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Create project file for BussIK inverse kinematics library (premake, cmake)

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URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)
This commit is contained in:
erwin coumans
2016-09-08 15:15:58 -07:00
parent 630fcda38b
commit 32eccdff61
43 changed files with 791 additions and 144 deletions
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33
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -577,13 +577,32 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
glmesh->m_vertices->at(i).xyzw[1]*collision->m_geometry.m_meshScale[1],
glmesh->m_vertices->at(i).xyzw[2]*collision->m_geometry.m_meshScale[2]));
}
//btConvexHullShape* cylZShape = new btConvexHullShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex));
btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
//cylZShape->initializePolyhedralFeatures();
//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
cylZShape->setMargin(0.001);
shape = cylZShape;
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{
btTriangleMesh* meshInterface = new btTriangleMesh();
for (int i=0;i<glmesh->m_numIndices/3;i++)
{
float* v0 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3)).xyzw;
float* v1 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3+1)).xyzw;
float* v2 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3+2)).xyzw;
meshInterface->addTriangle(btVector3(v0[0],v0[1],v0[2]),
btVector3(v1[0],v1[1],v1[2]),
btVector3(v2[0],v2[1],v2[2]));
}
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
shape = trimesh;
} else
{
//btConvexHullShape* cylZShape = new btConvexHullShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex));
btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
//cylZShape->initializePolyhedralFeatures();
//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
cylZShape->setMargin(0.001);
shape = cylZShape;
}
} else
{
b3Warning("issue extracting mesh from STL file %s\n", fullPath);

3
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -489,6 +489,9 @@ bool UrdfParser::parseCollision(UrdfCollision& collision, TiXmlElement* config,
if (name_char)
collision.m_name = name_char;
const char *concave_char = config->Attribute("concave");
if (concave_char)
collision.m_flags |= URDF_FORCE_CONCAVE_TRIMESH;
return true;
}

11
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -75,11 +75,22 @@ struct UrdfVisual
UrdfMaterial m_localMaterial;
};
enum UrdfCollisionFlags
{
URDF_FORCE_CONCAVE_TRIMESH=1,
};
struct UrdfCollision
{
btTransform m_linkLocalFrame;
UrdfGeometry m_geometry;
std::string m_name;
int m_flags;
UrdfCollision()
:m_flags(0)
{
}
};
struct UrdfJoint;