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added LICENSE.txt and AUTHORS.txt file

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add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures.
add btMultiBody::setBaseWorldTransform method
todo: fix cmake build, this patch is premake only
This commit is contained in:
erwin coumans
2015-04-23 15:41:17 -07:00
parent 51938d642e
commit 05bf86d95f
19 changed files with 501 additions and 196 deletions
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14
examples/MultiBody/CustomMultiBodyCreationCallback.h
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@@ -1,3 +1,17 @@
/* Copyright (C) 2015 Google
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CUSTOM_MULTIBODY_CALLBACK_H
#define CUSTOM_MULTIBODY_CALLBACK_H

102
examples/MultiBody/MultiBodyCustomURDFDemo.cpp
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@@ -1,3 +1,15 @@
/* Copyright (C) 2015 Google
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "MultiBodyCustomURDFDemo.h"
@@ -6,6 +18,9 @@
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Importers/ImportURDFDemo/MyURDFImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "CustomMultiBodyCreationCallback.h"
@@ -34,31 +49,100 @@ MultiBodyCustomURDFDemo::~MultiBodyCustomURDFDemo()
}
static void myPrintTree(const URDFImporterInterface& u2b, int linkIndex, int indentationLevel)
{
btAlignedObjectArray<int> childIndices;
u2b.getLinkChildIndices(linkIndex,childIndices);
int numChildren = childIndices.size();
indentationLevel+=2;
int count = 0;
for (int i=0;i<numChildren;i++)
{
int childLinkIndex = childIndices[i];
std::string name = u2b.getLinkName(childLinkIndex);
for(int j=0;j<indentationLevel;j++) printf(" "); //indent
printf("child(%d).name=%s with childIndex=%d\n",(count++)+1, name.c_str(),childLinkIndex);
// first grandchild
printTree(u2b,childLinkIndex,indentationLevel);
}
}
class TestMultiBodyCreationCallback : public CustomMultiBodyCreationCallback
{
virtual int allocateMultiBodyBase(int urdfLinkIndex, int totalNumJoints,ScalarType baseMass, const Vector3dType& localInertiaDiagonal, bool isFixedBase)
{
printf("added base\n");
}
virtual void addLinkAndJoint(int jointType, int linkIndex, // 0 to num_links-1
int parentIndex,
double mass,
const Vector3dType& inertia,
const QuaternionType &rotParentFrameToLinkFrame, // rotate points in parent frame to this frame, when q = 0
const Vector3dType& jointAxisInLinkFrame, // in Link frame
const Vector3dType& parentComToThisJointOffset, // vector from parent COM to joint frame, in Parent frame
const Vector3dType& thisJointToThisComOffset) // vector from joint frame to my COM, in Link frame);
{
printf("added link\n");
}
};
void MultiBodyCustomURDFDemo::initPhysics()
{
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
createEmptyDynamicsWorld();
btVector3 grav(0,0,0);
//grav[upAxis] = -10.f;
m_dynamicsWorld->setGravity(grav);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
//btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawWireframe
+btIDebugDraw::DBG_DrawContactPoints
+btIDebugDraw::DBG_DrawAabb
);//+btIDebugDraw::DBG_DrawConstraintLimits);
MyURDFImporter u2b(m_guiHelper);
bool loadOk = u2b.loadURDF("r2d2.urdf");
if (loadOk)
{
u2b.printTree();
int urdfRootLinkIndex = u2b.getRootLinkIndex();
myPrintTree(u2b,urdfRootLinkIndex,0);
btTransform identityTrans;
identityTrans.setIdentity();
btMultiBody* mb = 0;
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
int rootLinkIndex = u2b.getRootLinkIndex();
printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_guiHelper);
bool useMultiBody = true;
ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
mb = creation.getBulletMultiBody();
}
}
void MultiBodyCustomURDFDemo::stepSimulation(float deltaTime)
{
m_dynamicsWorld->stepSimulation(deltaTime);
}
class ExampleInterface* MultiBodyCustomURDFDofCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
class ExampleInterface* MultiBodyCustomURDFDemoCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
{
return new MultiBodyCustomURDFDemo(helper);
}

16
examples/MultiBody/MultiBodyCustomURDFDemo.h
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@@ -1,6 +1,20 @@
/* Copyright (C) 2015 Google
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef MULTI_DOF_CUSTOM_URDF_DEMO_H
#define MULTI_DOF_CUSTOM_URDF_DEMO_H
class ExampleInterface* MultiBodyCustomURDFDofCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
class ExampleInterface* MultiBodyCustomURDFDemoCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
#endif //MULTI_DOF_CUSTOM_URDF_DEMO_H

43
examples/MultiBody/main.cpp Normal file
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@@ -0,0 +1,43 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "MultiBodyCustomURDFDemo.h"
#include "../CommonInterfaces/ExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
int main(int argc, char* argv[])
{
struct PhysicsInterface* pint = 0;
DummyGUIHelper noGfx;
int option = 0;
ExampleInterface* example = MultiBodyCustomURDFDemoCreateFunc(pint, &noGfx, option);
example->initPhysics();
example->stepSimulation(1.f/60.f);
example->exitPhysics();
delete example;
return 0;
}

40
examples/MultiBody/premake4.lua Normal file
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@@ -0,0 +1,40 @@
project "App_CustomMultiBodyCreation"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
includedirs {".", "../../src", "../ThirdPartyLibs"}
links {
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath"
}
language "C++"
files {
"MultiBodyCustomURDFDemo.cpp",
"main.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/MyURDFImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp",
"../ThirdPartyLibs/urdf/boost_replacement/string_split.cpp",
"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp",
"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp",
"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp",
"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp",
}