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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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32
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -75,16 +75,6 @@ void BulletURDFImporter::printTree()
// btAssert(0);
}
enum MyFileType
{
FILE_STL=1,
FILE_COLLADA=2,
FILE_OBJ=3,
};
BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter)
{
m_data = new BulletURDFInternalData;
@@ -624,7 +614,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
GLInstanceGraphicsShape* glmesh = 0;
switch (collision->m_geometry.m_meshFileType)
{
case FILE_OBJ:
case UrdfGeometry::FILE_OBJ:
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{
glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), 0);
@@ -640,11 +630,11 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
}
break;
case FILE_STL:
case UrdfGeometry::FILE_STL:
glmesh = LoadMeshFromSTL(collision->m_geometry.m_meshFileName.c_str());
break;
case FILE_COLLADA:
case UrdfGeometry::FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
@@ -833,7 +823,7 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
{
switch (visual->m_geometry.m_meshFileType)
{
case FILE_OBJ:
case UrdfGeometry::FILE_OBJ:
{
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
@@ -852,13 +842,13 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
break;
}
case FILE_STL:
case UrdfGeometry::FILE_STL:
{
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
break;
}
case FILE_COLLADA:
case UrdfGeometry::FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
@@ -1128,15 +1118,17 @@ bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo&
return false;
}
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const
{
if (m_data->m_customVisualShapesConverter)
{
const UrdfModel& model = m_data->m_urdfParser.getModel();
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colObj, bodyUniqueId);
UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
if (linkPtr)
{
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj, bodyUniqueId);
}
}
}
int BulletURDFImporter::getNumAllocatedCollisionShapes() const