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URDF loader: fix MuJoCo xml load, also closes #993

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This commit is contained in:
Oleg Klimov
2017-03-17 02:09:55 +03:00
parent 86bec45247
commit e8da7bb6f8
13 changed files with 259 additions and 250 deletions
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51
examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
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@@ -188,12 +188,12 @@ void ImportMJCFSetup::initPhysics()
m_filterCallback->m_filterMode = FILTER_GROUPAMASKB_OR_GROUPBMASKA2;
//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawContactPoints
+btIDebugDraw::DBG_DrawAabb
);//+btIDebugDraw::DBG_DrawConstraintLimits);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawContactPoints
+btIDebugDraw::DBG_DrawAabb
);//+btIDebugDraw::DBG_DrawConstraintLimits);
if (m_guiHelper->getParameterInterface())
@@ -203,20 +203,23 @@ void ImportMJCFSetup::initPhysics()
slider.m_maxVal = 10;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
BulletMJCFImporter importer(m_guiHelper);
BulletMJCFImporter importer(m_guiHelper, 0);
MyMJCFLogger logger;
bool result = importer.loadMJCF(m_fileName,&logger);
if (result)
{
btTransform rootTrans;
rootTrans.setIdentity();
for (int m =0; m<importer.getNumModels();m++)
{
btTransform rootTrans;
rootTrans.setIdentity();
for (int m =0; m<importer.getNumModels();m++)
{
importer.activateModel(m);
// normally used with PhysicsServerCommandProcessor that allocates unique ids to multibodies,
// emulate this behavior here:
importer.setBodyUniqueId(m);
importer.activateModel(m);
btMultiBody* mb = 0;
@@ -226,18 +229,17 @@ void ImportMJCFSetup::initPhysics()
MyMultiBodyCreator creation(m_guiHelper);
rootTrans.setIdentity();
importer.getRootTransformInWorld(rootTrans);
importer.getRootTransformInWorld(rootTrans);
ConvertURDF2Bullet(importer,creation, rootTrans,m_dynamicsWorld,m_useMultiBody,importer.getPathPrefix(),CUF_USE_MJCF);
mb = creation.getBulletMultiBody();
if (mb)
{
printf("first MJCF file converted!\n");
std::string* name =
new std::string(importer.getLinkName(
importer.getRootLinkIndex()));
m_nameMemory.push_back(name);
if (mb)
{
std::string* name =
new std::string(importer.getLinkName(
importer.getRootLinkIndex()));
m_nameMemory.push_back(name);
#ifdef TEST_MULTIBODY_SERIALIZATION
s->registerNameForPointer(name->c_str(),name->c_str());
#endif//TEST_MULTIBODY_SERIALIZATION
@@ -287,10 +289,11 @@ void ImportMJCFSetup::initPhysics()
m_data->m_numMotors++;
}
}
}
} else
{
// not multibody
if (1)
{
//create motors for each generic joint