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Support for reading <inertial> elements from MJCF

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This commit is contained in:
Adrià Garriga
2017-12-23 08:49:48 +01:00
parent 60d2af8ed2
commit 4d70d54d19
2 changed files with 20 additions and 8 deletions
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24
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -172,10 +172,11 @@ struct BulletMJCFImporterInternalData
btAlignedObjectArray<UrdfModel*> m_models; btAlignedObjectArray<UrdfModel*> m_models;
//<compiler angle="radian" meshdir="mesh/" texturedir="texture/"/> //<compiler angle="radian" meshdir="mesh/" texturedir="texture/" inertiafromgeom="true"/>
std::string m_meshDir; std::string m_meshDir;
std::string m_textureDir; std::string m_textureDir;
std::string m_angleUnits; std::string m_angleUnits;
bool m_inertiaFromGeom;
int m_activeModel; int m_activeModel;
@@ -190,7 +191,8 @@ struct BulletMJCFImporterInternalData
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces; mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
BulletMJCFImporterInternalData() BulletMJCFImporterInternalData()
:m_activeModel(-1), :m_inertiaFromGeom(true),
m_activeModel(-1),
m_activeBodyUniqueId(-1) m_activeBodyUniqueId(-1)
{ {
m_pathPrefix[0] = 0; m_pathPrefix[0] = 0;
@@ -248,12 +250,12 @@ struct BulletMJCFImporterInternalData
} }
const char* angle = root_xml->Attribute("angle"); const char* angle = root_xml->Attribute("angle");
m_angleUnits = angle ? angle : "degree"; // degrees by default, http://www.mujoco.org/book/modeling.html#compiler m_angleUnits = angle ? angle : "degree"; // degrees by default, http://www.mujoco.org/book/modeling.html#compiler
#if 0 const char* inertiaFromGeom = root_xml->Attribute("inertiafromgeom");
for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement()) if(inertiaFromGeom[0] == 'f') // false, other values assumed `true`.
{ {
std::string n = child_xml->Value(); m_inertiaFromGeom = false;
} }
#endif
} }
void parseAssets(TiXmlElement* root_xml, MJCFErrorLogger* logger) void parseAssets(TiXmlElement* root_xml, MJCFErrorLogger* logger)
@@ -1134,8 +1136,16 @@ struct BulletMJCFImporterInternalData
} }
massDefined = true; massDefined = true;
handled = true; handled = true;
if (!m_inertiaFromGeom) {
linkPtr->m_inertia.m_mass = mass;
linkPtr->m_inertia.m_linkLocalFrame = localInertialFrame;
linkPtr->m_inertia.m_ixx = localInertiaDiag[0];
linkPtr->m_inertia.m_iyy = localInertiaDiag[1];
linkPtr->m_inertia.m_izz = localInertiaDiag[2];
}
} }
if (n=="joint") if (n=="joint")

4
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -296,7 +296,9 @@ void ConvertURDF2BulletInternal(
*/ */
if (mass) if (mass)
{ {
if (!(flags & CUF_USE_URDF_INERTIA)) if (!(flags & CUF_USE_URDF_INERTIA) && (localInertiaDiagonal[0] == 0.0 ||
localInertiaDiagonal[1] == 0.0 ||
localInertiaDiagonal[2] == 0.0))
{ {
compoundShape->calculateLocalInertia(mass, localInertiaDiagonal); compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
btAssert(localInertiaDiagonal[0] < 1e10); btAssert(localInertiaDiagonal[0] < 1e10);