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Support the <static> field under <model> in SDF to make the model immovable, similar to setting the mass to zero.

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Add joint velocity motors in ImportSDF example.
This commit is contained in:
erwin coumans
2016-06-02 18:04:22 -07:00
parent 5bf125cab5
commit 0b69ba7f61
4 changed files with 88 additions and 4 deletions
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54
examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
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@@ -235,6 +235,60 @@ void ImportSDFSetup::initPhysics()
ConvertURDF2Bullet(u2b,creation, rootTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix(),true);
mb = creation.getBulletMultiBody();
if (m_useMultiBody && mb )
{
std::string* name = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
m_nameMemory.push_back(name);
#ifdef TEST_MULTIBODY_SERIALIZATION
s->registerNameForPointer(name->c_str(),name->c_str());
#endif//TEST_MULTIBODY_SERIALIZATION
mb->setBaseName(name->c_str());
//create motors for each btMultiBody joint
int numLinks = mb->getNumLinks();
for (int i=0;i<numLinks;i++)
{
int mbLinkIndex = i;
int urdfLinkIndex = creation.m_mb2urdfLink[mbLinkIndex];
std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex));
std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str());
#ifdef TEST_MULTIBODY_SERIALIZATION
s->registerNameForPointer(jointName->c_str(),jointName->c_str());
s->registerNameForPointer(linkName->c_str(),linkName->c_str());
#endif//TEST_MULTIBODY_SERIALIZATION
m_nameMemory.push_back(jointName);
m_nameMemory.push_back(linkName);
mb->getLink(i).m_linkName = linkName->c_str();
mb->getLink(i).m_jointName = jointName->c_str();
if (mb->getLink(mbLinkIndex).m_jointType==btMultibodyLink::eRevolute
||mb->getLink(mbLinkIndex).m_jointType==btMultibodyLink::ePrismatic
)
{
if (m_data->m_numMotors<MAX_NUM_MOTORS)
{
char motorName[1024];
sprintf(motorName,"%s q'", jointName->c_str());
btScalar* motorVel = &m_data->m_motorTargetVelocities[m_data->m_numMotors];
*motorVel = 0.f;
SliderParams slider(motorName,motorVel);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
float maxMotorImpulse = 10.1f;
btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb,mbLinkIndex,0,0,maxMotorImpulse);
//motor->setMaxAppliedImpulse(0);
m_data->m_jointMotors[m_data->m_numMotors]=motor;
m_dynamicsWorld->addMultiBodyConstraint(motor);
m_data->m_numMotors++;
}
}
}
}
}