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allow to enable/disable implicit cylinder conversion through an API

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p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER)
allow to enable/disable deterministicOverlappingPairs through an API
p.setPhysicsEngineParameter(deterministicOverlappingPairs = False)
This commit is contained in:
erwincoumans
2018-01-09 10:10:36 -08:00
parent bf6d805228
commit e138e85bca
11 changed files with 85 additions and 47 deletions
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56
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -25,7 +25,7 @@ subject to the following restrictions:
#include "Bullet3Common/b3FileUtils.h"
#include <string>
#include "../../Utils/b3ResourcePath.h"
#include "URDF2Bullet.h"//for flags
#include "../ImportMeshUtility/b3ImportMeshUtility.h"
static btScalar gUrdfDefaultCollisionMargin = 0.001;
@@ -53,6 +53,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
LinkVisualShapesConverter* m_customVisualShapesConverter;
bool m_enableTinyRenderer;
int m_flags;
void setSourceFile(const std::string& relativeFileName, const std::string& prefix)
{
@@ -66,6 +67,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
{
m_enableTinyRenderer = true;
m_pathPrefix[0] = 0;
m_flags=0;
}
void setGlobalScaling(btScalar scaling)
@@ -80,10 +82,11 @@ void BulletURDFImporter::printTree()
// btAssert(0);
}
BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling)
BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling, int flags)
{
m_data = new BulletURDFInternalData;
m_data->setGlobalScaling(globalScaling);
m_data->m_flags = flags;
m_data->m_guiHelper = helper;
m_data->m_customVisualShapesConverter = customConverter;
@@ -612,32 +615,33 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
{
btScalar cylRadius = collision->m_geometry.m_capsuleRadius;
btScalar cylHalfLength = 0.5*collision->m_geometry.m_capsuleHeight;
#if 0
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i=0;i<numSteps;i++)
{
if (m_data->m_flags & CUF_USE_IMPLICIT_CYLINDER)
{
btVector3 halfExtents(cylRadius,cylRadius, cylHalfLength);
btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
shape = cylZShape;
} else
{
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i=0;i<numSteps;i++)
{
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i)/numSteps)),cylRadius*btCos(SIMD_2_PI*(float(i)/numSteps)),cylLength/2.);
vertices.push_back(vert);
vert[2] = -cylLength/2.;
vertices.push_back(vert);
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i)/numSteps)),cylRadius*btCos(SIMD_2_PI*(float(i)/numSteps)),cylHalfLength);
vertices.push_back(vert);
vert[2] = -cylHalfLength;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(gUrdfDefaultCollisionMargin);
cylZShape->recalcLocalAabb();
cylZShape->initializePolyhedralFeatures();
cylZShape->optimizeConvexHull();
//btConvexShape* cylZShape = new btConeShapeZ(cylRadius,cylLength);//(vexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
#else
btVector3 halfExtents(cylRadius,cylRadius, cylHalfLength);
btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
#endif
shape = cylZShape;
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(gUrdfDefaultCollisionMargin);
cylZShape->recalcLocalAabb();
cylZShape->initializePolyhedralFeatures();
cylZShape->optimizeConvexHull();
shape = cylZShape;
}
break;
}
case URDF_GEOM_BOX: