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Add small sphere, make teddy small too

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Add physics time scale in VR mode
Fix compound collision margin in physics server
Enable visuals for rigid body (non-multi-body) URDF/SDF loading in physics server.
This commit is contained in:
erwincoumans
2016-09-22 08:50:28 -07:00
parent bb214e823b
commit 46b32f17bb
6 changed files with 159 additions and 41 deletions
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37
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -401,15 +401,18 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
return true;
}
static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes)
static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
{
btCompoundShape* compound = new btCompoundShape();
compound->setMargin(gUrdfDefaultCollisionMargin);
btTransform identity;
identity.setIdentity();
for (int s = 0; s<(int)shapes.size(); s++)
{
btConvexHullShape* convexHull = new btConvexHullShape();
convexHull->setMargin(gUrdfDefaultCollisionMargin);
tinyobj::shape_t& shape = shapes[s];
int faceCount = shape.mesh.indices.size();
@@ -420,17 +423,18 @@ static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t
pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
convexHull->addPoint(pt,false);
convexHull->addPoint(pt*geomScale,false);
pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
convexHull->addPoint(pt, false);
convexHull->addPoint(pt*geomScale, false);
pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
convexHull->addPoint(pt, false);
convexHull->addPoint(pt*geomScale, false);
}
convexHull->recalcLocalAabb();
@@ -464,16 +468,18 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(gUrdfDefaultCollisionMargin);
cylZShape->initializePolyhedralFeatures();
btConvexHullShape* convexHull = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
convexHull->setMargin(gUrdfDefaultCollisionMargin);
convexHull->initializePolyhedralFeatures();
convexHull->optimizeConvexHull();
//btConvexShape* cylZShape = new btConeShapeZ(cyl->radius,cyl->length);//(vexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
shape = cylZShape;
shape = convexHull;
break;
}
case URDF_GEOM_BOX:
@@ -555,7 +561,8 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, fullPath, collisionPathPrefix);
//create a convex hull for each shape, and store it in a btCompoundShape
shape = createConvexHullFromShapes(shapes);
shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
return shape;
}
break;
@@ -685,13 +692,11 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
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(gUrdfDefaultCollisionMargin);
shape = cylZShape;
btConvexHullShape* convexHull = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
convexHull->optimizeConvexHull();
//convexHull->initializePolyhedralFeatures();
convexHull->setMargin(gUrdfDefaultCollisionMargin);
shape = convexHull;
}
} else
{