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Fix some inconsistencies in URDF file handling between btRigidBody and btMultiBody

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(rotation order and application of root-inertial-frame offset)
This commit is contained in:
erwin coumans
2016-08-18 09:44:33 -07:00
parent 8a780fa0a4
commit 6005e54aa1
3 changed files with 29 additions and 16 deletions
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33
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -36,7 +36,8 @@ class ImportUrdfSetup : public CommonMultiBodyBase
struct ImportUrdfInternalData* m_data;
bool m_useMultiBody;
btAlignedObjectArray<std::string* > m_nameMemory;
btScalar m_grav;
int m_upAxis;
public:
ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName);
virtual ~ImportUrdfSetup();
@@ -87,7 +88,9 @@ struct ImportUrdfInternalData
ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
:CommonMultiBodyBase(helper)
:CommonMultiBodyBase(helper),
m_grav(0),
m_upAxis(2)
{
m_data = new ImportUrdfInternalData;
@@ -186,9 +189,9 @@ void ImportUrdfSetup::setFileName(const char* urdfFileName)
void ImportUrdfSetup::initPhysics()
{
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
m_guiHelper->setUpAxis(m_upAxis);
this->createEmptyDynamicsWorld();
//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
@@ -199,10 +202,14 @@ void ImportUrdfSetup::initPhysics()
);//+btIDebugDraw::DBG_DrawConstraintLimits);
btVector3 gravity(0,0,0);
gravity[upAxis]=-9.8;
m_dynamicsWorld->setGravity(gravity);
if (m_guiHelper->getParameterInterface())
{
SliderParams slider("Gravity", &m_grav);
slider.m_minVal = -10;
slider.m_maxVal = 10;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
BulletURDFImporter u2b(m_guiHelper, 0);
@@ -350,7 +357,7 @@ void ImportUrdfSetup::initPhysics()
if (createGround)
{
btVector3 groundHalfExtents(20,20,20);
groundHalfExtents[upAxis]=1.f;
groundHalfExtents[m_upAxis]=1.f;
btBoxShape* box = new btBoxShape(groundHalfExtents);
m_collisionShapes.push_back(box);
box->initializePolyhedralFeatures();
@@ -358,7 +365,7 @@ void ImportUrdfSetup::initPhysics()
m_guiHelper->createCollisionShapeGraphicsObject(box);
btTransform start; start.setIdentity();
btVector3 groundOrigin(0,0,0);
groundOrigin[upAxis]=-2.5;
groundOrigin[m_upAxis]=-2.5;
start.setOrigin(groundOrigin);
btRigidBody* body = createRigidBody(0,start,box);
//m_dynamicsWorld->removeRigidBody(body);
@@ -388,6 +395,10 @@ void ImportUrdfSetup::stepSimulation(float deltaTime)
{
if (m_dynamicsWorld)
{
btVector3 gravity(0, 0, 0);
gravity[m_upAxis] = m_grav;
m_dynamicsWorld->setGravity(gravity);
for (int i=0;i<m_data->m_numMotors;i++)
{
if (m_data->m_jointMotors[i])