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fix MJCF visual shape capsule conversion code (fromto case)

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This commit is contained in:
Erwin Coumans
2017-09-10 07:48:43 -07:00
parent de28334a70
commit ec18adbf0a
1 changed files with 41 additions and 32 deletions
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73
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -199,29 +199,53 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
btTransform tr; btTransform tr;
tr.setIdentity(); tr.setIdentity();
btScalar rad, len; btScalar rad, len;
if (visual->m_geometry.m_hasFromTo) { btVector3 center(0,0,0);
btVector3 axis(0,0,1);
btAlignedObjectArray<btVector3> vertices;
int numSteps = 32;
if (visual->m_geometry.m_hasFromTo)
{
btVector3 v = p2 - p1; btVector3 v = p2 - p1;
btVector3 center = (p2 + p1) * 0.5;
btVector3 up_vector(0,0,1);
btVector3 dir = v.normalized(); btVector3 dir = v.normalized();
btVector3 axis = dir.cross(up_vector); tr = visual->m_linkLocalFrame;
if (axis.fuzzyZero())
{
axis = btVector3(0,0,1);
}
else
{
axis.normalize();
}
btQuaternion q(axis, -acos(dir.dot(up_vector)));
btTransform capsule_orient(q, center);
tr = visual->m_linkLocalFrame * capsule_orient;
len = v.length(); len = v.length();
rad = visual->m_geometry.m_capsuleRadius; rad = visual->m_geometry.m_capsuleRadius;
btVector3 ax1,ax2;
btPlaneSpace1(dir,ax1,ax2);
for (int i = 0; i<numSteps; i++)
{
{
btVector3 vert = p1 + ax1*rad*btSin(SIMD_2_PI*(float(i) / numSteps))+ax2*rad*btCos(SIMD_2_PI*(float(i) / numSteps));
vertices.push_back(vert);
}
{
btVector3 vert = p2 + ax1*rad*btSin(SIMD_2_PI*(float(i) / numSteps))+ax2*rad*btCos(SIMD_2_PI*(float(i) / numSteps));
vertices.push_back(vert);
}
}
btVector3 pole1 = p1 - dir * rad;
btVector3 pole2 = p2 + dir * rad;
vertices.push_back(pole1);
vertices.push_back(pole2);
} else { } else {
//assume a capsule along the Z-axis, centered at the origin
tr = visual->m_linkLocalFrame; tr = visual->m_linkLocalFrame;
len = visual->m_geometry.m_capsuleHeight; len = visual->m_geometry.m_capsuleHeight;
rad = visual->m_geometry.m_capsuleRadius; rad = visual->m_geometry.m_capsuleRadius;
for (int i = 0; i<numSteps; i++)
{
btVector3 vert(rad*btSin(SIMD_2_PI*(float(i) / numSteps)), rad*btCos(SIMD_2_PI*(float(i) / numSteps)), len / 2.);
vertices.push_back(vert);
vert[2] = -len / 2.;
vertices.push_back(vert);
}
btVector3 pole1(0, 0, + len / 2. + rad);
btVector3 pole2(0, 0, - len / 2. - rad);
vertices.push_back(pole1);
vertices.push_back(pole2);
} }
visualShapeOut.m_localVisualFrame[0] = tr.getOrigin()[0]; visualShapeOut.m_localVisualFrame[0] = tr.getOrigin()[0];
visualShapeOut.m_localVisualFrame[1] = tr.getOrigin()[1]; visualShapeOut.m_localVisualFrame[1] = tr.getOrigin()[1];
@@ -233,24 +257,9 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
visualShapeOut.m_dimensions[0] = len; visualShapeOut.m_dimensions[0] = len;
visualShapeOut.m_dimensions[1] = rad; visualShapeOut.m_dimensions[1] = rad;
btAlignedObjectArray<btVector3> vertices;
int numSteps = 32;
for (int i = 0; i<numSteps; i++)
{
btVector3 vert(rad*btSin(SIMD_2_PI*(float(i) / numSteps)), rad*btCos(SIMD_2_PI*(float(i) / numSteps)), len / 2.);
vertices.push_back(vert);
vert[2] = -len / 2.;
vertices.push_back(vert);
}
if (visual->m_geometry.m_type==URDF_GEOM_CAPSULE) {
// TODO: check if tiny renderer works with that, didn't check -- Oleg
btVector3 pole1(0, 0, + len / 2. + rad);
btVector3 pole2(0, 0, - len / 2. - rad);
vertices.push_back(pole1);
vertices.push_back(pole2);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3)); btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
//btCapsuleShape* cylZShape = new btCapsuleShape(rad,len);//btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(0.001); cylZShape->setMargin(0.001);
convexColShape = cylZShape; convexColShape = cylZShape;
break; break;