Merge branch 'master' into master
This commit is contained in:
YunfeiBai
GitHub
@@ -29,6 +29,7 @@
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#include "LinearMath/btTransform.h"
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#include "../Importers/ImportMJCFDemo/BulletMJCFImporter.h"
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#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
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#include "../Importers/ImportSTLDemo/LoadMeshFromSTL.h"
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#include "../Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
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#include "LinearMath/btSerializer.h"
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@@ -1516,6 +1517,7 @@ struct PhysicsServerCommandProcessorInternalData
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btAlignedObjectArray<std::string*> m_strings;
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
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btAlignedObjectArray<btStridingMeshInterface*> m_meshInterfaces;
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MyOverlapFilterCallback* m_broadphaseCollisionFilterCallback;
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@@ -2138,11 +2140,25 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
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if (colShapeUniqueId>=0)
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{
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InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(colShapeUniqueId);
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if (handle)
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if (handle && handle->m_collisionShape)
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{
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btTransform childTrans;
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childTrans.setIdentity();
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compound->addChildShape(localInertiaFrame.inverse()*childTrans,handle->m_collisionShape);
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if (handle->m_collisionShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
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{
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btCompoundShape* childCompound = (btCompoundShape*)handle->m_collisionShape;
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for (int c = 0; c < childCompound->getNumChildShapes(); c++)
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{
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btTransform childTrans = childCompound->getChildTransform(c);
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btCollisionShape* childShape = childCompound->getChildShape(c);
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btTransform tr = localInertiaFrame.inverse()*childTrans;
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compound->addChildShape(tr, childShape);
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}
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}
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else
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{
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btTransform childTrans;
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childTrans.setIdentity();
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compound->addChildShape(localInertiaFrame.inverse()*childTrans, handle->m_collisionShape);
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}
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}
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}
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m_allocatedCollisionShapes.push_back(compound);
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@@ -2392,6 +2408,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
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}
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m_data->m_meshInterfaces.clear();
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m_data->m_collisionShapes.clear();
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m_data->m_bulletCollisionShape2UrdfCollision.clear();
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delete m_data->m_dynamicsWorld;
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m_data->m_dynamicsWorld=0;
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@@ -2634,6 +2651,25 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
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{
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btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
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m_data->m_collisionShapes.push_back(shape);
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UrdfCollision urdfCollision;
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if (u2b.getUrdfFromCollisionShape(shape, urdfCollision))
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{
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m_data->m_bulletCollisionShape2UrdfCollision.insert(shape, urdfCollision);
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}
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if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
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{
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btCompoundShape* compound = (btCompoundShape*)shape;
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for (int c = 0; c < compound->getNumChildShapes(); c++)
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{
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btCollisionShape* childShape = compound->getChildShape(c);
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if (u2b.getUrdfFromCollisionShape(childShape, urdfCollision))
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{
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m_data->m_bulletCollisionShape2UrdfCollision.insert(childShape, urdfCollision);
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}
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}
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}
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}
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m_data->m_saveWorldBodyData.push_back(sd);
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@@ -3488,7 +3524,8 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
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{
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bool hasStatus = true;
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serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_FAILED;
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btScalar defaultCollisionMargin = 0.001;
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btMultiBodyWorldImporter* worldImporter = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
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btCollisionShape* shape = 0;
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@@ -3500,8 +3537,11 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
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{
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compound = worldImporter->createCompoundShape();
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}
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for (int i=0;i<clientCmd.m_createUserShapeArgs.m_numUserShapes;i++)
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for (int i = 0; i < clientCmd.m_createUserShapeArgs.m_numUserShapes; i++)
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{
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GLInstanceGraphicsShape* glmesh = 0;
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char pathPrefix[1024] = "";
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char relativeFileName[1024] = "";
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UrdfCollision urdfColObj;
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btTransform childTransform;
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@@ -3517,7 +3557,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_childOrientation[2],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_childOrientation[3]
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));
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if (compound==0)
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if (compound == 0)
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{
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compound = worldImporter->createCompoundShape();
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}
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@@ -3530,227 +3570,274 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
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switch (clientCmd.m_createUserShapeArgs.m_shapes[i].m_type)
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{
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case GEOM_SPHERE:
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case GEOM_SPHERE:
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{
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double radius = clientCmd.m_createUserShapeArgs.m_shapes[i].m_sphereRadius;
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shape = worldImporter->createSphereShape(radius);
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if (compound)
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{
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double radius = clientCmd.m_createUserShapeArgs.m_shapes[i].m_sphereRadius;
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shape = worldImporter->createSphereShape(radius);
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if (compound)
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{
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compound->addChildShape(childTransform,shape);
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}
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urdfColObj.m_geometry.m_type = URDF_GEOM_SPHERE;
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urdfColObj.m_geometry.m_sphereRadius = radius;
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break;
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compound->addChildShape(childTransform, shape);
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}
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case GEOM_BOX:
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urdfColObj.m_geometry.m_type = URDF_GEOM_SPHERE;
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urdfColObj.m_geometry.m_sphereRadius = radius;
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break;
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}
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case GEOM_BOX:
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{
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//double halfExtents[3] = clientCmd.m_createUserShapeArgs.m_shapes[i].m_sphereRadius;
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btVector3 halfExtents(
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_boxHalfExtents[0],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_boxHalfExtents[1],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_boxHalfExtents[2]);
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shape = worldImporter->createBoxShape(halfExtents);
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if (compound)
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{
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//double halfExtents[3] = clientCmd.m_createUserShapeArgs.m_shapes[i].m_sphereRadius;
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btVector3 halfExtents(
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_boxHalfExtents[0],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_boxHalfExtents[1],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_boxHalfExtents[2]);
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shape = worldImporter->createBoxShape(halfExtents);
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if (compound)
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{
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compound->addChildShape(childTransform,shape);
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}
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urdfColObj.m_geometry.m_type = URDF_GEOM_BOX;
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urdfColObj.m_geometry.m_boxSize = 2.*halfExtents;
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break;
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compound->addChildShape(childTransform, shape);
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}
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case GEOM_CAPSULE:
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urdfColObj.m_geometry.m_type = URDF_GEOM_BOX;
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urdfColObj.m_geometry.m_boxSize = 2.*halfExtents;
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break;
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}
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case GEOM_CAPSULE:
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{
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shape = worldImporter->createCapsuleShapeZ(clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius,
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight);
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if (compound)
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{
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shape = worldImporter->createCapsuleShapeZ(clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius,
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight);
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if (compound)
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{
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compound->addChildShape(childTransform,shape);
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}
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urdfColObj.m_geometry.m_type = URDF_GEOM_CAPSULE;
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urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius;
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urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight;
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break;
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compound->addChildShape(childTransform, shape);
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}
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case GEOM_CYLINDER:
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{
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shape = worldImporter->createCylinderShapeZ(clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius,
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight);
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if (compound)
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{
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compound->addChildShape(childTransform,shape);
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}
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urdfColObj.m_geometry.m_type = URDF_GEOM_CYLINDER;
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urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius;
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urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight;
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urdfColObj.m_geometry.m_type = URDF_GEOM_CAPSULE;
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urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius;
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urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight;
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break;
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break;
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}
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case GEOM_CYLINDER:
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{
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shape = worldImporter->createCylinderShapeZ(clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius,
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0.5*clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight);
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if (compound)
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{
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compound->addChildShape(childTransform, shape);
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}
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case GEOM_PLANE:
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{
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btVector3 planeNormal(clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[0],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[1],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[2]);
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urdfColObj.m_geometry.m_type = URDF_GEOM_CYLINDER;
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urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius;
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urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight;
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shape = worldImporter->createPlaneShape(planeNormal,0);
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if (compound)
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{
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compound->addChildShape(childTransform,shape);
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}
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urdfColObj.m_geometry.m_type = URDF_GEOM_PLANE;
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urdfColObj.m_geometry.m_planeNormal.setValue(
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[0],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[1],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[2]);
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break;
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break;
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}
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case GEOM_PLANE:
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{
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btVector3 planeNormal(clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[0],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[1],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[2]);
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shape = worldImporter->createPlaneShape(planeNormal, 0);
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if (compound)
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{
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compound->addChildShape(childTransform, shape);
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}
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case GEOM_MESH:
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{
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btScalar defaultCollisionMargin = 0.001;
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urdfColObj.m_geometry.m_type = URDF_GEOM_PLANE;
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urdfColObj.m_geometry.m_planeNormal.setValue(
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[0],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[1],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[2]);
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btVector3 meshScale(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[1],
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clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[2]);
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break;
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}
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case GEOM_MESH:
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||||
{
|
||||
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||||
const std::string& urdf_path="";
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||||
btVector3 meshScale(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0],
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||||
clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[1],
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||||
clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[2]);
|
||||
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||||
std::string fileName = clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshFileName;
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||||
urdfColObj.m_geometry.m_type = URDF_GEOM_MESH;
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||||
urdfColObj.m_geometry.m_meshFileName = fileName;
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||||
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||||
urdfColObj.m_geometry.m_meshScale = meshScale;
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||||
char relativeFileName[1024];
|
||||
char pathPrefix[1024];
|
||||
pathPrefix[0] = 0;
|
||||
if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
|
||||
{
|
||||
const std::string& urdf_path = "";
|
||||
|
||||
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
|
||||
}
|
||||
|
||||
const std::string& error_message_prefix="";
|
||||
std::string out_found_filename;
|
||||
int out_type;
|
||||
std::string fileName = clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshFileName;
|
||||
urdfColObj.m_geometry.m_type = URDF_GEOM_MESH;
|
||||
urdfColObj.m_geometry.m_meshFileName = fileName;
|
||||
|
||||
bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName,error_message_prefix,&out_found_filename, &out_type);
|
||||
if (foundFile)
|
||||
{
|
||||
urdfColObj.m_geometry.m_meshFileType = out_type;
|
||||
|
||||
if (out_type==UrdfGeometry::FILE_OBJ)
|
||||
{
|
||||
//create a convex hull for each shape, and store it in a btCompoundShape
|
||||
|
||||
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags&GEOM_FORCE_CONCAVE_TRIMESH)
|
||||
{
|
||||
GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, pathPrefix);
|
||||
|
||||
if (!glmesh || glmesh->m_numvertices<=0)
|
||||
{
|
||||
b3Warning("%s: cannot extract mesh from '%s'\n", pathPrefix, relativeFileName);
|
||||
delete glmesh;
|
||||
break;
|
||||
}
|
||||
btAlignedObjectArray<btVector3> convertedVerts;
|
||||
convertedVerts.reserve(glmesh->m_numvertices);
|
||||
|
||||
for (int i=0; i<glmesh->m_numvertices; i++)
|
||||
{
|
||||
convertedVerts.push_back(btVector3(
|
||||
glmesh->m_vertices->at(i).xyzw[0]*meshScale[0],
|
||||
glmesh->m_vertices->at(i).xyzw[1]*meshScale[1],
|
||||
glmesh->m_vertices->at(i).xyzw[2]*meshScale[2]));
|
||||
}
|
||||
|
||||
BT_PROFILE("convert trimesh");
|
||||
btTriangleMesh* meshInterface = new btTriangleMesh();
|
||||
this->m_data->m_meshInterfaces.push_back(meshInterface);
|
||||
{
|
||||
BT_PROFILE("convert vertices");
|
||||
|
||||
for (int i=0; i<glmesh->m_numIndices/3; i++)
|
||||
{
|
||||
const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)];
|
||||
const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)];
|
||||
const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)];
|
||||
meshInterface->addTriangle(v0,v1,v2);
|
||||
}
|
||||
}
|
||||
{
|
||||
BT_PROFILE("create btBvhTriangleMeshShape");
|
||||
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
|
||||
m_data->m_collisionShapes.push_back(trimesh);
|
||||
//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
|
||||
shape = trimesh;
|
||||
if (compound)
|
||||
{
|
||||
compound->addChildShape(childTransform,shape);
|
||||
}
|
||||
}
|
||||
delete glmesh;
|
||||
} else
|
||||
{
|
||||
|
||||
std::vector<tinyobj::shape_t> shapes;
|
||||
std::string err = tinyobj::LoadObj(shapes,out_found_filename.c_str());
|
||||
|
||||
//shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
|
||||
//static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
|
||||
B3_PROFILE("createConvexHullFromShapes");
|
||||
if (compound==0)
|
||||
{
|
||||
compound = worldImporter->createCompoundShape();
|
||||
}
|
||||
compound->setMargin(defaultCollisionMargin);
|
||||
|
||||
for (int s = 0; s<(int)shapes.size(); s++)
|
||||
{
|
||||
btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
|
||||
convexHull->setMargin(defaultCollisionMargin);
|
||||
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]);
|
||||
urdfColObj.m_geometry.m_meshScale = meshScale;
|
||||
|
||||
convexHull->addPoint(pt*meshScale,false);
|
||||
|
||||
pathPrefix[0] = 0;
|
||||
if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
|
||||
{
|
||||
|
||||
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*meshScale, false);
|
||||
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
|
||||
}
|
||||
|
||||
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*meshScale, false);
|
||||
}
|
||||
const std::string& error_message_prefix = "";
|
||||
std::string out_found_filename;
|
||||
int out_type;
|
||||
|
||||
convexHull->recalcLocalAabb();
|
||||
convexHull->optimizeConvexHull();
|
||||
compound->addChildShape(childTransform,convexHull);
|
||||
bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
|
||||
if (foundFile)
|
||||
{
|
||||
urdfColObj.m_geometry.m_meshFileType = out_type;
|
||||
|
||||
if (out_type == UrdfGeometry::FILE_STL)
|
||||
{
|
||||
glmesh = LoadMeshFromSTL(relativeFileName);
|
||||
|
||||
}
|
||||
if (out_type == UrdfGeometry::FILE_OBJ)
|
||||
{
|
||||
//create a convex hull for each shape, and store it in a btCompoundShape
|
||||
|
||||
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags&GEOM_FORCE_CONCAVE_TRIMESH)
|
||||
{
|
||||
glmesh = LoadMeshFromObj(relativeFileName, pathPrefix);
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
std::vector<tinyobj::shape_t> shapes;
|
||||
std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str());
|
||||
|
||||
//shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
|
||||
//static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
|
||||
B3_PROFILE("createConvexHullFromShapes");
|
||||
if (compound == 0)
|
||||
{
|
||||
compound = worldImporter->createCompoundShape();
|
||||
}
|
||||
compound->setMargin(defaultCollisionMargin);
|
||||
|
||||
for (int s = 0; s < (int)shapes.size(); s++)
|
||||
{
|
||||
btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
|
||||
convexHull->setMargin(defaultCollisionMargin);
|
||||
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*meshScale, 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*meshScale, 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*meshScale, false);
|
||||
}
|
||||
|
||||
convexHull->recalcLocalAabb();
|
||||
convexHull->optimizeConvexHull();
|
||||
compound->addChildShape(childTransform, convexHull);
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
}
|
||||
}
|
||||
if (urdfColObj.m_geometry.m_type != URDF_GEOM_UNKNOWN)
|
||||
{
|
||||
urdfCollisionObjects.push_back(urdfColObj);
|
||||
}
|
||||
}
|
||||
|
||||
if (glmesh)
|
||||
{
|
||||
btVector3 meshScale(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0],
|
||||
clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[1],
|
||||
clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[2]);
|
||||
|
||||
|
||||
if (!glmesh || glmesh->m_numvertices <= 0)
|
||||
{
|
||||
b3Warning("%s: cannot extract mesh from '%s'\n", pathPrefix, relativeFileName);
|
||||
delete glmesh;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
btAlignedObjectArray<btVector3> convertedVerts;
|
||||
convertedVerts.reserve(glmesh->m_numvertices);
|
||||
|
||||
for (int i = 0; i < glmesh->m_numvertices; i++)
|
||||
{
|
||||
convertedVerts.push_back(btVector3(
|
||||
glmesh->m_vertices->at(i).xyzw[0] * meshScale[0],
|
||||
glmesh->m_vertices->at(i).xyzw[1] * meshScale[1],
|
||||
glmesh->m_vertices->at(i).xyzw[2] * meshScale[2]));
|
||||
}
|
||||
|
||||
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags&GEOM_FORCE_CONCAVE_TRIMESH)
|
||||
{
|
||||
|
||||
|
||||
BT_PROFILE("convert trimesh");
|
||||
btTriangleMesh* meshInterface = new btTriangleMesh();
|
||||
this->m_data->m_meshInterfaces.push_back(meshInterface);
|
||||
{
|
||||
BT_PROFILE("convert vertices");
|
||||
|
||||
for (int i = 0; i < glmesh->m_numIndices / 3; i++)
|
||||
{
|
||||
const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i * 3)];
|
||||
const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i * 3 + 1)];
|
||||
const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i * 3 + 2)];
|
||||
meshInterface->addTriangle(v0, v1, v2);
|
||||
}
|
||||
}
|
||||
{
|
||||
BT_PROFILE("create btBvhTriangleMeshShape");
|
||||
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface, true, true);
|
||||
m_data->m_collisionShapes.push_back(trimesh);
|
||||
//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
|
||||
shape = trimesh;
|
||||
if (compound)
|
||||
{
|
||||
compound->addChildShape(childTransform, shape);
|
||||
}
|
||||
}
|
||||
delete glmesh;
|
||||
}
|
||||
else
|
||||
{
|
||||
//convex mesh
|
||||
|
||||
if (compound == 0)
|
||||
{
|
||||
compound = worldImporter->createCompoundShape();
|
||||
}
|
||||
compound->setMargin(defaultCollisionMargin);
|
||||
|
||||
{
|
||||
btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
|
||||
convexHull->setMargin(defaultCollisionMargin);
|
||||
|
||||
for (int v = 0; v < convertedVerts.size(); v++)
|
||||
{
|
||||
|
||||
btVector3 pt = convertedVerts[v];
|
||||
convexHull->addPoint(pt, false);
|
||||
}
|
||||
|
||||
convexHull->recalcLocalAabb();
|
||||
convexHull->optimizeConvexHull();
|
||||
compound->addChildShape(childTransform, convexHull);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
if (compound && compound->getNumChildShapes())
|
||||
{
|
||||
shape = compound;
|
||||
@@ -4647,6 +4734,14 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
|
||||
}
|
||||
|
||||
motor->setVelocityTarget(desiredVelocity,kd);
|
||||
//todo: instead of clamping, combine the motor and limit
|
||||
//and combine handling of limit force and motor force.
|
||||
|
||||
//clamp position
|
||||
if (mb->getLink(link).m_jointLowerLimit <= mb->getLink(link).m_jointUpperLimit)
|
||||
{
|
||||
btClamp(desiredPosition, mb->getLink(link).m_jointLowerLimit, mb->getLink(link).m_jointUpperLimit);
|
||||
}
|
||||
motor->setPositionTarget(desiredPosition,kp);
|
||||
|
||||
btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime;
|
||||
@@ -6296,6 +6391,29 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
|
||||
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = mb->getBaseInertia()[1];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = mb->getBaseInertia()[2];
|
||||
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction();
|
||||
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[0] = body->m_rootLocalInertialFrame.getOrigin()[0];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[1] = body->m_rootLocalInertialFrame.getOrigin()[1];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[2] = body->m_rootLocalInertialFrame.getOrigin()[2];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[3] = body->m_rootLocalInertialFrame.getRotation()[0];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[4] = body->m_rootLocalInertialFrame.getRotation()[1];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[5] = body->m_rootLocalInertialFrame.getRotation()[2];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[6] = body->m_rootLocalInertialFrame.getRotation()[3];
|
||||
|
||||
serverCmd.m_dynamicsInfo.m_restitution = mb->getBaseCollider()->getRestitution();
|
||||
serverCmd.m_dynamicsInfo.m_rollingFrictionCoeff = mb->getBaseCollider()->getRollingFriction();
|
||||
serverCmd.m_dynamicsInfo.m_spinningFrictionCoeff = mb->getBaseCollider()->getSpinningFriction();
|
||||
|
||||
if (mb->getBaseCollider()->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING)
|
||||
{
|
||||
serverCmd.m_dynamicsInfo.m_contactStiffness = mb->getBaseCollider()->getContactStiffness();
|
||||
serverCmd.m_dynamicsInfo.m_contactDamping = mb->getBaseCollider()->getContactDamping();
|
||||
}
|
||||
else
|
||||
{
|
||||
serverCmd.m_dynamicsInfo.m_contactStiffness = -1;
|
||||
serverCmd.m_dynamicsInfo.m_contactDamping = -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -6304,9 +6422,31 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
|
||||
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = mb->getLinkInertia(linkIndex)[1];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = mb->getLinkInertia(linkIndex)[2];
|
||||
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[0] = body->m_linkLocalInertialFrames[linkIndex].getOrigin()[0];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[1] = body->m_linkLocalInertialFrames[linkIndex].getOrigin()[1];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[2] = body->m_linkLocalInertialFrames[linkIndex].getOrigin()[2];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[3] = body->m_linkLocalInertialFrames[linkIndex].getRotation()[0];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[4] = body->m_linkLocalInertialFrames[linkIndex].getRotation()[1];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[5] = body->m_linkLocalInertialFrames[linkIndex].getRotation()[2];
|
||||
serverCmd.m_dynamicsInfo.m_localInertialFrame[6] = body->m_linkLocalInertialFrames[linkIndex].getRotation()[3];
|
||||
|
||||
if (mb->getLinkCollider(linkIndex))
|
||||
{
|
||||
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
|
||||
serverCmd.m_dynamicsInfo.m_restitution = mb->getLinkCollider(linkIndex)->getRestitution();
|
||||
serverCmd.m_dynamicsInfo.m_rollingFrictionCoeff = mb->getLinkCollider(linkIndex)->getRollingFriction();
|
||||
serverCmd.m_dynamicsInfo.m_spinningFrictionCoeff = mb->getLinkCollider(linkIndex)->getSpinningFriction();
|
||||
|
||||
if (mb->getLinkCollider(linkIndex)->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING)
|
||||
{
|
||||
serverCmd.m_dynamicsInfo.m_contactStiffness = mb->getLinkCollider(linkIndex)->getContactStiffness();
|
||||
serverCmd.m_dynamicsInfo.m_contactDamping = mb->getLinkCollider(linkIndex)->getContactDamping();
|
||||
}
|
||||
else
|
||||
{
|
||||
serverCmd.m_dynamicsInfo.m_contactStiffness = -1;
|
||||
serverCmd.m_dynamicsInfo.m_contactDamping = -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -8026,7 +8166,183 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand(con
|
||||
return hasStatus;
|
||||
}
|
||||
|
||||
// PyModule_AddIntConstant(m, "GEOM_SPHERE", GEOM_SPHERE);
|
||||
// PyModule_AddIntConstant(m, "GEOM_BOX", GEOM_BOX);
|
||||
// PyModule_AddIntConstant(m, "GEOM_CYLINDER", GEOM_CYLINDER);
|
||||
// PyModule_AddIntConstant(m, "GEOM_MESH", GEOM_MESH);
|
||||
// PyModule_AddIntConstant(m, "GEOM_PLANE", GEOM_PLANE);
|
||||
// PyModule_AddIntConstant(m, "GEOM_CAPSULE", GEOM_CAPSULE);
|
||||
|
||||
int PhysicsServerCommandProcessor::extractCollisionShapes(const btCollisionShape* colShape, const btTransform& transform, b3CollisionShapeData* collisionShapeBuffer, int maxCollisionShapes)
|
||||
{
|
||||
if (maxCollisionShapes <= 0)
|
||||
{
|
||||
b3Warning("No space in buffer");
|
||||
return 0;
|
||||
}
|
||||
|
||||
int numConverted = 0;
|
||||
|
||||
collisionShapeBuffer[0].m_localCollisionFrame[0] = transform.getOrigin()[0];
|
||||
collisionShapeBuffer[0].m_localCollisionFrame[1] = transform.getOrigin()[1];
|
||||
collisionShapeBuffer[0].m_localCollisionFrame[2] = transform.getOrigin()[2];
|
||||
collisionShapeBuffer[0].m_localCollisionFrame[3] = transform.getRotation()[0];
|
||||
collisionShapeBuffer[0].m_localCollisionFrame[4] = transform.getRotation()[1];
|
||||
collisionShapeBuffer[0].m_localCollisionFrame[5] = transform.getRotation()[2];
|
||||
collisionShapeBuffer[0].m_localCollisionFrame[6] = transform.getRotation()[3];
|
||||
collisionShapeBuffer[0].m_meshAssetFileName[0] = 0;
|
||||
|
||||
switch (colShape->getShapeType())
|
||||
{
|
||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||
{
|
||||
UrdfCollision* urdfCol = m_data->m_bulletCollisionShape2UrdfCollision.find(colShape);
|
||||
if (urdfCol && (urdfCol->m_geometry.m_type == GEOM_MESH))
|
||||
{
|
||||
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_MESH;
|
||||
collisionShapeBuffer[0].m_dimensions[0] = urdfCol->m_geometry.m_meshScale[0];
|
||||
collisionShapeBuffer[0].m_dimensions[1] = urdfCol->m_geometry.m_meshScale[1];
|
||||
collisionShapeBuffer[0].m_dimensions[2] = urdfCol->m_geometry.m_meshScale[2];
|
||||
strcpy(collisionShapeBuffer[0].m_meshAssetFileName, urdfCol->m_geometry.m_meshFileName.c_str());
|
||||
numConverted += 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_MESH;
|
||||
sprintf(collisionShapeBuffer[0].m_meshAssetFileName, "unknown_file");
|
||||
collisionShapeBuffer[0].m_dimensions[0] = 1;
|
||||
collisionShapeBuffer[0].m_dimensions[1] = 1;
|
||||
collisionShapeBuffer[0].m_dimensions[2] = 1;
|
||||
numConverted++;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
case CAPSULE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btCapsuleShapeZ* capsule = (btCapsuleShapeZ*)colShape;
|
||||
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_CAPSULE;
|
||||
collisionShapeBuffer[0].m_dimensions[0] = 2.*capsule->getHalfHeight();
|
||||
collisionShapeBuffer[0].m_dimensions[1] = capsule->getRadius();
|
||||
collisionShapeBuffer[0].m_dimensions[2] = 0;
|
||||
numConverted++;
|
||||
break;
|
||||
}
|
||||
case CYLINDER_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btCylinderShapeZ* cyl = (btCylinderShapeZ*)colShape;
|
||||
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_CYLINDER;
|
||||
collisionShapeBuffer[0].m_dimensions[0] = 2.*cyl->getHalfExtentsWithMargin().getZ();
|
||||
collisionShapeBuffer[0].m_dimensions[1] = cyl->getHalfExtentsWithMargin().getX();
|
||||
collisionShapeBuffer[0].m_dimensions[2] = 0;
|
||||
numConverted++;
|
||||
break;
|
||||
}
|
||||
case BOX_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btBoxShape* box = (btBoxShape*)colShape;
|
||||
btVector3 halfExtents = box->getHalfExtentsWithMargin();
|
||||
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_BOX;
|
||||
collisionShapeBuffer[0].m_dimensions[0] = 2.*halfExtents[0];
|
||||
collisionShapeBuffer[0].m_dimensions[1] = 2.*halfExtents[1];
|
||||
collisionShapeBuffer[0].m_dimensions[2] = 2.*halfExtents[2];
|
||||
numConverted++;
|
||||
break;
|
||||
}
|
||||
case SPHERE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btSphereShape* sphere = (btSphereShape*)colShape;
|
||||
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_SPHERE;
|
||||
collisionShapeBuffer[0].m_dimensions[0] = sphere->getRadius();
|
||||
collisionShapeBuffer[0].m_dimensions[1] = sphere->getRadius();
|
||||
collisionShapeBuffer[0].m_dimensions[2] = sphere->getRadius();
|
||||
numConverted++;
|
||||
break;
|
||||
}
|
||||
case COMPOUND_SHAPE_PROXYTYPE:
|
||||
{
|
||||
//it could be a compound mesh from a wavefront OBJ, check it
|
||||
UrdfCollision* urdfCol = m_data->m_bulletCollisionShape2UrdfCollision.find(colShape);
|
||||
if (urdfCol && (urdfCol->m_geometry.m_type == GEOM_MESH))
|
||||
{
|
||||
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_MESH;
|
||||
collisionShapeBuffer[0].m_dimensions[0] = urdfCol->m_geometry.m_meshScale[0];
|
||||
collisionShapeBuffer[0].m_dimensions[1] = urdfCol->m_geometry.m_meshScale[1];
|
||||
collisionShapeBuffer[0].m_dimensions[2] = urdfCol->m_geometry.m_meshScale[2];
|
||||
strcpy(collisionShapeBuffer[0].m_meshAssetFileName, urdfCol->m_geometry.m_meshFileName.c_str());
|
||||
numConverted += 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
//recurse, accumulate childTransform
|
||||
btCompoundShape* compound = (btCompoundShape*)colShape;
|
||||
for (int i = 0; i < compound->getNumChildShapes(); i++)
|
||||
{
|
||||
btTransform childTrans = transform*compound->getChildTransform(i);
|
||||
int remain = maxCollisionShapes - numConverted;
|
||||
int converted = extractCollisionShapes(compound->getChildShape(i), childTrans, &collisionShapeBuffer[numConverted], remain);
|
||||
numConverted += converted;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
b3Warning("Unexpected collision shape type in PhysicsServerCommandProcessor::extractCollisionShapes");
|
||||
}
|
||||
};
|
||||
|
||||
return numConverted;
|
||||
}
|
||||
|
||||
|
||||
bool PhysicsServerCommandProcessor::processRequestCollisionShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
|
||||
{
|
||||
bool hasStatus = true;
|
||||
|
||||
BT_PROFILE("CMD_REQUEST_COLLISION_SHAPE_INFO");
|
||||
SharedMemoryStatus& serverCmd = serverStatusOut;
|
||||
serverCmd.m_type = CMD_COLLISION_SHAPE_INFO_FAILED;
|
||||
int bodyUniqueId = clientCmd.m_requestCollisionShapeDataArguments.m_bodyUniqueId;
|
||||
int linkIndex = clientCmd.m_requestCollisionShapeDataArguments.m_linkIndex;
|
||||
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
|
||||
if (bodyHandle)
|
||||
{
|
||||
if (bodyHandle->m_multiBody)
|
||||
{
|
||||
b3CollisionShapeData* collisionShapeStoragePtr = (b3CollisionShapeData*)bufferServerToClient;
|
||||
int totalBytesPerObject = sizeof(b3CollisionShapeData);
|
||||
int maxNumColObjects = bufferSizeInBytes / totalBytesPerObject - 1;
|
||||
btTransform childTrans;
|
||||
childTrans.setIdentity();
|
||||
serverCmd.m_sendCollisionShapeArgs.m_bodyUniqueId = bodyUniqueId;
|
||||
serverCmd.m_sendCollisionShapeArgs.m_linkIndex = linkIndex;
|
||||
|
||||
if (linkIndex == -1)
|
||||
{
|
||||
if (bodyHandle->m_multiBody->getBaseCollider())
|
||||
{
|
||||
//extract shape info from base collider
|
||||
int numConvertedCollisionShapes = extractCollisionShapes(bodyHandle->m_multiBody->getBaseCollider()->getCollisionShape(), childTrans, collisionShapeStoragePtr, maxNumColObjects);
|
||||
serverCmd.m_sendCollisionShapeArgs.m_numCollisionShapes = numConvertedCollisionShapes;
|
||||
serverCmd.m_type = CMD_COLLISION_SHAPE_INFO_COMPLETED;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (linkIndex >= 0 && linkIndex < bodyHandle->m_multiBody->getNumLinks() && bodyHandle->m_multiBody->getLinkCollider(linkIndex))
|
||||
{
|
||||
int numConvertedCollisionShapes = extractCollisionShapes(bodyHandle->m_multiBody->getLinkCollider(linkIndex)->getCollisionShape(), childTrans, collisionShapeStoragePtr, maxNumColObjects);
|
||||
serverCmd.m_sendCollisionShapeArgs.m_numCollisionShapes = numConvertedCollisionShapes;
|
||||
serverCmd.m_type = CMD_COLLISION_SHAPE_INFO_COMPLETED;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return hasStatus;
|
||||
}
|
||||
bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
|
||||
{
|
||||
bool hasStatus = true;
|
||||
@@ -8736,6 +9052,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
|
||||
hasStatus = processRequestVisualShapeInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
|
||||
break;
|
||||
}
|
||||
case CMD_REQUEST_COLLISION_SHAPE_INFO:
|
||||
{
|
||||
hasStatus = processRequestCollisionShapeInfoCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
|
||||
break;
|
||||
}
|
||||
case CMD_UPDATE_VISUAL_SHAPE:
|
||||
{
|
||||
hasStatus = processUpdateVisualShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
|
||||
|
||||
Reference in New Issue
Block a user