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fix some out-of-date comments in btMultiBody, thanks to Thomas Buschmann

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disable disactivation for btRigidBody in import urdf demo, increase strength of joint motor for btMultiBody
This commit is contained in:
Erwin Coumans
2015-07-15 17:39:43 -07:00
parent b563c7c8ce
commit 7698d5f95c
5 changed files with 25 additions and 14 deletions
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16
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -130,7 +130,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option,
if (gFileNameArray.size()==0)
{
gFileNameArray.push_back("r2d2.urdf");//husky/husky.urdf");
gFileNameArray.push_back("prismatic.urdf");
}
@@ -224,8 +224,10 @@ void ImportUrdfSetup::initPhysics()
URDFImporterInterface& u2b = *bla;
bool loadOk = u2b.loadURDF(m_fileName);
#ifdef TEST_MULTIBODY_SERIALIZATION
//test to serialize a multibody to disk or shared memory, with base, link and joint names
btSerializer* s = new btDefaultSerializer;
#endif //TEST_MULTIBODY_SERIALIZATION
if (loadOk)
{
@@ -255,8 +257,9 @@ void ImportUrdfSetup::initPhysics()
{
std::string* name = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
m_nameMemory.push_back(name);
#ifdef TEST_MULTIBODY_SERIALIZATION
s->registerNameForPointer(name->c_str(),name->c_str());
#endif//TEST_MULTIBODY_SERIALIZATION
mb->setBaseName(name->c_str());
//create motors for each btMultiBody joint
int numLinks = mb->getNumLinks();
@@ -267,9 +270,10 @@ void ImportUrdfSetup::initPhysics()
std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex));
std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str());
#ifdef TEST_MULTIBODY_SERIALIZATION
s->registerNameForPointer(jointName->c_str(),jointName->c_str());
s->registerNameForPointer(linkName->c_str(),linkName->c_str());
#endif//TEST_MULTIBODY_SERIALIZATION
m_nameMemory.push_back(jointName);
m_nameMemory.push_back(linkName);
@@ -291,7 +295,7 @@ void ImportUrdfSetup::initPhysics()
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
float maxMotorImpulse = 0.1f;
float maxMotorImpulse = 10.1f;
btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb,mbLinkIndex,0,0,maxMotorImpulse);
//motor->setMaxAppliedImpulse(0);
m_data->m_jointMotors[m_data->m_numMotors]=motor;
@@ -376,7 +380,7 @@ void ImportUrdfSetup::initPhysics()
m_dynamicsWorld->stepSimulation(1. / 240., 0);// 1., 10, 1. / 240.);
}
#ifdef TEST_MULTIBODY_SERIALIZATION
m_dynamicsWorld->serialize(s);
b3ResourcePath p;
char resourcePath[1024];
@@ -386,6 +390,8 @@ void ImportUrdfSetup::initPhysics()
fwrite(s->getBufferPointer(),s->getCurrentBufferSize(),1,f);
fclose(f);
}
#endif//TEST_MULTIBODY_SERIALIZATION
}
void ImportUrdfSetup::stepSimulation(float deltaTime)

2
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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@@ -32,6 +32,8 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
rbci.m_startWorldTransform = initialWorldTrans;
btRigidBody* body = new btRigidBody(rbci);
body->forceActivationState(DISABLE_DEACTIVATION);
return body;
}

4
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -182,7 +182,7 @@ void btMultiBody::setupPrismatic(int i,
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &jointAxis,
const btVector3 &parentComToThisComOffset,
const btVector3 &parentComToThisPivotOffset,
const btVector3 &thisPivotToThisComOffset,
bool disableParentCollision)
{
@@ -198,7 +198,7 @@ void btMultiBody::setupPrismatic(int i,
m_links[i].m_zeroRotParentToThis = rotParentToThis;
m_links[i].setAxisTop(0, 0., 0., 0.);
m_links[i].setAxisBottom(0, jointAxis);
m_links[i].m_eVector = parentComToThisComOffset;
m_links[i].m_eVector = parentComToThisPivotOffset;
m_links[i].m_dVector = thisPivotToThisComOffset;
m_links[i].m_cachedRotParentToThis = rotParentToThis;

2
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -83,7 +83,7 @@ public:
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &jointAxis,
const btVector3 &parentComToThisComOffset,
const btVector3 &parentComToThisPivotOffset,
const btVector3 &thisPivotToThisComOffset,
bool disableParentCollision);

11
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -56,11 +56,14 @@ struct btMultibodyLink
btQuaternion m_zeroRotParentToThis; // rotates vectors in parent-frame to vectors in local-frame (when q=0). constant.
btVector3 m_dVector; // vector from the inboard joint pos to this link's COM. (local frame.) constant. set for revolute joints only.
btVector3 m_dVector; // vector from the inboard joint pos to this link's COM. (local frame.) constant.
//this is set to zero for planar joint (see also m_eVector comment)
// m_eVector is constant, but depends on the joint type:
// revolute, fixed, prismatic, spherical: vector from parent's COM to the pivot point, in PARENT's frame.
// planar: vector from COM of parent to COM of this link, WHEN Q = 0. (local frame.)
// todo: fix the planar so it is consistent with the other joints
// m_eVector is constant, but depends on the joint type
// prismatic: vector from COM of parent to COM of this link, WHEN Q = 0. (local frame.)
// revolute: vector from parent's COM to the pivot point, in PARENT's frame.
btVector3 m_eVector;
btSpatialMotionVector m_absFrameTotVelocity, m_absFrameLocVelocity;