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report localVisualFrame instead localInertialFrame

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This commit is contained in:
Erwin Coumans
2017-01-25 08:29:45 -08:00
parent 76dcf3a751
commit e652696f52
3 changed files with 25 additions and 18 deletions
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2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -329,7 +329,7 @@ struct b3VisualShapeData
int m_visualGeometryType;//box primitive, sphere primitive, triangle mesh int m_visualGeometryType;//box primitive, sphere primitive, triangle mesh
double m_dimensions[3];//meaning depends on m_visualGeometryType double m_dimensions[3];//meaning depends on m_visualGeometryType
char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN]; char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN];
double m_localInertiaFrame[7];//pos[3], orn[4] double m_localVisualFrame[7];//pos[3], orn[4]
//todo: add more data if necessary (material color etc, although material can be in asset file .obj file) //todo: add more data if necessary (material color etc, although material can be in asset file .obj file)
double m_rgbaColor[4]; double m_rgbaColor[4];
}; };

25
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -289,6 +289,13 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
visualShapeOut.m_dimensions[0] = visual->m_geometry.m_meshScale[0]; visualShapeOut.m_dimensions[0] = visual->m_geometry.m_meshScale[0];
visualShapeOut.m_dimensions[1] = visual->m_geometry.m_meshScale[1]; visualShapeOut.m_dimensions[1] = visual->m_geometry.m_meshScale[1];
visualShapeOut.m_dimensions[2] = visual->m_geometry.m_meshScale[2]; visualShapeOut.m_dimensions[2] = visual->m_geometry.m_meshScale[2];
visualShapeOut.m_localVisualFrame[0] = visual->m_linkLocalFrame.getOrigin()[0];
visualShapeOut.m_localVisualFrame[1] = visual->m_linkLocalFrame.getOrigin()[1];
visualShapeOut.m_localVisualFrame[2] = visual->m_linkLocalFrame.getOrigin()[2];
visualShapeOut.m_localVisualFrame[3] = visual->m_linkLocalFrame.getRotation()[0];
visualShapeOut.m_localVisualFrame[4] = visual->m_linkLocalFrame.getRotation()[1];
visualShapeOut.m_localVisualFrame[5] = visual->m_linkLocalFrame.getRotation()[2];
visualShapeOut.m_localVisualFrame[6] = visual->m_linkLocalFrame.getRotation()[3];
int sl = strlen(fullPath); int sl = strlen(fullPath);
if (sl < (VISUAL_SHAPE_MAX_PATH_LEN-1)) if (sl < (VISUAL_SHAPE_MAX_PATH_LEN-1))
@@ -550,7 +557,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
const UrdfLink* link = *linkPtr; const UrdfLink* link = *linkPtr;
for (int v = 0; v < link->m_visualArray.size();v++) for (int v1 = 0; v1 < link->m_visualArray.size();v1++)
{ {
btAlignedObjectArray<MyTexture2> textures; btAlignedObjectArray<MyTexture2> textures;
btAlignedObjectArray<GLInstanceVertex> vertices; btAlignedObjectArray<GLInstanceVertex> vertices;
@@ -558,7 +565,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
btTransform startTrans; startTrans.setIdentity(); btTransform startTrans; startTrans.setIdentity();
//int graphicsIndex = -1; //int graphicsIndex = -1;
const UrdfVisual& vis = link->m_visualArray[v]; const UrdfVisual& vis = link->m_visualArray[v1];
btTransform childTrans = vis.m_linkLocalFrame; btTransform childTrans = vis.m_linkLocalFrame;
btHashString matName(vis.m_materialName.c_str()); btHashString matName(vis.m_materialName.c_str());
UrdfMaterial *const * matPtr = model.m_materials[matName]; UrdfMaterial *const * matPtr = model.m_materials[matName];
@@ -586,13 +593,13 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
b3VisualShapeData visualShape; b3VisualShapeData visualShape;
visualShape.m_objectUniqueId = bodyUniqueId; visualShape.m_objectUniqueId = bodyUniqueId;
visualShape.m_linkIndex = linkIndex; visualShape.m_linkIndex = linkIndex;
visualShape.m_localInertiaFrame[0] = localInertiaFrame.getOrigin()[0]; visualShape.m_localVisualFrame[0] = vis.m_linkLocalFrame.getOrigin()[0];
visualShape.m_localInertiaFrame[1] = localInertiaFrame.getOrigin()[1]; visualShape.m_localVisualFrame[1] = vis.m_linkLocalFrame.getOrigin()[1];
visualShape.m_localInertiaFrame[2] = localInertiaFrame.getOrigin()[2]; visualShape.m_localVisualFrame[2] = vis.m_linkLocalFrame.getOrigin()[2];
visualShape.m_localInertiaFrame[3] = localInertiaFrame.getRotation()[0]; visualShape.m_localVisualFrame[3] = vis.m_linkLocalFrame.getRotation()[0];
visualShape.m_localInertiaFrame[4] = localInertiaFrame.getRotation()[1]; visualShape.m_localVisualFrame[4] = vis.m_linkLocalFrame.getRotation()[1];
visualShape.m_localInertiaFrame[5] = localInertiaFrame.getRotation()[2]; visualShape.m_localVisualFrame[5] = vis.m_linkLocalFrame.getRotation()[2];
visualShape.m_localInertiaFrame[6] = localInertiaFrame.getRotation()[3]; visualShape.m_localVisualFrame[6] = vis.m_linkLocalFrame.getRotation()[3];
visualShape.m_rgbaColor[0] = rgbaColor[0]; visualShape.m_rgbaColor[0] = rgbaColor[0];
visualShape.m_rgbaColor[1] = rgbaColor[1]; visualShape.m_rgbaColor[1] = rgbaColor[1];
visualShape.m_rgbaColor[2] = rgbaColor[2]; visualShape.m_rgbaColor[2] = rgbaColor[2];

14
examples/pybullet/pybullet.c
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@@ -2931,24 +2931,24 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
{ {
PyObject* vec = PyTuple_New(3); PyObject* vec = PyTuple_New(3);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[0]); item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[0]);
PyTuple_SetItem(vec, 0, item); PyTuple_SetItem(vec, 0, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[1]); item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[1]);
PyTuple_SetItem(vec, 1, item); PyTuple_SetItem(vec, 1, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[2]); item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[2]);
PyTuple_SetItem(vec, 2, item); PyTuple_SetItem(vec, 2, item);
PyTuple_SetItem(visualShapeObList, 5, vec); PyTuple_SetItem(visualShapeObList, 5, vec);
} }
{ {
PyObject* vec = PyTuple_New(4); PyObject* vec = PyTuple_New(4);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[3]); item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[3]);
PyTuple_SetItem(vec, 0, item); PyTuple_SetItem(vec, 0, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[4]); item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[4]);
PyTuple_SetItem(vec, 1, item); PyTuple_SetItem(vec, 1, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[5]); item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[5]);
PyTuple_SetItem(vec, 2, item); PyTuple_SetItem(vec, 2, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[6]); item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[6]);
PyTuple_SetItem(vec, 3, item); PyTuple_SetItem(vec, 3, item);
PyTuple_SetItem(visualShapeObList, 6, vec); PyTuple_SetItem(visualShapeObList, 6, vec);
} }