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load a urdf in the lua script test

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This commit is contained in:
erwin
2015-05-13 21:54:00 -07:00
parent 91252db59a
commit e196ed1edb
2 changed files with 85 additions and 3 deletions
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68
examples/LuaDemo/LuaPhysicsSetup.cpp
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@@ -2,7 +2,9 @@
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../Importers/ImportURDFDemo/MyURDFImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
struct LuaPhysicsSetup : public CommonMultiBodyBase
{
@@ -37,7 +39,7 @@ extern "C" {
}
const char* sLuaFileName = "init_physics.lua";
const char* sLuaFileName = "init_urdf.lua";//init_physics.lua";
static const float scaling=0.35f;
static LuaPhysicsSetup* sLuaDemo = 0;
@@ -67,6 +69,8 @@ LuaPhysicsSetup::~LuaPhysicsSetup()
static int gCreateDefaultDynamicsWorld(lua_State *L)
{
sLuaDemo->createEmptyDynamicsWorld();
sLuaDemo->m_dynamicsWorld->setGravity(btVector3(0,0,-10));
sLuaDemo->m_guiHelper->createPhysicsDebugDrawer(sLuaDemo->m_dynamicsWorld);
lua_pushlightuserdata (L, sLuaDemo->m_dynamicsWorld);
return 1;
}
@@ -181,8 +185,65 @@ btQuaternion getLuaQuaternionArg(lua_State* L, int index)
return orn;
}
static int gLoadMultiBodyFromUrdf(lua_State *L)
{
int argc = lua_gettop(L);
if (argc==4)
{
if (!lua_isuserdata(L,1))
{
std::cerr << "error: first argument to b3CreateRigidbody should be world";
return 0;
}
luaL_checktype(L,3, LUA_TTABLE);
btVector3 pos = getLuaVectorArg(L,3);
btQuaternion orn = getLuaQuaternionArg(L,4);
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*) lua_touserdata(L,1);
if (world != sLuaDemo->m_dynamicsWorld)
{
std::cerr << "error: first argument expected to be a world";
return 0;
}
const char* fileName = lua_tostring(L,2);
MyURDFImporter u2b(sLuaDemo->m_guiHelper);
bool loadOk = u2b.loadURDF(fileName);
if (loadOk)
{
b3Printf("loaded %s OK!", fileName);
btTransform tr;
tr.setIdentity();
tr.setOrigin(pos);
tr.setRotation(orn);
int rootLinkIndex = u2b.getRootLinkIndex();
// printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(sLuaDemo->m_guiHelper);
bool m_useMultiBody = true;
ConvertURDF2Bullet(u2b,creation, tr,sLuaDemo->m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());
btMultiBody* mb = creation.getBulletMultiBody();
if (mb)
{
lua_pushlightuserdata (L, mb);
return 1;
}
} else
{
b3Printf("can't find %s",fileName);
}
}
return 0;
}
static int gCreateRigidBody (lua_State *L)
{
@@ -317,6 +378,7 @@ static void report_errors(lua_State *L, int status)
void LuaPhysicsSetup::initPhysics()
{
m_guiHelper->setUpAxis(2);
const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*);
char relativeFileName[1024];
@@ -347,7 +409,7 @@ void LuaPhysicsSetup::initPhysics()
lua_register(L, "deleteDynamicsWorld", gDeleteDynamicsWorld);
lua_register(L, "createCubeShape", gCreateCubeShape);
lua_register(L, "createSphereShape", gCreateSphereShape);
lua_register(L, "loadUrdf",gLoadMultiBodyFromUrdf);
lua_register(L, "createRigidBody", gCreateRigidBody);
lua_register(L, "setBodyPosition", gSetBodyPosition);
lua_register(L, "setBodyOrientation", gSetBodyOrientation);