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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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38
btgui/Bullet3AppSupport/Bullet2RigidBodyDemo.cpp
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@@ -7,12 +7,7 @@
#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
#include "MyDebugDrawer.h"
struct GraphicsVertex
{
float pos[4];
float normal[3];
float texcoord[2];
};
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
@@ -42,7 +37,18 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
}
}
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<GraphicsVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
{
int shapeId = m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices);
return shapeId;
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
return m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
}
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
{
//todo: support all collision shape types
switch (collisionShape->getShapeType())
@@ -82,19 +88,19 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
for (int v=0;v<3;v++)
{
int index = hull->getIndexPointer()[t*3+v];
GraphicsVertex vtx;
GLInstanceVertex vtx;
btVector3 pos =parentTransform*hull->getVertexPointer()[index];
vtx.pos[0] = pos.x();
vtx.pos[1] = pos.y();
vtx.pos[2] = pos.z();
vtx.pos[3] = 0.f;
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 0.f;
vtx.normal[0] =triNormal.x();
vtx.normal[1] =triNormal.y();
vtx.normal[2] =triNormal.z();
vtx.texcoord[0] = 0.5f;
vtx.texcoord[1] = 0.5f;
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
indicesOut.push_back(verticesOut.size());
verticesOut.push_back(vtx);
@@ -129,7 +135,7 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
if (collisionShape->getUserIndex()>=0)
return;
btAlignedObjectArray<GraphicsVertex> vertices;
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans;startTrans.setIdentity();
@@ -137,7 +143,7 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
if (vertices.size() && indices.size())
{
int shapeId = m_glApp->m_renderer->registerShape(&vertices[0].pos[0],vertices.size(),&indices[0],indices.size());
int shapeId = m_glApp->m_renderer->registerShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size());
collisionShape->setUserIndex(shapeId);
}