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

Add kiva_shelf to prepare for picking/grasping task

Browse Source 
Fix uninitialized variable jointDamping/jointFriction in SDF importer
Add SDF <pose> parsing in visual, inertial, collision elements.
Slight improvement in TinyRender loading performance of largish meshes (30k vertices)
Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is.
b3RobotSimAPI support SDF file loading
Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures
This commit is contained in:
erwin coumans
2016-07-14 00:05:57 -07:00
parent 10cc6f14cb
commit 4a705d1e03
25 changed files with 399 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files

79
examples/RoboticsLearning/b3RobotSimAPI.cpp
View File

@@ -598,36 +598,71 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const
}
}
int b3RobotSimAPI::loadURDF(const b3RobotSimLoadURDFArgs& args)
bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotSimLoadFileResults& results)
{
bool statusOk = false;
int robotUniqueId = -1;
b3Assert(m_data->m_connected);
switch (args.m_fileType)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(m_data->m_physicsClient, args.m_urdfFileName.c_str());
case B3_URDF_FILE:
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(m_data->m_physicsClient, args.m_fileName.c_str());
//setting the initial position, orientation and other arguments are optional
//setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
args.m_startPosition[1],
args.m_startPosition[2]);
b3LoadUrdfCommandSetStartOrientation(command,args.m_startOrientation[0]
,args.m_startOrientation[1]
,args.m_startOrientation[2]
,args.m_startOrientation[3]);
if (args.m_forceOverrideFixedBase)
{
b3LoadUrdfCommandSetUseFixedBase(command,true);
}
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
args.m_startPosition[1],
args.m_startPosition[2]);
b3LoadUrdfCommandSetStartOrientation(command,args.m_startOrientation[0]
,args.m_startOrientation[1]
,args.m_startOrientation[2]
,args.m_startOrientation[3]);
if (args.m_forceOverrideFixedBase)
{
b3LoadUrdfCommandSetUseFixedBase(command,true);
}
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
statusType = b3GetStatusType(statusHandle);
b3Assert(statusType==CMD_URDF_LOADING_COMPLETED);
robotUniqueId = b3GetStatusBodyIndex(statusHandle);
results.m_uniqueObjectIds.push_back(robotUniqueId);
statusOk = true;
break;
}
case B3_SDF_FILE:
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(m_data->m_physicsClient, args.m_fileName.c_str());
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
statusType = b3GetStatusType(statusHandle);
b3Assert(statusType==CMD_URDF_LOADING_COMPLETED);
robotUniqueId = b3GetStatusBodyIndex(statusHandle);
}
b3Assert(statusType == CMD_SDF_LOADING_COMPLETED);
if (statusType == CMD_SDF_LOADING_COMPLETED)
{
int numBodies = b3GetStatusBodyIndices(statusHandle, 0,0);
if (numBodies)
{
results.m_uniqueObjectIds.resize(numBodies);
int numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
return robotUniqueId;
}
statusOk = true;
}
break;
}
default:
{
b3Warning("Unknown file type in b3RobotSimAPI::loadFile");
}
}
return statusOk;
}
bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)