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pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface

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(still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
This commit is contained in:
Erwin Coumans
2017-06-03 10:57:56 -07:00
parent ff695dd328
commit b23cb1dd2c
16 changed files with 1032 additions and 22 deletions
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8
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -294,7 +294,6 @@ std::string BulletURDFImporter::getJointName(int linkIndex) const
void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
{
//todo(erwincoumans)
//the link->m_inertia is NOT necessarily aligned with the inertial frame
//so an additional transform might need to be computed
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
@@ -414,6 +413,13 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
}
void BulletURDFImporter::setRootTransformInWorld(const btTransform& rootTransformInWorld)
{
m_data->m_urdfParser.getModel().m_rootTransformInWorld = rootTransformInWorld ;
}
bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
{
rootTransformInWorld = m_data->m_urdfParser.getModel().m_rootTransformInWorld;

1
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -55,6 +55,7 @@ public:
virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld);
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;

3
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -64,7 +64,8 @@ public:
};
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld){}
///quick hack: need to rethink the API/dependencies of this
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const { return -1;}

3
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -282,12 +282,11 @@ public:
int getNumModels() const
{
//user should have loaded an SDF when calling this method
btAssert(m_parseSDF);
if (m_parseSDF)
{
return m_sdfModels.size();
}
return 0;
return 1;
}
void activateModel(int modelIndex);