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parse root transformation and test loading two robots

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This commit is contained in:
yunfeibai
2016-05-11 15:52:50 -07:00
parent 06a2669b32
commit 7929bee128
12 changed files with 879 additions and 37 deletions
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18
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -143,7 +143,7 @@ void InitURDF2BulletCache(const URDFImporterInterface& u2b, URDF2BulletCachedDat
}
void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, URDF2BulletCachedData& cache, int urdfLinkIndex, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,bool createMultiBody, const char* pathPrefix)
void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, URDF2BulletCachedData& cache, int urdfLinkIndex, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,bool createMultiBody, const char* pathPrefix, bool useSDF = false)
{
//b3Printf("start converting/extracting data from URDF interface\n");
@@ -199,7 +199,15 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
btScalar jointFriction;
bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction);
bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction);
if (useSDF)
{
parent2joint =parentTransformInWorldSpace.inverse()*linkTransformInWorldSpace;
}
else
{
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
}
int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
@@ -400,18 +408,18 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
{
int urdfChildLinkIndex = urdfChildIndices[i];
ConvertURDF2BulletInternal(u2b,creation, cache,urdfChildLinkIndex,linkTransformInWorldSpace,world1,createMultiBody,pathPrefix);
ConvertURDF2BulletInternal(u2b,creation, cache,urdfChildLinkIndex,linkTransformInWorldSpace,world1,createMultiBody,pathPrefix,useSDF);
}
}
void ConvertURDF2Bullet(const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, const btTransform& rootTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,bool createMultiBody, const char* pathPrefix)
void ConvertURDF2Bullet(const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, const btTransform& rootTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,bool createMultiBody, const char* pathPrefix, bool useSDF = false)
{
URDF2BulletCachedData cache;
InitURDF2BulletCache(u2b,cache);
int urdfLinkIndex = u2b.getRootLinkIndex();
ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix);
ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,useSDF);
if (world1 && cache.m_bulletMultiBody)
{