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expose b3LoadMJCFCommandSetFlags / pybullet.pybullet_loadMJCF(fileName,flags=pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)

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This commit is contained in:
Erwin Coumans
2017-05-10 15:01:25 -07:00
parent d54eab16e1
commit 53a82819a0
10 changed files with 89 additions and 16 deletions
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18
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -473,12 +473,12 @@ void ConvertURDF2BulletInternal(
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int colGroup=0, colMask=0;
int flags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);
if (flags & URDF_HAS_COLLISION_GROUP)
int collisionFlags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);
if (collisionFlags & URDF_HAS_COLLISION_GROUP)
{
collisionFilterGroup = colGroup;
}
if (flags & URDF_HAS_COLLISION_MASK)
if (collisionFlags & URDF_HAS_COLLISION_MASK)
{
collisionFilterMask = colMask;
}
@@ -498,6 +498,14 @@ void ConvertURDF2BulletInternal(
if (mbLinkIndex>=0) //???? double-check +/- 1
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider=col;
if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_PARENT)
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
}
if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION;
}
} else
{
cache.m_bulletMultiBody->setBaseCollider(col);
@@ -539,7 +547,9 @@ void ConvertURDF2Bullet(
if (world1 && cache.m_bulletMultiBody)
{
btMultiBody* mb = cache.m_bulletMultiBody;
mb->setHasSelfCollision(false);
mb->setHasSelfCollision((flags&CUF_USE_SELF_COLLISION)!=0);
mb->finalizeMultiDof();
btTransform localInertialFrameRoot = cache.m_urdfLinkLocalInertialFrames[urdfLinkIndex];

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

@@ -19,7 +19,9 @@ enum ConvertURDFFlags {
// Use inertia values in URDF instead of recomputing them from collision shape.
CUF_USE_URDF_INERTIA = 2,
CUF_USE_MJCF = 4,
CUF_USE_SELF_COLLISION=8
CUF_USE_SELF_COLLISION=8,
CUF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
};
void ConvertURDF2Bullet(const URDFImporterInterface& u2b,