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since parent collision is always disabled by default for self-collision, we add a new flag

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URDF_USE_SELF_COLLISION_INCLUDE_PARENT, to force self-collision between direct parent/child (not recommended in general)
This commit is contained in:
erwincoumans
2018-09-08 14:46:43 -07:00
parent bc0a201bd1
commit 63f4a63e15
4 changed files with 7 additions and 2 deletions
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5
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -599,10 +599,11 @@ void ConvertURDF2BulletInternal(
if (mbLinkIndex>=0) //???? double-check +/- 1 if (mbLinkIndex>=0) //???? double-check +/- 1
{ {
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider=col; cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider=col;
if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_PARENT) if (flags&CUF_USE_SELF_COLLISION_INCLUDE_PARENT)
{ {
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION; cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags &= ~BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
} }
if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS) if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
{ {

1
examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@@ -31,6 +31,7 @@ enum ConvertURDFFlags {
CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024, CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
CUF_ENABLE_SLEEPING=2048, CUF_ENABLE_SLEEPING=2048,
CUF_INITIALIZE_SAT_FEATURES=4096, CUF_INITIALIZE_SAT_FEATURES=4096,
CUF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
}; };
struct UrdfVisualShapeCache struct UrdfVisualShapeCache

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -830,6 +830,7 @@ enum eURDF_Flags
URDF_ENABLE_CACHED_GRAPHICS_SHAPES=1024, URDF_ENABLE_CACHED_GRAPHICS_SHAPES=1024,
URDF_ENABLE_SLEEPING=2048, URDF_ENABLE_SLEEPING=2048,
URDF_INITIALIZE_SAT_FEATURES = 4096, URDF_INITIALIZE_SAT_FEATURES = 4096,
URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
}; };
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes

2
examples/pybullet/pybullet.c
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@@ -9760,6 +9760,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION); PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT); PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_INCLUDE_PARENT", URDF_USE_SELF_COLLISION_INCLUDE_PARENT);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS); PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);
PyModule_AddIntConstant(m, "VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS", eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS); PyModule_AddIntConstant(m, "VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS", eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS);