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remove that odd triangle in the origin of samurai castle (VR)

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add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance
This commit is contained in:
erwin coumans
2016-09-19 07:02:43 -07:00
parent 48d42c7c6e
commit db3122233f
23 changed files with 297 additions and 113 deletions
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53
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -14,7 +14,7 @@ subject to the following restrictions:
#include "BulletUrdfImporter.h"
#include "../../CommonInterfaces/CommonRenderInterface.h"
#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
#include "URDFImporterInterface.h"
#include "btBulletCollisionCommon.h"
#include "../ImportObjDemo/LoadMeshFromObj.h"
@@ -360,7 +360,45 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
return true;
}
static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes)
{
btCompoundShape* compound = new btCompoundShape();
btTransform identity;
identity.setIdentity();
for (int s = 0; s<(int)shapes.size(); s++)
{
btConvexHullShape* convexHull = new btConvexHullShape();
tinyobj::shape_t& shape = shapes[s];
int faceCount = shape.mesh.indices.size();
for (int f = 0; f<faceCount; f += 3)
{
btVector3 pt;
pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
convexHull->addPoint(pt,false);
pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
convexHull->addPoint(pt, false);
pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
convexHull->addPoint(pt, false);
}
convexHull->recalcLocalAabb();
convexHull->optimizeConvexHull();
compound->addChildShape(identity,convexHull);
}
return compound;
}
btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
{
@@ -467,7 +505,18 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
{
case FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath,collisionPathPrefix);
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{
glmesh = LoadMeshFromObj(fullPath, collisionPathPrefix);
}
else
{
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, fullPath, collisionPathPrefix);
//create a convex hull for each shape, and store it in a btCompoundShape
shape = createConvexHullFromShapes(shapes);
return shape;
}
break;
}
case FILE_STL: