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further work on urdfEditor.py, fix some serialization issues

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This commit is contained in:
Erwin Coumans
2018-01-08 12:25:56 -08:00
parent a85a4f387b
commit e97b751781
23 changed files with 1926 additions and 1455 deletions
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19
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -49,7 +49,8 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
btHashMap<btHashInt,UrdfMaterialColor> m_linkColors;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
LinkVisualShapesConverter* m_customVisualShapesConverter;
bool m_enableTinyRenderer;
@@ -569,6 +570,17 @@ bool findExistingMeshFile(
}
}
int BulletURDFImporter::getUrdfFromCollisionShape(const btCollisionShape* collisionShape, UrdfCollision& collision) const
{
UrdfCollision* col = m_data->m_bulletCollisionShape2UrdfCollision.find(collisionShape);
if (col)
{
collision = *col;
return 1;
}
return 0;
}
btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix) const
{
BT_PROFILE("convertURDFToCollisionShape");
@@ -671,6 +683,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
//create a convex hull for each shape, and store it in a btCompoundShape
shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
m_data->m_bulletCollisionShape2UrdfCollision.insert(shape, *collision);
return shape;
}
break;
@@ -812,6 +825,10 @@ upAxisMat.setIdentity();
b3Warning("Error: unknown collision geometry type %i\n", collision->m_geometry.m_type);
}
if (shape && collision->m_geometry.m_type==URDF_GEOM_MESH)
{
m_data->m_bulletCollisionShape2UrdfCollision.insert(shape, *collision);
}
return shape;
}