBJ;
|
||||
}
|
||||
|
||||
sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
|
||||
FILE* f = fopen(fullPath,"rb");
|
||||
if (f)
|
||||
{
|
||||
fclose(f);
|
||||
GLInstanceGraphicsShape* glmesh = 0;
|
||||
|
||||
|
||||
switch (fileType)
|
||||
{
|
||||
case FILE_OBJ:
|
||||
{
|
||||
glmesh = LoadMeshFromObj(fullPath,collisionPathPrefix);
|
||||
break;
|
||||
}
|
||||
case FILE_STL:
|
||||
{
|
||||
glmesh = LoadMeshFromSTL(fullPath);
|
||||
break;
|
||||
}
|
||||
case FILE_COLLADA:
|
||||
{
|
||||
|
||||
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
|
||||
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
|
||||
btTransform upAxisTrans;upAxisTrans.setIdentity();
|
||||
float unitMeterScaling=1;
|
||||
int upAxis = 2;
|
||||
LoadMeshFromCollada(fullPath,
|
||||
visualShapes,
|
||||
visualShapeInstances,
|
||||
upAxisTrans,
|
||||
unitMeterScaling,
|
||||
upAxis );
|
||||
|
||||
glmesh = new GLInstanceGraphicsShape;
|
||||
int index = 0;
|
||||
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
||||
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
||||
|
||||
for (int i=0;i<visualShapeInstances.size();i++)
|
||||
{
|
||||
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
|
||||
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
|
||||
|
||||
b3AlignedObjectArray<GLInstanceVertex> verts;
|
||||
verts.resize(gfxShape->m_vertices->size());
|
||||
|
||||
int baseIndex = glmesh->m_vertices->size();
|
||||
|
||||
for (int i=0;i<gfxShape->m_vertices->size();i++)
|
||||
{
|
||||
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
|
||||
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
|
||||
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
|
||||
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
|
||||
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
|
||||
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
|
||||
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
|
||||
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
|
||||
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
|
||||
|
||||
}
|
||||
|
||||
int curNumIndices = glmesh->m_indices->size();
|
||||
int additionalIndices = gfxShape->m_indices->size();
|
||||
glmesh->m_indices->resize(curNumIndices+additionalIndices);
|
||||
for (int k=0;k<additionalIndices;k++)
|
||||
{
|
||||
glmesh->m_indices->at(curNumIndices+k)=gfxShape->m_indices->at(k)+baseIndex;
|
||||
}
|
||||
|
||||
//compensate upAxisTrans and unitMeterScaling here
|
||||
btMatrix4x4 upAxisMat;
|
||||
upAxisMat.setPureRotation(upAxisTrans.getRotation());
|
||||
btMatrix4x4 unitMeterScalingMat;
|
||||
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling,unitMeterScaling,unitMeterScaling));
|
||||
btMatrix4x4 worldMat = unitMeterScalingMat*instance->m_worldTransform*upAxisMat;
|
||||
//btMatrix4x4 worldMat = instance->m_worldTransform;
|
||||
int curNumVertices = glmesh->m_vertices->size();
|
||||
int additionalVertices = verts.size();
|
||||
glmesh->m_vertices->reserve(curNumVertices+additionalVertices);
|
||||
|
||||
for(int v=0;v<verts.size();v++)
|
||||
{
|
||||
btVector3 pos(verts[v].xyzw[0],verts[v].xyzw[1],verts[v].xyzw[2]);
|
||||
pos = worldMat*pos;
|
||||
verts[v].xyzw[0] = float(pos[0]);
|
||||
verts[v].xyzw[1] = float(pos[1]);
|
||||
verts[v].xyzw[2] = float(pos[2]);
|
||||
glmesh->m_vertices->push_back(verts[v]);
|
||||
}
|
||||
}
|
||||
glmesh->m_numIndices = glmesh->m_indices->size();
|
||||
glmesh->m_numvertices = glmesh->m_vertices->size();
|
||||
//glmesh = LoadMeshFromCollada(fullPath);
|
||||
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
printf("Unsupported file type in Collision: %s\n",fullPath);
|
||||
btAssert(0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if (glmesh && (glmesh->m_numvertices>0))
|
||||
{
|
||||
printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
|
||||
//int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
|
||||
//convex->setUserIndex(shapeId);
|
||||
btAlignedObjectArray<btVector3> convertedVerts;
|
||||
convertedVerts.reserve(glmesh->m_numvertices);
|
||||
for (int i=0;i<glmesh->m_numvertices;i++)
|
||||
{
|
||||
convertedVerts.push_back(btVector3(glmesh->m_vertices->at(i).xyzw[0],glmesh->m_vertices->at(i).xyzw[1],glmesh->m_vertices->at(i).xyzw[2]));
|
||||
}
|
||||
//btConvexHullShape* cylZShape = new btConvexHullShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex));
|
||||
btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
|
||||
//cylZShape->initializePolyhedralFeatures();
|
||||
//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
|
||||
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
|
||||
cylZShape->setMargin(0.001);
|
||||
shape = cylZShape;
|
||||
} else
|
||||
{
|
||||
printf("issue extracting mesh from STL file %s\n", fullPath);
|
||||
}
|
||||
|
||||
} else
|
||||
{
|
||||
printf("mesh geometry not found %s\n",fullPath);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
printf("Error: unknown visual geometry type\n");
|
||||
}
|
||||
}
|
||||
return shape;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const
|
||||
{
|
||||
btAlignedObjectArray<GLInstanceVertex> vertices;
|
||||
btAlignedObjectArray<int> indices;
|
||||
btTransform startTrans; startTrans.setIdentity();
|
||||
int graphicsIndex = -1;
|
||||
#if USE_ROS_URDF_PARSER
|
||||
for (int v = 0; v < (int)m_data->m_links[linkIndex]->visual_array.size(); v++)
|
||||
{
|
||||
const Visual* vis = m_data->m_links[linkIndex]->visual_array[v].get();
|
||||
btVector3 childPos(vis->origin.position.x, vis->origin.position.y, vis->origin.position.z);
|
||||
btQuaternion childOrn(vis->origin.rotation.x, vis->origin.rotation.y, vis->origin.rotation.z, vis->origin.rotation.w);
|
||||
btTransform childTrans;
|
||||
childTrans.setOrigin(childPos);
|
||||
childTrans.setRotation(childOrn);
|
||||
|
||||
convertURDFToVisualShape(vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices);
|
||||
|
||||
}
|
||||
#else
|
||||
const UrdfModel& model = m_data->m_urdfParser.getModel();
|
||||
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
|
||||
if (linkPtr)
|
||||
{
|
||||
|
||||
const UrdfLink* link = *linkPtr;
|
||||
|
||||
for (int v = 0; v < link->m_visualArray.size();v++)
|
||||
{
|
||||
const UrdfVisual& vis = link->m_visualArray[v];
|
||||
btTransform childTrans = vis.m_linkLocalFrame;
|
||||
|
||||
convertURDFToVisualShape(&vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices);
|
||||
|
||||
}
|
||||
}
|
||||
#endif
|
||||
if (vertices.size() && indices.size())
|
||||
{
|
||||
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
|
||||
}
|
||||
|
||||
return graphicsIndex;
|
||||
|
||||
}
|
||||
|
||||
class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
|
||||
{
|
||||
|
||||
btCompoundShape* compoundShape = new btCompoundShape();
|
||||
compoundShape->setMargin(0.001);
|
||||
#if USE_ROS_URDF_PARSER
|
||||
for (int v=0;v<(int)m_data->m_links[linkIndex]->collision_array.size();v++)
|
||||
{
|
||||
const Collision* col = m_data->m_links[linkIndex]->collision_array[v].get();
|
||||
btCollisionShape* childShape = convertURDFToCollisionShape(col ,pathPrefix);
|
||||
|
||||
if (childShape)
|
||||
{
|
||||
btVector3 childPos(col->origin.position.x, col->origin.position.y, col->origin.position.z);
|
||||
btQuaternion childOrn(col->origin.rotation.x, col->origin.rotation.y, col->origin.rotation.z, col->origin.rotation.w);
|
||||
btTransform childTrans;
|
||||
childTrans.setOrigin(childPos);
|
||||
childTrans.setRotation(childOrn);
|
||||
compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape);
|
||||
|
||||
}
|
||||
}
|
||||
#else
|
||||
|
||||
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
|
||||
btAssert(linkPtr);
|
||||
if (linkPtr)
|
||||
{
|
||||
|
||||
UrdfLink* link = *linkPtr;
|
||||
|
||||
|
||||
for (int v=0;v<link->m_collisionArray.size();v++)
|
||||
{
|
||||
const UrdfCollision& col = link->m_collisionArray[v];
|
||||
btCollisionShape* childShape = convertURDFToCollisionShape(&col ,pathPrefix);
|
||||
|
||||
if (childShape)
|
||||
{
|
||||
btTransform childTrans = col.m_linkLocalFrame;
|
||||
|
||||
compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
return compoundShape;
|
||||
}
|
||||
Reference in New Issue
Block a user