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fix in URDF loading: apply visual transform locally, not after compensating for inertia transform.

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add option in COLLADA loading to specify client up axis (so that if client=Z and COLLADA =Z, upAxisTransform is identity,
while if client=Y and COLLADA=Y, upAxisTransform is identity etc)
This commit is contained in:
Erwin Coumans
2015-02-13 16:18:16 -08:00
parent a65d8fc209
commit d8b08eaf2a
4 changed files with 86 additions and 43 deletions
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5
Demos3/ImportColladaDemo/ImportColladaSetup.cpp
View File

@@ -46,7 +46,8 @@ static int ColladaGraphicsInstanceSortfnc(const ColladaGraphicsInstance& a,const
void ImportColladaSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
gfxBridge.setUpAxis(1);
int upAxis=1;
gfxBridge.setUpAxis(upAxis);
this->createEmptyDynamicsWorld();
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
@@ -112,7 +113,7 @@ void ImportColladaSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
fileIndex = 0;
}
LoadMeshFromCollada(relativeFileName, visualShapes, visualShapeInstances,upAxisTrans,unitMeterScaling);
LoadMeshFromCollada(relativeFileName, visualShapes, visualShapeInstances,upAxisTrans,unitMeterScaling, upAxis);
#endif// COMPARE_WITH_ASSIMP

70
Demos3/ImportColladaDemo/LoadMeshFromCollada.cpp
View File

@@ -485,8 +485,10 @@ void readVisualSceneInstanceGeometries(TiXmlDocument& doc, btHashMap<btHashStrin
}
}
void getUnitMeterScalingAndUpAxisTransform(TiXmlDocument& doc, btTransform& tr, float& unitMeterScaling)
void getUnitMeterScalingAndUpAxisTransform(TiXmlDocument& doc, btTransform& tr, float& unitMeterScaling, int clientUpAxis)
{
///todo(erwincoumans) those up-axis transformations have been quickly coded without rigorous testing
TiXmlElement* unitMeter = doc.RootElement()->FirstChildElement("asset")->FirstChildElement("unit");
if (unitMeter)
{
@@ -498,25 +500,59 @@ void getUnitMeterScalingAndUpAxisTransform(TiXmlDocument& doc, btTransform& tr,
TiXmlElement* upAxisElem = doc.RootElement()->FirstChildElement("asset")->FirstChildElement("up_axis");
if (upAxisElem)
{
std::string upAxisTxt = upAxisElem->GetText();
if (upAxisTxt == "X_UP")
switch (clientUpAxis)
{
btQuaternion y2x(btVector3(0,0,1),SIMD_HALF_PI);
tr.setRotation(y2x);
}
if (upAxisTxt == "Y_UP")
{
//assume Y_UP for now, to be compatible with assimp?
}
if (upAxisTxt == "Z_UP")
{
btQuaternion y2z(btVector3(1,0,0),-SIMD_HALF_PI);
tr.setRotation(y2z);
}
case 1:
{
std::string upAxisTxt = upAxisElem->GetText();
if (upAxisTxt == "X_UP")
{
btQuaternion x2y(btVector3(0,0,1),SIMD_HALF_PI);
tr.setRotation(x2y);
}
if (upAxisTxt == "Y_UP")
{
//assume Y_UP for now, to be compatible with assimp?
//client and COLLADA are both Z_UP so no transform needed (identity)
}
if (upAxisTxt == "Z_UP")
{
btQuaternion z2y(btVector3(1,0,0),-SIMD_HALF_PI);
tr.setRotation(z2y);
}
break;
}
case 2:
{
std::string upAxisTxt = upAxisElem->GetText();
if (upAxisTxt == "X_UP")
{
btQuaternion x2z(btVector3(0,1,0),-SIMD_HALF_PI);
tr.setRotation(x2z);
}
if (upAxisTxt == "Y_UP")
{
btQuaternion y2z(btVector3(1,0,0),SIMD_HALF_PI);
tr.setRotation(y2z);
}
if (upAxisTxt == "Z_UP")
{
//client and COLLADA are both Z_UP so no transform needed (identity)
}
break;
}
case 0:
default:
{
//we don't support X or other up axis
btAssert(0);
}
};
}
}
void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLInstanceGraphicsShape>& visualShapes, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, btTransform& upAxisTransform, float& unitMeterScaling)
void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLInstanceGraphicsShape>& visualShapes, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, btTransform& upAxisTransform, float& unitMeterScaling,int clientUpAxis)
{
GLInstanceGraphicsShape* instance = 0;
@@ -543,7 +579,7 @@ void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLIn
upAxisTransform.setIdentity();
//Also we can optionally compensate all transforms using the asset/up_axis as well as unit meter scaling
getUnitMeterScalingAndUpAxisTransform(doc, upAxisTransform, unitMeterScaling);
getUnitMeterScalingAndUpAxisTransform(doc, upAxisTransform, unitMeterScaling,clientUpAxis);
btMatrix4x4 ident;
ident.setIdentity();

3
Demos3/ImportColladaDemo/LoadMeshFromCollada.h
View File

@@ -29,7 +29,8 @@ void LoadMeshFromCollada(const char* relativeFileName,
btAlignedObjectArray<GLInstanceGraphicsShape>& visualShapes,
btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances,
btTransform& upAxisTrans,
float& unitMeterScaling);
float& unitMeterScaling,
int clientUpAxis);
//#define COMPARE_WITH_ASSIMP
#ifdef COMPARE_WITH_ASSIMP