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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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76
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -663,6 +663,82 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
{
//optional 'audio_source' parameters
//modified version of SDF audio_source specification in //http://sdformat.org/spec?ver=1.6&elem=link
#if 0
<audio_source>
<uri>file://media/audio/cheer.mp3</uri>
<pitch>2.0</pitch>
<gain>1.0</gain>
<loop>false</loop>
<contact>
<collision>collision</collision>
</contact>
</audio_source>
#endif
TiXmlElement* ci = config->FirstChildElement("audio_source");
if (ci)
{
link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceValid;
const char* fn = ci->Attribute("filename");
if (fn)
{
link.m_audioSource.m_uri = fn;
} else
{
if (TiXmlElement* filename_xml = ci->FirstChildElement("uri"))
{
link.m_audioSource.m_uri = filename_xml->GetText();
}
}
if (TiXmlElement* pitch_xml = ci->FirstChildElement("pitch"))
{
link.m_audioSource.m_pitch = urdfLexicalCast<double>(pitch_xml->GetText());
}
if (TiXmlElement* gain_xml = ci->FirstChildElement("gain"))
{
link.m_audioSource.m_gain = urdfLexicalCast<double>(gain_xml->GetText());
}
if (TiXmlElement* attack_rate_xml = ci->FirstChildElement("attack_rate"))
{
link.m_audioSource.m_attackRate = urdfLexicalCast<double>(attack_rate_xml->GetText());
}
if (TiXmlElement* decay_rate_xml = ci->FirstChildElement("decay_rate"))
{
link.m_audioSource.m_decayRate = urdfLexicalCast<double>(decay_rate_xml->GetText());
}
if (TiXmlElement* sustain_level_xml = ci->FirstChildElement("sustain_level"))
{
link.m_audioSource.m_sustainLevel = urdfLexicalCast<double>(sustain_level_xml->GetText());
}
if (TiXmlElement* release_rate_xml = ci->FirstChildElement("release_rate"))
{
link.m_audioSource.m_releaseRate = urdfLexicalCast<double>(release_rate_xml->GetText());
}
if (TiXmlElement* loop_xml = ci->FirstChildElement("loop"))
{
std::string looptxt = loop_xml->GetText();
if (looptxt == "true")
{
link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceLooping;
}
}
if (TiXmlElement* forceThreshold_xml = ci->FirstChildElement("collision_force_threshold"))
{
link.m_audioSource.m_collisionForceThreshold= urdfLexicalCast<double>(forceThreshold_xml->GetText());
}
//todo: see other audio_source children
//pitch, gain, loop, contact
}
}
{
//optional 'contact' parameters
TiXmlElement* ci = config->FirstChildElement("contact");