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leave m_useGlobalVelocities to false, until enabled, for backward compatibility

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use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
This commit is contained in:
erwincoumans
2018-01-10 11:16:50 -08:00
parent c4b1b84687
commit 22b4809891
11 changed files with 61 additions and 47 deletions
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79
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -7,6 +7,7 @@
#include "../../Utils/b3ResourcePath.h"
#include <iostream>
#include <fstream>
#include "../ImportURDFDemo/URDF2Bullet.h"
#include "../ImportURDFDemo/UrdfParser.h"
#include "../ImportURDFDemo/urdfStringSplit.h"
#include "../ImportURDFDemo/urdfLexicalCast.h"
@@ -190,10 +191,13 @@ struct BulletMJCFImporterInternalData
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
int m_flags;
BulletMJCFImporterInternalData()
:m_inertiaFromGeom(true),
m_activeModel(-1),
m_activeBodyUniqueId(-1)
m_activeBodyUniqueId(-1),
m_flags(0)
{
m_pathPrefix[0] = 0;
}
@@ -1370,11 +1374,12 @@ struct BulletMJCFImporterInternalData
};
BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter)
BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags)
{
m_data = new BulletMJCFImporterInternalData();
m_data->m_guiHelper = helper;
m_data->m_customVisualShapesConverter = customConverter;
m_data->m_flags = flags;
}
BulletMJCFImporter::~BulletMJCFImporter()
@@ -1897,43 +1902,45 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes( int linkI
{
if (col->m_geometry.m_hasFromTo)
{
#if 0
btVector3 f = col->m_geometry.m_capsuleFrom;
btVector3 t = col->m_geometry.m_capsuleTo;
btVector3 fromto[2] = {f,t};
btScalar radii[2] = {btScalar(col->m_geometry.m_capsuleRadius)
,btScalar(col->m_geometry.m_capsuleRadius)};
btMultiSphereShape* ms = new btMultiSphereShape(fromto,radii,2);
childShape = ms;
#else
btVector3 f = col->m_geometry.m_capsuleFrom;
btVector3 t = col->m_geometry.m_capsuleTo;
//compute the local 'fromto' transform
btVector3 localPosition = btScalar(0.5)*(t+f);
btQuaternion localOrn;
localOrn = btQuaternion::getIdentity();
btVector3 diff = t-f;
btScalar lenSqr = diff.length2();
btScalar height = 0.f;
if (lenSqr > SIMD_EPSILON)
if (m_data->m_flags&CUF_USE_IMPLICIT_CYLINDER)
{
height = btSqrt(lenSqr);
btVector3 ax = diff / height;
btVector3 f = col->m_geometry.m_capsuleFrom;
btVector3 t = col->m_geometry.m_capsuleTo;
//compute the local 'fromto' transform
btVector3 localPosition = btScalar(0.5)*(t+f);
btQuaternion localOrn;
localOrn = btQuaternion::getIdentity();
btVector3 zAxis(0,0,1);
localOrn = shortestArcQuat(zAxis,ax);
btVector3 diff = t-f;
btScalar lenSqr = diff.length2();
btScalar height = 0.f;
if (lenSqr > SIMD_EPSILON)
{
height = btSqrt(lenSqr);
btVector3 ax = diff / height;
btVector3 zAxis(0,0,1);
localOrn = shortestArcQuat(zAxis,ax);
}
btCapsuleShapeZ* capsule= new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,height);
btCompoundShape* compound = new btCompoundShape();
btTransform localTransform(localOrn,localPosition);
compound->addChildShape(localTransform,capsule);
childShape = compound;
} else
{
btVector3 f = col->m_geometry.m_capsuleFrom;
btVector3 t = col->m_geometry.m_capsuleTo;
btVector3 fromto[2] = {f,t};
btScalar radii[2] = {btScalar(col->m_geometry.m_capsuleRadius)
,btScalar(col->m_geometry.m_capsuleRadius)};
btMultiSphereShape* ms = new btMultiSphereShape(fromto,radii,2);
childShape = ms;
}
btCapsuleShapeZ* capsule= new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,height);
btCompoundShape* compound = new btCompoundShape();
btTransform localTransform(localOrn,localPosition);
compound->addChildShape(localTransform,capsule);
childShape = compound;
#endif
} else
{
btCapsuleShapeZ* cap = new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,

2
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -19,7 +19,7 @@ class BulletMJCFImporter : public URDFImporterInterface
struct BulletMJCFImporterInternalData* m_data;
public:
BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter);
BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags);
virtual ~BulletMJCFImporter();
virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);

3
examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
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@@ -216,7 +216,8 @@ void ImportMJCFSetup::initPhysics()
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
BulletMJCFImporter importer(m_guiHelper, 0);
int flags=0;
BulletMJCFImporter importer(m_guiHelper, 0,flags);
MyMJCFLogger logger;
bool result = importer.loadMJCF(m_fileName,&logger);
if (result)