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turn test/SharedMemory/test.c into a gtest for CI unit testing in github

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remove overly verbose printfs in importers
fix axis in r2d2.urdf
This commit is contained in:
Erwin Coumans
2016-03-15 22:47:53 -07:00
parent 005ef9d2f1
commit aa3daaa8c6
13 changed files with 189 additions and 76 deletions
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32
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -282,7 +282,6 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
{
case URDF_GEOM_CYLINDER:
{
printf("processing a cylinder\n");
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
@@ -306,7 +305,6 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
}
case URDF_GEOM_BOX:
{
printf("processing a box\n");
btVector3 extents = visual->m_geometry.m_boxSize;
@@ -318,7 +316,6 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
}
case URDF_GEOM_SPHERE:
{
printf("processing a sphere\n");
btScalar radius = visual->m_geometry.m_sphereRadius;
btSphereShape* sphereShape = new btSphereShape(radius);
convexColShape = sphereShape;
@@ -331,14 +328,14 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
{
if (visual->m_name.length())
{
printf("visual->name=%s\n", visual->m_name.c_str());
//b3Printf("visual->name=%s\n", visual->m_name.c_str());
}
if (1)//visual->m_geometry)
{
if (visual->m_geometry.m_meshFileName.length())
{
const char* filename = visual->m_geometry.m_meshFileName.c_str();
printf("mesh->filename=%s\n", filename);
//b3Printf("mesh->filename=%s\n", filename);
char fullPath[1024];
int fileType = 0;
@@ -471,7 +468,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
}
default:
{
printf("Error: unsupported file type for Visual mesh: %s\n", fullPath);
b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
btAssert(0);
}
}
@@ -482,13 +479,13 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
}
else
{
printf("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
}
}
else
{
printf("mesh geometry not found %s\n", fullPath);
b3Warning("mesh geometry not found %s\n", fullPath);
}
@@ -500,7 +497,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
}
default:
{
printf("Error: unknown visual geometry type\n");
b3Warning("Error: unknown visual geometry type\n");
}
}
@@ -593,7 +590,6 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
{
case URDF_GEOM_CYLINDER:
{
printf("processing a cylinder\n");
btScalar cylRadius = collision->m_geometry.m_cylinderRadius;
btScalar cylLength = collision->m_geometry.m_cylinderLength;
@@ -623,7 +619,6 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
}
case URDF_GEOM_BOX:
{
printf("processing a box\n");
btVector3 extents = collision->m_geometry.m_boxSize;
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
@@ -633,7 +628,6 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
}
case URDF_GEOM_SPHERE:
{
printf("processing a sphere\n");
btScalar radius = collision->m_geometry.m_sphereRadius;
btSphereShape* sphereShape = new btSphereShape(radius);
@@ -647,14 +641,14 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
{
if (collision->m_name.length())
{
printf("collision->name=%s\n",collision->m_name.c_str());
//b3Printf("collision->name=%s\n",collision->m_name.c_str());
}
if (1)
{
if (collision->m_geometry.m_meshFileName.length())
{
const char* filename = collision->m_geometry.m_meshFileName.c_str();
printf("mesh->filename=%s\n",filename);
//b3Printf("mesh->filename=%s\n",filename);
char fullPath[1024];
int fileType = 0;
sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
@@ -783,7 +777,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
}
default:
{
printf("Unsupported file type in Collision: %s\n",fullPath);
b3Warning("Unsupported file type in Collision: %s\n",fullPath);
btAssert(0);
}
}
@@ -791,7 +785,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
if (glmesh && (glmesh->m_numvertices>0))
{
printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
//b3Printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
//int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
//convex->setUserIndex(shapeId);
btAlignedObjectArray<btVector3> convertedVerts;
@@ -809,12 +803,12 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
shape = cylZShape;
} else
{
printf("issue extracting mesh from STL file %s\n", fullPath);
b3Warning("issue extracting mesh from STL file %s\n", fullPath);
}
} else
{
printf("mesh geometry not found %s\n",fullPath);
b3Warning("mesh geometry not found %s\n",fullPath);
}
@@ -826,7 +820,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
}
default:
{
printf("Error: unknown visual geometry type\n");
b3Warning("Error: unknown visual geometry type\n");
}
}
return shape;