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fix windows build for b3ResourcePath

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replace print -> b3Printf in URDF2Bullet.cpp
This commit is contained in:
erwincoumans
2015-07-03 18:54:41 -07:00
parent 8517e85b21
commit 4630d0abb1
3 changed files with 44 additions and 30 deletions
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2
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -234,7 +234,7 @@ void ImportUrdfSetup::initPhysics()
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user //todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
int rootLinkIndex = u2b.getRootLinkIndex(); int rootLinkIndex = u2b.getRootLinkIndex();
printf("urdf root link index = %d\n",rootLinkIndex); b3Printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_guiHelper); MyMultiBodyCreator creation(m_guiHelper);
ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix()); ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());

47
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -10,6 +10,8 @@
#include "URDFImporterInterface.h" #include "URDFImporterInterface.h"
#include "MultiBodyCreationInterface.h" #include "MultiBodyCreationInterface.h"
#include <string> #include <string>
#include "Bullet3Common/b3Logging.h"
static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter; static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter); static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
static bool enableConstraints = true; static bool enableConstraints = true;
@@ -41,11 +43,11 @@ void printTree(const URDFImporterInterface& u2b, int linkIndex, int indentationL
u2b.getMassAndInertia(linkIndex,mass,localInertia,inertialFrame); u2b.getMassAndInertia(linkIndex,mass,localInertia,inertialFrame);
std::string name = u2b.getLinkName(linkIndex); std::string name = u2b.getLinkName(linkIndex);
for(int j=0;j<indentationLevel;j++) for(int j=0;j<indentationLevel;j++)
printf(" "); //indent b3Printf(" "); //indent
printf("link %s mass=%f\n",name.c_str(),mass); b3Printf("link %s mass=%f\n",name.c_str(),mass);
for(int j=0;j<indentationLevel;j++) for(int j=0;j<indentationLevel;j++)
printf(" "); //indent b3Printf(" "); //indent
printf("local inertia:%f,%f,%f\n",localInertia[0], b3Printf("local inertia:%f,%f,%f\n",localInertia[0],
localInertia[1], localInertia[1],
localInertia[2]); localInertia[2]);
@@ -62,8 +64,9 @@ void printTree(const URDFImporterInterface& u2b, int linkIndex, int indentationL
std::string name = u2b.getLinkName(childLinkIndex); std::string name = u2b.getLinkName(childLinkIndex);
for(int j=0;j<indentationLevel;j++) printf(" "); //indent for(int j=0;j<indentationLevel;j++)
printf("child(%d).name=%s with childIndex=%d\n",(count++)+1, name.c_str(),childLinkIndex); b3Printf(" "); //indent
b3Printf("child(%d).name=%s with childIndex=%d\n",(count++)+1, name.c_str(),childLinkIndex);
// first grandchild // first grandchild
printTree(u2b,childLinkIndex,indentationLevel); printTree(u2b,childLinkIndex,indentationLevel);
} }
@@ -129,11 +132,11 @@ void ComputeTotalNumberOfJoints(const URDFImporterInterface& u2b, URDF2BulletCac
{ {
btAlignedObjectArray<int> childIndices; btAlignedObjectArray<int> childIndices;
u2b.getLinkChildIndices(linkIndex,childIndices); u2b.getLinkChildIndices(linkIndex,childIndices);
printf("link %s has %d children\n", u2b.getLinkName(linkIndex).c_str(),childIndices.size()); //b3Printf("link %s has %d children\n", u2b.getLinkName(linkIndex).c_str(),childIndices.size());
for (int i=0;i<childIndices.size();i++) //for (int i=0;i<childIndices.size();i++)
{ //{
printf("child %d has childIndex%d=%s\n",i,childIndices[i],u2b.getLinkName(childIndices[i]).c_str()); // b3Printf("child %d has childIndex%d=%s\n",i,childIndices[i],u2b.getLinkName(childIndices[i]).c_str());
} //}
cache.m_totalNumJoints1 += childIndices.size(); cache.m_totalNumJoints1 += childIndices.size();
for (int i=0;i<childIndices.size();i++) for (int i=0;i<childIndices.size();i++)
{ {
@@ -179,7 +182,7 @@ 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) void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, URDF2BulletCachedData& cache, int urdfLinkIndex, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,bool createMultiBody, const char* pathPrefix)
{ {
printf("start converting/extracting data from URDF interface\n"); b3Printf("start converting/extracting data from URDF interface\n");
btTransform linkTransformInWorldSpace; btTransform linkTransformInWorldSpace;
linkTransformInWorldSpace.setIdentity(); linkTransformInWorldSpace.setIdentity();
@@ -192,8 +195,8 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
btRigidBody* parentRigidBody = 0; btRigidBody* parentRigidBody = 0;
std::string name = u2b.getLinkName(urdfLinkIndex); std::string name = u2b.getLinkName(urdfLinkIndex);
printf("link name=%s urdf link index=%d\n",name.c_str(),urdfLinkIndex); b3Printf("link name=%s urdf link index=%d\n",name.c_str(),urdfLinkIndex);
printf("mb link index = %d\n",mbLinkIndex); b3Printf("mb link index = %d\n",mbLinkIndex);
btTransform parentLocalInertialFrame; btTransform parentLocalInertialFrame;
parentLocalInertialFrame.setIdentity(); parentLocalInertialFrame.setIdentity();
@@ -202,11 +205,11 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
if (urdfParentIndex==-2) if (urdfParentIndex==-2)
{ {
printf("root link has no parent\n"); b3Printf("root link has no parent\n");
} else } else
{ {
printf("urdf parent index = %d\n",urdfParentIndex); b3Printf("urdf parent index = %d\n",urdfParentIndex);
printf("mb parent index = %d\n",mbParentIndex); b3Printf("mb parent index = %d\n",mbParentIndex);
parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex); parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
u2b.getMassAndInertia(urdfParentIndex, parentMass,parentLocalInertiaDiagonal,parentLocalInertialFrame); u2b.getMassAndInertia(urdfParentIndex, parentMass,parentLocalInertiaDiagonal,parentLocalInertialFrame);
@@ -302,7 +305,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
{ {
//todo: adjust the center of mass transform and pivot axis properly //todo: adjust the center of mass transform and pivot axis properly
printf("Fixed joint (btMultiBody)\n"); b3Printf("Fixed joint (btMultiBody)\n");
btQuaternion rot = offsetInA.inverse().getRotation();//parent2joint.inverse().getRotation(); btQuaternion rot = offsetInA.inverse().getRotation();//parent2joint.inverse().getRotation();
cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex, cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
rot*offsetInB.getRotation(), offsetInA.getOrigin(),-offsetInB.getOrigin(),disableParentCollision); rot*offsetInB.getRotation(), offsetInA.getOrigin(),-offsetInB.getOrigin(),disableParentCollision);
@@ -311,7 +314,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
} else } else
{ {
printf("Fixed joint\n"); b3Printf("Fixed joint\n");
btGeneric6DofSpring2Constraint* dof6 = creation.createFixedJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB); btGeneric6DofSpring2Constraint* dof6 = creation.createFixedJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
@@ -340,7 +343,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
if (enableConstraints) if (enableConstraints)
world1->addConstraint(dof6,true); world1->addConstraint(dof6,true);
printf("Revolute/Continuous joint\n"); b3Printf("Revolute/Continuous joint\n");
} }
break; break;
} }
@@ -368,13 +371,13 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
if (enableConstraints) if (enableConstraints)
world1->addConstraint(dof6,true); world1->addConstraint(dof6,true);
printf("Prismatic\n"); b3Printf("Prismatic\n");
} }
break; break;
} }
default: default:
{ {
printf("Error: unsupported joint type in URDF (%d)\n", jointType); b3Printf("Error: unsupported joint type in URDF (%d)\n", jointType);
btAssert(0); btAssert(0);
} }
} }

25
examples/Utils/b3ResourcePath.cpp
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@@ -4,6 +4,7 @@
#include <mach-o/dyld.h> /* _NSGetExecutablePath */ #include <mach-o/dyld.h> /* _NSGetExecutablePath */
#else #else
#ifdef _WIN32 #ifdef _WIN32
#include <Windows.h>
#else #else
//not Mac, not Windows, let's cross the fingers it is Linux :-) //not Mac, not Windows, let's cross the fingers it is Linux :-)
#include <unistd.h> #include <unistd.h>
@@ -31,8 +32,11 @@ int b3ResourcePath::getExePath(char* path, int maxPathLenInBytes)
} }
#else #else
#ifdef _WIN32 #ifdef _WIN32
#error not yet //https://msdn.microsoft.com/en-us/library/windows/desktop/ms683197(v=vs.85).aspx
HMODULE hModule = GetModuleHandle(NULL);
numBytes = GetModuleFileName(hModule, path, maxPathLenInBytes);
#else #else
///http://stackoverflow.com/questions/933850/how-to-find-the-location-of-the-executable-in-c
numBytes = (int)readlink("/proc/self/exe", path, maxPathLenInBytes-1); numBytes = (int)readlink("/proc/self/exe", path, maxPathLenInBytes-1);
if (numBytes > 0) if (numBytes > 0)
{ {
@@ -60,12 +64,19 @@ int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePat
int exeNamePos = b3FileUtils::extractPath(exePath,pathToExe,B3_MAX_EXE_PATH_LEN); int exeNamePos = b3FileUtils::extractPath(exePath,pathToExe,B3_MAX_EXE_PATH_LEN);
if (exeNamePos) if (exeNamePos)
{ {
sprintf(resourcePath,"%s../resources/%s/%s",pathToExe,&exePath[exeNamePos],resourceName); sprintf(resourcePath,"%s../data/%s",pathToExe,resourceName);
//printf("try resource at %s\n", resourcePath); //printf("try resource at %s\n", resourcePath);
if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes)) if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
{ {
return strlen(resourcePath); return strlen(resourcePath);
} }
sprintf(resourcePath,"%s../resources/%s/%s",pathToExe,&exePath[exeNamePos],resourceName);
//printf("try resource at %s\n", resourcePath);
if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
{
return strlen(resourcePath);
}
} }
} }