Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Expose 'flags' option for loadURDF, to allow customization of the URDF loading process while maintaining backward compatibility.

Browse Source 
For example: URDF_USE_INERTIA_FROM_FILE flag. By default, URDF2Bullet will re-compute the inertia tensor based on mass and volume, because most URDF files have bogus Inertia values.
This commit is contained in:
Erwin Coumans
2017-03-27 08:30:20 -07:00
parent d78909aef9
commit 4911916937
9 changed files with 44 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1539,7 +1539,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes)
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags)
{
BT_PROFILE("loadURDF");
btAssert(m_data->m_dynamicsWorld);
@@ -1597,7 +1597,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
// printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_data->m_guiHelper);
ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
{
@@ -2617,6 +2617,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
initialPos[1] = urdfArgs.m_initialPosition[1];
initialPos[2] = urdfArgs.m_initialPosition[2];
}
int urdfFlags = 0;
if (clientCmd.m_updateFlags & URDF_ARGS_HAS_CUSTOM_URDF_FLAGS)
{
urdfFlags = urdfArgs.m_urdfFlags;
}
if (clientCmd.m_updateFlags & URDF_ARGS_INITIAL_ORIENTATION)
{
initialOrn[0] = urdfArgs.m_initialOrientation[0];
@@ -2630,8 +2635,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//load the actual URDF and send a report: completed or failed
bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
initialPos,initialOrn,
useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes, urdfFlags);
if (completedOk)
{
@@ -5399,7 +5403,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
btVector3 spawnDir = mat.getColumn(0);
btVector3 shiftPos = spawnDir*spawnDistance;
btVector3 spawnPos = gVRGripperPos + shiftPos;
loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size(),0);
//loadUrdf("lego/lego.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_sphereId = bodyId;
InteralBodyData* parentBody = m_data->getHandle(bodyId);