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remove the contype=0 in inverted_pendulum.xml, so we can 'mouse-pick' the pendulum.

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[mjcf importer] add rudimentary support for inertial frame computation, for 'fromto' capsules.
This commit is contained in:
Erwin Coumans
2017-01-24 21:10:21 -08:00
parent a9be975601
commit 76dcf3a751
3 changed files with 38 additions and 11 deletions
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44
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -296,7 +296,8 @@ struct BulletMJCFImporterInternalData
// modelPtr->m_rootLinks.push_back(linkPtr);
parseGeom(rootxml,modelIndex, linkIndex,logger);
btVector3 inertialShift(0,0,0);
parseGeom(rootxml,modelIndex, linkIndex,logger,inertialShift);
initTreeAndRoot(*modelPtr,logger);
handled = true;
@@ -469,7 +470,7 @@ struct BulletMJCFImporterInternalData
*/
return false;
}
bool parseGeom(TiXmlElement* link_xml, int modelIndex, int linkIndex, MJCFErrorLogger* logger)
bool parseGeom(TiXmlElement* link_xml, int modelIndex, int linkIndex, MJCFErrorLogger* logger, btVector3& inertialShift)
{
UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
if (linkPtrPtr==0)
@@ -599,6 +600,7 @@ struct BulletMJCFImporterInternalData
geom.m_hasFromTo = true;
std::string fromto = fromtoStr;
parseVector6(geom.m_capsuleFrom,geom.m_capsuleTo,fromto,logger);
inertialShift=0.5*(geom.m_capsuleFrom+geom.m_capsuleTo);
handledGeomType = true;
} else
{
@@ -807,7 +809,9 @@ struct BulletMJCFImporterInternalData
const char* bodyName = link_xml->Attribute("name");
int orgChildLinkIndex = createBody(modelIndex,bodyName);
btTransform localInertialFrame;
localInertialFrame.setIdentity();
// int curChildLinkIndex = orgChildLinkIndex;
std::string bodyN;
@@ -830,8 +834,8 @@ struct BulletMJCFImporterInternalData
bool massDefined = false;
btVector3 inertialPos(0,0,0);
btQuaternion inertialOrn(0,0,0,1);
btScalar mass = 0.f;
btVector3 localInertiaDiag(0,0,0);
// int thisLinkIndex = -2;
@@ -839,7 +843,7 @@ struct BulletMJCFImporterInternalData
btTransform jointTrans;
jointTrans.setIdentity();
bool skipFixedJoint = false;
for (TiXmlElement* xml = link_xml->FirstChildElement() ; xml ; xml = xml->NextSiblingElement())
{
bool handled = false;
@@ -852,7 +856,22 @@ struct BulletMJCFImporterInternalData
if (p)
{
std::string posStr = p;
parseVector3(inertialPos,posStr,logger);
btVector3 inertialPos(0,0,0);
if (parseVector3(inertialPos,posStr,logger))
{
localInertialFrame.setOrigin(inertialPos);
}
}
const char* o = xml->Attribute("quat");
{
std::string ornStr = o;
btQuaternion orn(0,0,0,1);
btVector4 o4;
if (parseVector4(o4,ornStr))
{
orn.setValue(o4[1],o4[2],o4[3],o4[0]);
localInertialFrame.setRotation(orn);
}
}
const char* m = xml->Attribute("mass");
if (m)
@@ -915,7 +934,12 @@ struct BulletMJCFImporterInternalData
}
if (n == "geom")
{
parseGeom(xml,modelIndex, orgChildLinkIndex , logger);
btVector3 inertialShift(0,0,0);
parseGeom(xml,modelIndex, orgChildLinkIndex , logger,inertialShift);
if (!massDefined)
{
localInertialFrame.setOrigin(inertialShift);
}
handled = true;
}
@@ -968,7 +992,7 @@ struct BulletMJCFImporterInternalData
double volume = computeVolume(linkPtr,logger);
mass = density * volume;
}
linkPtr->m_inertia.m_linkLocalFrame.setIdentity();// = jointTrans.inverse();
linkPtr->m_inertia.m_linkLocalFrame = localInertialFrame;// = jointTrans.inverse();
linkPtr->m_inertia.m_mass = mass;
return true;
}
@@ -1631,7 +1655,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
if (childShape)
{
m_data->m_allocatedCollisionShapes.push_back(childShape);
compound->addChildShape(col->m_linkLocalFrame,childShape);
compound->addChildShape(localInertiaFrame.inverse()*col->m_linkLocalFrame,childShape);
}
}
}

3
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -26,11 +26,14 @@ struct UrdfMaterial
struct UrdfInertia
{
btTransform m_linkLocalFrame;
bool m_hasLinkLocalFrame;
double m_mass;
double m_ixx,m_ixy,m_ixz,m_iyy,m_iyz,m_izz;
UrdfInertia()
{
m_hasLinkLocalFrame = false;
m_linkLocalFrame.setIdentity();
m_mass = 0.f;
m_ixx=m_ixy=m_ixz=m_iyy=m_iyz=m_izz=0.f;