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add rudimentary MuJoCo mjcf xml to ROS URDF file, based on

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pybullet_utils.urdfEditor
This commit is contained in:
Erwin Coumans
2018-10-31 11:02:19 -07:00
parent 624212c641
commit 8e82de1b00
4 changed files with 74 additions and 26 deletions
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34
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1652,7 +1652,7 @@ struct PhysicsServerCommandProcessorInternalData
std::string m_profileTimingFileName;
struct GUIHelperInterface* m_guiHelper;
int m_sharedMemoryKey;
bool m_enableTinyRenderer;
@@ -1777,7 +1777,7 @@ struct PhysicsServerCommandProcessorInternalData
}
#endif
m_vrControllerEvents.init();
@@ -2271,7 +2271,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
double globalScaling = 1.f; //todo!
int flags = 0;
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(),fileIO, globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
@@ -2755,7 +2755,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
SaveWorldObjectData sd;
sd.m_fileName = fileName;
for (int m = 0; m < u2b.getNumModels(); m++)
{
@@ -2971,7 +2971,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
}
{
if (m_data->m_pluginManager.getRenderInterface())
{
@@ -4267,7 +4267,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
urdfColObj.m_geometry.m_meshFileType = UrdfGeometry::MEMORY_VERTICES;
break;
}
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
if (foundFile)
{
@@ -5210,7 +5210,7 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
}
}
}
BatchRayCaster batchRayCaster(m_data->m_threadPool, m_data->m_dynamicsWorld, &rays[0], (b3RayHitInfo*)bufferServerToClient, totalRays);
batchRayCaster.castRays(numThreads);
@@ -6770,7 +6770,7 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
useMultiBody = false;
}
bool ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);
@@ -6912,7 +6912,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
const std::string& error_message_prefix = "";
std::string out_found_filename;
int out_type;
bool foundFile = UrdfFindMeshFile(fileIO,pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str(),"",fileIO);
@@ -9642,6 +9642,16 @@ int PhysicsServerCommandProcessor::extractCollisionShapes(const btCollisionShape
switch (colShape->getShapeType())
{
case STATIC_PLANE_PROXYTYPE:
{
btStaticPlaneShape* plane = (btStaticPlaneShape*) colShape;
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_PLANE;
collisionShapeBuffer[0].m_dimensions[0] = plane->getPlaneNormal()[0];
collisionShapeBuffer[0].m_dimensions[1] = plane->getPlaneNormal()[1];
collisionShapeBuffer[0].m_dimensions[2] = plane->getPlaneNormal()[2];
numConverted += 1;
break;
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
UrdfCollision* urdfCol = m_data->m_bulletCollisionShape2UrdfCollision.find(colShape);
@@ -10054,7 +10064,7 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share
{
int width, height, n;
unsigned char* imageData = 0;
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
if (fileIO)
{
@@ -10083,7 +10093,7 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share
{
imageData = stbi_load(relativeFileName, &width, &height, &n, 3);
}
if (imageData)
{
texH->m_openglTextureId = m_data->m_guiHelper->registerTexture(imageData, width, height);
@@ -10161,7 +10171,7 @@ bool PhysicsServerCommandProcessor::processRestoreStateCommand(const struct Shar
buffer.reserve(1024);
if (fileIO)
{
int fileId = -1;
found = fileIO->findResourcePath(clientCmd.m_fileArguments.m_fileName, fileName, 1024);
if (found)