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fix some btMultiBody URDF conversion issues in ImportURDFSetup

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remove various vertex format structures and use GLInstanceVertex from #include "OpenGLWindow/GLInstanceGraphicsShape.h"
btMultiBody::setupPrismatic takes an additional argument to allow a shift of inertia tensor, relative to the joint frame (link frame at q=0)
This commit is contained in:
=
2015-02-12 09:11:55 -08:00
parent 70221aeb3e
commit 27aa959059
11 changed files with 473 additions and 142 deletions
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27
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
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@@ -27,16 +27,11 @@ static float friction = 1.;
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
#define CONSTRAINT_DEBUG_SIZE 0.2f
static bool prevCanSleep = false;
struct GraphicsVertex
{
float pos[4];
float normal[3];
float texcoord[2];
};
static btVector4 colors[4] =
{
@@ -378,7 +373,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
if (settings.m_usePrismatic)// && i==(n_links-1))
{
bod->setupPrismatic(child_link_num, mass, inertia, this_link_num,
parent_to_child, joint_axis_child_prismatic, quatRotate(parent_to_child , pos),settings.m_disableParentCollision);
parent_to_child, joint_axis_child_prismatic, quatRotate(parent_to_child , pos),btVector3(0,0,0),settings.m_disableParentCollision);
} else
{
@@ -735,22 +730,22 @@ class RagDoll2
int numVertices = hull->numVertices();
int numIndices =hull->numIndices();
btAlignedObjectArray<GraphicsVertex> gvertices;
btAlignedObjectArray<GLInstanceVertex> gvertices;
for (int i=0;i<numVertices;i++)
{
GraphicsVertex vtx;
GLInstanceVertex vtx;
btVector3 pos =hull->getVertexPointer()[i];
vtx.pos[0] = pos.x();
vtx.pos[1] = pos.y();
vtx.pos[2] = pos.z();
vtx.pos[3] = 1.f;
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.texcoord[0] = 0.5f;
vtx.texcoord[1] = 0.5f;
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
gvertices.push_back(vtx);
}
@@ -758,7 +753,7 @@ class RagDoll2
for (int i=0;i<numIndices;i++)
indices.push_back(hull->getIndexPointer()[i]);
int shapeId = m_app->m_instancingRenderer->registerShape(&gvertices[0].pos[0],numVertices,&indices[0],numIndices);
int shapeId = m_app->m_instancingRenderer->registerShape(&gvertices[0].xyzw[0],numVertices,&indices[0],numIndices);
int index = m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,body->getWorldTransform().getOrigin(),body->getWorldTransform().getRotation(),color,scaling);
body ->setUserIndex(index);