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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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20
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -1134,9 +1134,9 @@ bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
return false;
}
bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const
bool BulletURDFImporter::getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const
{
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdflinkIndex);
if (linkPtr)
{
const UrdfLink* link = *linkPtr;
@@ -1146,6 +1146,22 @@ bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo&
return false;
}
bool BulletURDFImporter::getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const
{
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
if (linkPtr)
{
const UrdfLink* link = *linkPtr;
if (link->m_audioSource.m_flags & SDFAudioSource::SDFAudioSourceValid)
{
audioSource = link->m_audioSource;
return true;
}
}
return false;
}
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const
{
if (m_data->m_customVisualShapesConverter)