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add 'fixed' joint for btMultiBody

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improve btMultiBody version of URDF reader (still work-in-progress)
enabled planar joint for btMultiBody (untested)
enable loading from relative path for .stl meshes
This commit is contained in:
erwin coumans
2014-08-28 18:42:08 -07:00
parent 3c558ec995
commit 89addd438e
19 changed files with 1276 additions and 304 deletions
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10
btgui/Gwen/Controls/ScrollControl.cpp
View File

@@ -134,8 +134,14 @@ void ScrollControl::UpdateScrollBars()
m_InnerPanel->SetSize( Utility::Max(Width(), childrenWidth), Utility::Max(Height(), childrenHeight));
float wPercent = (float)Width() / (float)(childrenWidth + (m_VerticalScrollBar->Hidden() ? 0 : m_VerticalScrollBar->Width()));
float hPercent = (float)Height() / (float)(childrenHeight + (m_HorizontalScrollBar->Hidden() ? 0 : m_HorizontalScrollBar->Height()));
float hg = (float)(childrenWidth + (m_VerticalScrollBar->Hidden() ? 0 : m_VerticalScrollBar->Width()));
if (hg==0.f)
hg = 0.00001f;
float wPercent = (float)Width() / hg;
hg = (float)(childrenHeight + (m_HorizontalScrollBar->Hidden() ? 0 : m_HorizontalScrollBar->Height()));
if (hg==0.f)
hg = 0.00001f;
float hPercent = (float)Height() / hg;
if ( m_bCanScrollV )
SetVScrollRequired( hPercent >= 1 );

95
btgui/Gwen/Controls/TreeControl.cpp
View File

@@ -130,20 +130,23 @@ bool TreeControl::OnKeyUp( bool bDown )
//float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
float minCoordSelectedItem = curItem*16.f;
// float maxCoordSelectedItem = (curItem+1)*16.f;
if (contSize!=viewSize)
{
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
{
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
}
@@ -186,20 +189,23 @@ bool TreeControl::OnKeyDown( bool bDown )
//float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
float minCoordSelectedItem = curItem*16.f;
//float maxCoordSelectedItem = (curItem+1)*16.f;
if (contSize!=viewSize)
{
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
{
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
}
@@ -228,20 +234,23 @@ bool TreeControl::OnKeyRight( bool bDown )
// float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
float minCoordSelectedItem = curItem*16.f;
// float maxCoordSelectedItem = (curItem+1)*16.f;
if (contSize!=viewSize)
{
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
{
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
Invalidate();
@@ -273,23 +282,25 @@ bool TreeControl::OnKeyLeft( bool bDown )
// float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
float minCoordSelectedItem = curItem*16.f;
// float maxCoordSelectedItem = (curItem+1)*16.f;
if (contSize!=viewSize)
{
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
if (newAmount<curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
}
}
{
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
{
int numItems = (viewSize)/16-1;
float newAmount = float((curItem-numItems)*16)/(contSize-viewSize);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
if (newAmount>curAmount)
{
m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
}
Invalidate();
}
Invalidate();
}
//viewSize/contSize

2
btgui/urdf/urdfdom/urdf_parser/src/model.cpp
View File

@@ -116,6 +116,7 @@ my_shared_ptr<ModelInterface> parseURDF(const std::string &xml_string)
{
my_shared_ptr<Link> link;
link.reset(new Link);
model->m_numLinks++;
try {
parseLink(*link, link_xml);
@@ -176,6 +177,7 @@ my_shared_ptr<ModelInterface> parseURDF(const std::string &xml_string)
{
my_shared_ptr<Joint> joint;
joint.reset(new Joint);
model->m_numJoints++;
if (parseJoint(*joint, joint_xml))
{

4
btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h
View File

@@ -223,6 +223,8 @@ public:
std::vector<my_shared_ptr<Joint> > child_joints;
std::vector<my_shared_ptr<Link> > child_links;
mutable int m_link_index;
const Link* getParent() const
{return parent_link_;}
@@ -242,6 +244,8 @@ public:
this->child_links.clear();
this->collision_array.clear();
this->visual_array.clear();
this->m_link_index=-1;
this->parent_link_ = NULL;
};
private:

5
btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h
View File

@@ -82,6 +82,8 @@ public:
void clear()
{
m_numLinks=0;
m_numJoints = 0;
name_.clear();
this->links_.clear();
this->joints_.clear();
@@ -132,6 +134,7 @@ public:
this->getLink(child_link_name, child_link);
if (!child_link)
{
printf("Error: child link [%s] of joint [%s] not found\n", child_link_name,joint->first );
assert(0);
// throw ParseError("child link [" + child_link_name + "] of joint [" + joint->first + "] not found");
}
@@ -206,6 +209,8 @@ public:
/// \brief The root is always a link (the parent of the tree describing the robot)
my_shared_ptr<Link> root_link_;
int m_numLinks;//includes parent
int m_numJoints;
};