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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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25
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -162,8 +162,6 @@ void ConvertURDF2BulletInternal(
int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
btRigidBody* parentRigidBody = 0;
//std::string name = u2b.getLinkName(urdfLinkIndex);
//b3Printf("link name=%s urdf link index=%d\n",name.c_str(),urdfLinkIndex);
//b3Printf("mb link index = %d\n",mbLinkIndex);
btTransform parentLocalInertialFrame;
@@ -322,6 +320,14 @@ void ConvertURDF2BulletInternal(
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
if (jointLowerLimit <= jointUpperLimit)
{
//std::string name = u2b.getLinkName(urdfLinkIndex);
//printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit);
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
world1->addMultiBodyConstraint(con);
}
} else
{
@@ -343,8 +349,14 @@ void ConvertURDF2BulletInternal(
-offsetInB.getOrigin(),
disableParentCollision);
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody,mbLinkIndex,jointLowerLimit, jointUpperLimit);
world1->addMultiBodyConstraint(con);
if (jointLowerLimit <= jointUpperLimit)
{
//std::string name = u2b.getLinkName(urdfLinkIndex);
//printf("create btMultiBodyJointLimitConstraint for prismatic link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit,jointUpperLimit);
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
world1->addMultiBodyConstraint(con);
}
//printf("joint lower limit=%d, upper limit = %f\n", jointLowerLimit, jointUpperLimit);
} else
@@ -386,8 +398,9 @@ void ConvertURDF2BulletInternal(
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
col->setWorldTransform(tr);
bool isDynamic = true;
//base and fixed? -> static, otherwise flag as dynamic
bool isDynamic = (mbLinkIndex<0 && cache.m_bulletMultiBody->hasFixedBase())? false : true;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);