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plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision !

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See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds:
https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf
Add the --audio flag to enable sound in pybullet/Bullet-C-API
This commit is contained in:
Erwin Coumans
2017-05-01 11:14:09 -07:00
parent 3a330c4280
commit af6bf8ddc8
22 changed files with 389 additions and 108 deletions
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37
data/plane_with_collision_audio.urdf Normal file
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<?xml version="0.0" ?>
<robot name="plane">
<link name="planeLink">
<audio_source filename="wav/cardboardbox0.wav">
<collision_force_threshold>0.4</collision_force_threshold>
<attack_rate>0.01</attack_rate>
<decay_rate>0.0001</decay_rate>
<sustain_level>0.5</sustain_level>
<release_rate>0.005</release_rate>
<gain>.5</gain>
</audio_source>
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="plane.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -5"/>
<geometry>
<box size="30 30 10"/>
</geometry>
</collision>
</link>
</robot>