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fix some warnings, disable gimpact by default in world importer,

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use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now,
until we find the issue with some failing test cases in btMultiBody
fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable)
disable excessive debug printf in URDF2Bullet
This commit is contained in:
Erwin Coumans
2015-07-27 13:28:47 -07:00
parent ad03dba2fa
commit 26531f3fbc
27 changed files with 248 additions and 290 deletions
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61
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -10,7 +10,6 @@
#include "URDFImporterInterface.h"
#include "MultiBodyCreationInterface.h"
#include <string>
#include "Bullet3Common/b3Logging.h"
static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
@@ -35,42 +34,6 @@ static btVector3 selectColor2()
return color;
}
void printTree(const URDFImporterInterface& u2b, int linkIndex, int indentationLevel)
{
btScalar mass;
btVector3 localInertia;
btTransform inertialFrame;
u2b.getMassAndInertia(linkIndex,mass,localInertia,inertialFrame);
std::string name = u2b.getLinkName(linkIndex);
for(int j=0;j<indentationLevel;j++)
b3Printf(" "); //indent
b3Printf("link %s mass=%f\n",name.c_str(),mass);
for(int j=0;j<indentationLevel;j++)
b3Printf(" "); //indent
b3Printf("local inertia:%f,%f,%f\n",localInertia[0],
localInertia[1],
localInertia[2]);
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++)
b3Printf(" "); //indent
b3Printf("child(%d).name=%s with childIndex=%d\n",(count++)+1, name.c_str(),childLinkIndex);
// first grandchild
printTree(u2b,childLinkIndex,indentationLevel);
}
}
struct URDF2BulletCachedData
@@ -182,7 +145,7 @@ void InitURDF2BulletCache(const URDFImporterInterface& u2b, URDF2BulletCachedDat
void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, URDF2BulletCachedData& cache, int urdfLinkIndex, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,bool createMultiBody, const char* pathPrefix)
{
b3Printf("start converting/extracting data from URDF interface\n");
//b3Printf("start converting/extracting data from URDF interface\n");
btTransform linkTransformInWorldSpace;
linkTransformInWorldSpace.setIdentity();
@@ -194,9 +157,9 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
btRigidBody* parentRigidBody = 0;
std::string name = u2b.getLinkName(urdfLinkIndex);
b3Printf("link name=%s urdf link index=%d\n",name.c_str(),urdfLinkIndex);
b3Printf("mb link index = %d\n",mbLinkIndex);
//std::string name = u2b.getLinkName(urdfLinkIndex);
//b3Printf("link name=%s urdf link index=%d\n",name.c_str(),urdfLinkIndex);
//b3Printf("mb link index = %d\n",mbLinkIndex);
btTransform parentLocalInertialFrame;
parentLocalInertialFrame.setIdentity();
@@ -205,11 +168,11 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
if (urdfParentIndex==-2)
{
b3Printf("root link has no parent\n");
//b3Printf("root link has no parent\n");
} else
{
b3Printf("urdf parent index = %d\n",urdfParentIndex);
b3Printf("mb parent index = %d\n",mbParentIndex);
//b3Printf("urdf parent index = %d\n",urdfParentIndex);
//b3Printf("mb parent index = %d\n",mbParentIndex);
parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
u2b.getMassAndInertia(urdfParentIndex, parentMass,parentLocalInertiaDiagonal,parentLocalInertialFrame);
@@ -305,7 +268,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
{
//todo: adjust the center of mass transform and pivot axis properly
b3Printf("Fixed joint (btMultiBody)\n");
//b3Printf("Fixed joint (btMultiBody)\n");
btQuaternion rot = offsetInA.inverse().getRotation();//parent2joint.inverse().getRotation();
cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
rot*offsetInB.getRotation(), offsetInA.getOrigin(),-offsetInB.getOrigin(),disableParentCollision);
@@ -314,7 +277,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
} else
{
b3Printf("Fixed joint\n");
//b3Printf("Fixed joint\n");
btGeneric6DofSpring2Constraint* dof6 = creation.createFixedJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
@@ -343,7 +306,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
if (enableConstraints)
world1->addConstraint(dof6,true);
b3Printf("Revolute/Continuous joint\n");
//b3Printf("Revolute/Continuous joint\n");
}
break;
}
@@ -371,13 +334,13 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
if (enableConstraints)
world1->addConstraint(dof6,true);
b3Printf("Prismatic\n");
//b3Printf("Prismatic\n");
}
break;
}
default:
{
b3Printf("Error: unsupported joint type in URDF (%d)\n", jointType);
//b3Printf("Error: unsupported joint type in URDF (%d)\n", jointType);
btAssert(0);
}
}