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Merge pull request #1484 from rhaps0dy/MJCFImporter

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Support for reading <inertial> elements from MJCF
This commit is contained in:
erwincoumans
2017-12-29 10:58:08 -08:00
committed by GitHub
parent 28803dc56f cb2fcfd032
commit e3a85493e8
1 changed files with 17 additions and 7 deletions
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24
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -172,10 +172,11 @@ struct BulletMJCFImporterInternalData
btAlignedObjectArray<UrdfModel*> m_models; btAlignedObjectArray<UrdfModel*> m_models;
//<compiler angle="radian" meshdir="mesh/" texturedir="texture/"/> //<compiler angle="radian" meshdir="mesh/" texturedir="texture/" inertiafromgeom="true"/>
std::string m_meshDir; std::string m_meshDir;
std::string m_textureDir; std::string m_textureDir;
std::string m_angleUnits; std::string m_angleUnits;
bool m_inertiaFromGeom;
int m_activeModel; int m_activeModel;
@@ -190,7 +191,8 @@ struct BulletMJCFImporterInternalData
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces; mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
BulletMJCFImporterInternalData() BulletMJCFImporterInternalData()
:m_activeModel(-1), :m_inertiaFromGeom(true),
m_activeModel(-1),
m_activeBodyUniqueId(-1) m_activeBodyUniqueId(-1)
{ {
m_pathPrefix[0] = 0; m_pathPrefix[0] = 0;
@@ -248,12 +250,12 @@ struct BulletMJCFImporterInternalData
} }
const char* angle = root_xml->Attribute("angle"); const char* angle = root_xml->Attribute("angle");
m_angleUnits = angle ? angle : "degree"; // degrees by default, http://www.mujoco.org/book/modeling.html#compiler m_angleUnits = angle ? angle : "degree"; // degrees by default, http://www.mujoco.org/book/modeling.html#compiler
#if 0 const char* inertiaFromGeom = root_xml->Attribute("inertiafromgeom");
for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement()) if(inertiaFromGeom[0] == 'f') // false, other values assumed `true`.
{ {
std::string n = child_xml->Value(); m_inertiaFromGeom = false;
} }
#endif
} }
void parseAssets(TiXmlElement* root_xml, MJCFErrorLogger* logger) void parseAssets(TiXmlElement* root_xml, MJCFErrorLogger* logger)
@@ -1134,8 +1136,16 @@ struct BulletMJCFImporterInternalData
} }
massDefined = true; massDefined = true;
handled = true; handled = true;
if (!m_inertiaFromGeom) {
linkPtr->m_inertia.m_mass = mass;
linkPtr->m_inertia.m_linkLocalFrame = localInertialFrame;
linkPtr->m_inertia.m_ixx = localInertiaDiag[0];
linkPtr->m_inertia.m_iyy = localInertiaDiag[1];
linkPtr->m_inertia.m_izz = localInertiaDiag[2];
}
} }
if (n=="joint") if (n=="joint")