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ImportURDFSetup: add Wavefront/obj support

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ImportURDFSetup: initialize mass/inertia to 1 by default (instead of 0)
This commit is contained in:
erwin coumans
2015-03-09 14:23:17 -07:00
parent 5e78feb4cb
commit ebd63d92c9
5 changed files with 60 additions and 7 deletions
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2
Demos3/AllBullet2Demos/CMakeLists.txt
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@@ -49,6 +49,8 @@ SET(App_AllBullet2Demos_SRCS
../ImportURDFDemo/ImportURDFSetup.cpp
../ImportURDFDemo/ImportURDFSetup.h
../ImportObjDemo/ImportObjSetup.cpp
../ImportObjDemo/LoadMeshFromObj.cpp
../ImportObjDemo/LoadMeshFromObj.h
../ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../ImportColladaDemo/ImportColladaSetup.cpp
../ImportColladaDemo/LoadMeshFromCollada.cpp

2
Demos3/AllBullet2Demos/premake4.lua
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@@ -71,6 +71,8 @@
"../ImportColladaDemo/ImportColladaSetup.cpp",
"../ImportURDFDemo/ImportURDFSetup.cpp",
"../ImportObjDemo/ImportObjSetup.cpp",
"../ImportObjDemo/LoadMeshFromObj.cpp",
"../ImportObjDemo/LoadMeshFromObj.h",
"../ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../ImportSTLDemo/ImportSTLSetup.cpp",
"../Wavefront/tiny_obj_loader.cpp",

17
Demos3/ImportObjDemo/LoadMeshFromObj.cpp Normal file
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@@ -0,0 +1,17 @@
#include "LoadMeshFromObj.h"
#include"../Wavefront/tiny_obj_loader.h"
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
#include <stdio.h> //fopen
#include "Bullet3Common/b3AlignedObjectArray.h"
#include <string>
#include <vector>
#include "Wavefront2GLInstanceGraphicsShape.h"
GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath)
{
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, relativeFileName, materialPrefixPath);
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
return gfxShape;
}

11
Demos3/ImportObjDemo/LoadMeshFromObj.h Normal file
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@@ -0,0 +1,11 @@
#ifndef LOAD_MESH_FROM_OBJ_H
#define LOAD_MESH_FROM_OBJ_H
struct GLInstanceGraphicsShape;
GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath);
#endif //LOAD_MESH_FROM_OBJ_H

35
Demos3/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -3,6 +3,7 @@
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#include "Bullet3Common/b3FileUtils.h"
#include "../ImportSTLDemo/LoadMeshFromSTL.h"
#include "../ImportObjDemo/LoadMeshFromObj.h"
#include "../ImportColladaDemo/LoadMeshFromCollada.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
@@ -185,7 +186,8 @@ struct URDF2BulletMappings
enum MyFileType
{
FILE_STL=1,
FILE_COLLADA=2
FILE_COLLADA=2,
FILE_OBJ=3,
};
@@ -270,6 +272,10 @@ void convertURDFToVisualShape(const Visual* visual, const char* pathPrefix, cons
{
fileType = FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = FILE_OBJ;
}
sprintf(fullPath, "%s%s", pathPrefix, filename);
@@ -282,6 +288,11 @@ void convertURDFToVisualShape(const Visual* visual, const char* pathPrefix, cons
switch (fileType)
{
case FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath, pathPrefix);
break;
}
case FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
@@ -379,7 +390,7 @@ void convertURDFToVisualShape(const Visual* visual, const char* pathPrefix, cons
}
else
{
printf("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
printf("issue extracting mesh from COLLADA/STL/obj file %s\n", fullPath);
}
}
@@ -562,7 +573,10 @@ btCollisionShape* convertURDFToCollisionShape(const Collision* visual, const cha
{
fileType = FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = FILE_OBJ;
}
sprintf(fullPath,"%s%s",pathPrefix,filename);
FILE* f = fopen(fullPath,"rb");
@@ -574,6 +588,11 @@ btCollisionShape* convertURDFToCollisionShape(const Collision* visual, const cha
switch (fileType)
{
case FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath,pathPrefix);
break;
}
case FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
@@ -713,13 +732,13 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
btTransform linkTransformInWorldSpace;
linkTransformInWorldSpace.setIdentity();
btScalar mass = 0;
btScalar mass = 1;
btTransform inertialFrame;
inertialFrame.setIdentity();
const Link* parentLink = (*link).getParent();
URDF_LinkInformation* pp = 0;
int linkIndex = mappings.m_linkMasses.size();
btVector3 localInertiaDiagonal(0,0,0);
btVector3 localInertiaDiagonal(1,1,1);
int parentIndex = -1;
@@ -849,11 +868,13 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
btTransform inertialFrameInWorldSpace = linkTransformInWorldSpace*inertialFrame;
URDF_LinkInformation* linkInfo = new URDF_LinkInformation;
linkInfo->m_bodyWorldTransform = inertialFrameInWorldSpace;//visualFrameInWorldSpace
if (!mappings.m_createMultiBody)
{
btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, compoundShape, localInertiaDiagonal);
rbci.m_startWorldTransform = inertialFrameInWorldSpace;
linkInfo->m_bodyWorldTransform = inertialFrameInWorldSpace;//visualFrameInWorldSpace
//rbci.m_startWorldTransform = inertialFrameInWorldSpace;//linkCenterOfMass;
btRigidBody* body = new btRigidBody(rbci);
world1->addRigidBody(body, bodyCollisionFilterGroup, bodyCollisionFilterMask);
@@ -1320,7 +1341,7 @@ void ImportUrdfSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
gfxBridge.createCollisionShapeGraphicsObject(box);
btTransform start; start.setIdentity();
btVector3 groundOrigin(0,0,0);
groundOrigin[upAxis]=-1.5;
groundOrigin[upAxis]=-2.;
start.setOrigin(groundOrigin);
btRigidBody* body = createRigidBody(0,start,box);
//m_dynamicsWorld->removeRigidBody(body);