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Add kiva_shelf to prepare for picking/grasping task

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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
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32
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -6,22 +6,40 @@
#include "../SharedMemory/SharedMemoryPublic.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include <string>
struct b3RobotSimLoadURDFArgs
enum b3RigidSimFileType
{
std::string m_urdfFileName;
B3_URDF_FILE=1,
B3_SDF_FILE,
B3_AUTO_DETECT_FILE//todo based on extension
};
struct b3RobotSimLoadFileArgs
{
std::string m_fileName;
b3Vector3 m_startPosition;
b3Quaternion m_startOrientation;
bool m_forceOverrideFixedBase;
int m_fileType;
b3RobotSimLoadURDFArgs(const std::string& urdfFileName)
:m_urdfFileName(urdfFileName),
b3RobotSimLoadFileArgs(const std::string& fileName)
:m_fileName(fileName),
m_startPosition(b3MakeVector3(0,0,0)),
m_startOrientation(b3Quaternion(0,0,0,1)),
m_forceOverrideFixedBase(false)
m_forceOverrideFixedBase(false),
m_fileType(B3_URDF_FILE)
{
}
};
struct b3RobotSimLoadFileResults
{
b3AlignedObjectArray<int> m_uniqueObjectIds;
b3RobotSimLoadFileResults()
{
}
};
@@ -63,7 +81,7 @@ public:
bool connect(struct GUIHelperInterface* guiHelper);
void disconnect();
int loadURDF(const struct b3RobotSimLoadURDFArgs& args);
bool loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotSimLoadFileResults& results=b3RobotSimLoadFileResults());
int getNumJoints(int bodyUniqueId) const;