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Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations.

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Fix two_cubes.sdf (was lacking collision shape for second cube)
This commit is contained in:
Erwin Coumans
2017-08-14 14:59:41 -07:00
parent dfaa717fed
commit aafaa7e33e
15 changed files with 130 additions and 34 deletions
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22
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2284,7 +2284,7 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
return loadOk;
}
bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags)
bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, btScalar globalScaling)
{
btAssert(m_data->m_dynamicsWorld);
if (!m_data->m_dynamicsWorld)
@@ -2295,7 +2295,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
m_data->m_sdfRecentLoadedBodies.clear();
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
bool forceFixedBase = false;
bool loadOk =u2b.loadSDF(fileName,forceFixedBase);
@@ -2311,7 +2311,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags)
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags, btScalar globalScaling)
{
m_data->m_sdfRecentLoadedBodies.clear();
*bodyUniqueIdPtr = -1;
@@ -2326,7 +2326,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
@@ -3579,7 +3579,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (sdfArgs.m_useMultiBody!=0) : true;
int flags = CUF_USE_SDF; //CUF_USE_URDF_INERTIA
bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
btScalar globalScaling = 1.f;
if (clientCmd.m_updateFlags & URDF_ARGS_USE_GLOBAL_SCALING)
{
globalScaling = sdfArgs.m_globalScaling;
}
bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, globalScaling);
if (completedOk)
{
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
@@ -4016,10 +4021,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (urdfArgs.m_useMultiBody!=0) : true;
bool useFixedBase = (clientCmd.m_updateFlags & URDF_ARGS_USE_FIXED_BASE) ? (urdfArgs.m_useFixedBase!=0): false;
int bodyUniqueId;
btScalar globalScaling = 1.f;
if (clientCmd.m_updateFlags & URDF_ARGS_USE_GLOBAL_SCALING)
{
globalScaling = urdfArgs.m_globalScaling;
}
//load the actual URDF and send a report: completed or failed
bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
initialPos,initialOrn,
useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes, urdfFlags);
useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes, urdfFlags, globalScaling);
if (completedOk && bodyUniqueId>=0)
{