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add fileOpenDialog and enable loading of urdf from GUI

Browse Source 
(will add .bullet file support soon)
Uses native Windows (getFileOpenFileName) and Mac OSX NSOpenPanel,
on Linux using pipe popen to zenity)
This commit is contained in:
Erwin Coumans
2014-08-31 11:53:44 -07:00
parent 8595928949
commit f199a4a972
14 changed files with 250 additions and 50 deletions
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41
Demos3/AllBullet2Demos/main.cpp
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@@ -181,6 +181,32 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
#include <string.h>
void openURDFDemo(const char* filename)
{
if (sCurrentDemo)
{
sCurrentDemo->exitPhysics();
app->m_instancingRenderer->removeAllInstances();
delete sCurrentDemo;
sCurrentDemo=0;
}
app->m_parameterInterface->removeAllParameters();
ImportUrdfDemo* physicsSetup = new ImportUrdfDemo();
physicsSetup->setFileName(filename);
sCurrentDemo = new BasicDemo(app, physicsSetup);
if (sCurrentDemo)
{
sCurrentDemo->initPhysics();
}
}
void selectDemo(int demoIndex)
{
sCurrentDemoIndex = demoIndex;
@@ -329,6 +355,18 @@ struct GL3TexLoader : public MyTextureLoader
}
};
void fileOpenCallback()
{
char filename[1024];
int len = app->m_window->fileOpenDialog(filename,1024);
if (len)
{
//todo(erwincoumans) check if it is actually URDF
//printf("file open:%s\n", filename);
openURDFDemo(filename);
}
}
extern float shadowMapWorldSize;
int main(int argc, char* argv[])
@@ -476,7 +514,8 @@ int main(int argc, char* argv[])
*/
unsigned long int prevTimeInMicroseconds = clock.getTimeMicroseconds();
gui->registerFileOpenCallback(fileOpenCallback);
do
{

1
Demos3/GpuDemos/gwenInternalData.h
View File

@@ -40,6 +40,7 @@ struct GwenInternalData
Gwen::Controls::TabButton* m_explorerPage;
Gwen::Controls::TreeControl* m_explorerTreeCtrl;
Gwen::Controls::MenuItem* m_viewMenu;
class MyMenuItems* m_menuItems;
int m_curYposition;

30
Demos3/GpuDemos/gwenUserInterface.cpp
View File

@@ -44,13 +44,23 @@ class MyMenuItems : public Gwen::Controls::Base
{
public:
MyMenuItems() :Gwen::Controls::Base(0)
b3FileOpenCallback m_fileOpenCallback;
MyMenuItems() :Gwen::Controls::Base(0),m_fileOpenCallback(0)
{
}
void myQuitApp( Gwen::Controls::Base* pControl )
{
exit(0);
}
void fileOpen( Gwen::Controls::Base* pControl )
{
if (m_fileOpenCallback)
{
(*m_fileOpenCallback)();
}
}
};
struct MyTestMenuBar : public Gwen::Controls::MenuStrip
@@ -58,17 +68,20 @@ struct MyTestMenuBar : public Gwen::Controls::MenuStrip
Gwen::Controls::MenuItem* m_fileMenu;
Gwen::Controls::MenuItem* m_viewMenu;
MyMenuItems* m_menuItems;
MyTestMenuBar(Gwen::Controls::Base* pParent)
:Gwen::Controls::MenuStrip(pParent)
{
// Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
{
MyMenuItems* menuItems = new MyMenuItems;
m_menuItems = new MyMenuItems;
m_fileMenu = AddItem( L"File" );
m_fileMenu->GetMenu()->AddItem(L"Quit",menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
m_viewMenu = AddItem( L"View" );
m_fileMenu->GetMenu()->AddItem(L"Open",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
m_fileMenu->GetMenu()->AddItem(L"Quit",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
m_viewMenu = AddItem( L"View" );
}
}
@@ -142,6 +155,11 @@ void GwenUserInterface::setStatusBarMessage(const char* message, bool isLeft)
}
}
void GwenUserInterface::registerFileOpenCallback(b3FileOpenCallback callback)
{
m_data->m_menuItems->m_fileOpenCallback = callback;
}
void GwenUserInterface::init(int width, int height,struct sth_stash* stash,float retinaScale)
{
m_data->m_curYposition = 20;
@@ -157,6 +175,10 @@ void GwenUserInterface::init(int width, int height,struct sth_stash* stash,float
MyTestMenuBar* menubar = new MyTestMenuBar(m_data->pCanvas);
m_data->m_viewMenu = menubar->m_viewMenu;
m_data->m_menuItems = menubar->m_menuItems;
Gwen::Controls::StatusBar* bar = new Gwen::Controls::StatusBar(m_data->pCanvas);
m_data->m_rightStatusBar = new Gwen::Controls::Label( bar );
m_data->m_rightStatusBar->SetWidth(width/2);

4
Demos3/GpuDemos/gwenUserInterface.h
View File

@@ -5,7 +5,7 @@ struct GwenInternalData;
typedef void (*b3ComboBoxCallback) (int combobox, const char* item);
typedef void (*b3ToggleButtonCallback)(int button, int state);
typedef void (*b3FileOpenCallback)();
class GwenUserInterface
@@ -40,6 +40,8 @@ class GwenUserInterface
void setStatusBarMessage(const char* message, bool isLeft=true);
void registerFileOpenCallback(b3FileOpenCallback callback);
GwenInternalData* getInternalData()
{
return m_data;

84
Demos3/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -12,7 +12,7 @@ static bool enableConstraints = true;//false;
ImportUrdfDemo::ImportUrdfDemo()
{
sprintf(m_fileName,"r2d2.urdf");
}
ImportUrdfDemo::~ImportUrdfDemo()
@@ -21,7 +21,10 @@ ImportUrdfDemo::~ImportUrdfDemo()
}
void ImportUrdfDemo::setFileName(const char* urdfFileName)
{
memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
}
#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
@@ -71,7 +74,7 @@ struct URDF_LinkInformation
btRigidBody* m_bulletRigidBody;
virtual ~URDF_LinkInformation()
{
printf("~\n");
printf("~\n");
}
};
@@ -239,12 +242,23 @@ btMultiBody* URDF2BulletMultiBody(my_shared_ptr<const Link> link, GraphicsPhysic
btMatrix3x3 inertia2PrincipalAxis;
inertiaMat.diagonalize(inertia2PrincipalAxis,threshold,maxSteps);
localInertiaDiagonal.setValue(inertiaMat[0][0],inertiaMat[1][1],inertiaMat[2][2]);
btVector3 inertiaLocalCOM((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z);
localInertialTransform.setOrigin(inertiaLocalCOM);
btQuaternion inertiaOrn((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w);
btMatrix3x3 inertiaOrnMat(inertiaOrn);
localInertialTransform.setBasis(inertiaOrnMat*inertia2PrincipalAxis);
btVector3 inertiaLocalCOM((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z);
localInertialTransform.setOrigin(inertiaLocalCOM);
btQuaternion inertiaOrn((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w);
btMatrix3x3 inertiaOrnMat(inertiaOrn);
if (mass > 0 && (localInertiaDiagonal[0]==0.f || localInertiaDiagonal[1] == 0.f
|| localInertiaDiagonal[2] == 0.f))
{
b3Warning("Error: inertia should not be zero if mass is positive\n");
localInertiaDiagonal.setMax(btVector3(0.1,0.1,0.1));
localInertialTransform.setIdentity();//.setBasis(inertiaOrnMat);
}
else
{
localInertialTransform.setBasis(inertiaOrnMat*inertia2PrincipalAxis);
}
}
}
btTransform linkTransformInWorldSpace;
@@ -403,30 +417,30 @@ btMultiBody* URDF2BulletMultiBody(my_shared_ptr<const Link> link, GraphicsPhysic
if (shape)//compoundShape->getNumChildShapes()>0)
{
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(mb, linkIndex-1);
col->setCollisionShape(shape);
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
//tr.setOrigin(local_origin[0]);
//tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(mb, linkIndex-1);
col->setCollisionShape(shape);
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
//tr.setOrigin(local_origin[0]);
//tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
bool isDynamic = true;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector3 color(0.0,0.0,0.5);
gfxBridge.createCollisionObjectGraphicsObject(col,color);
btScalar friction = 0.5f;
col->setFriction(friction);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector3 color(0.0,0.0,0.5);
gfxBridge.createCollisionObjectGraphicsObject(col,color);
btScalar friction = 0.5f;
col->setFriction(friction);
if (parentIndex>=0)
{
@@ -554,6 +568,8 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
//create a joint if necessary
if ((*link).parent_joint)
{
btAssert(pp);
btRigidBody* parentBody =pp->m_bulletRigidBody;
const Joint* pj = (*link).parent_joint.get();
@@ -667,11 +683,11 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
m_dynamicsWorld->setGravity(gravity);
//int argc=0;
const char* someFileName="r2d2.urdf";
char relativeFileName[1024];
b3FileUtils fu;
bool fileFound = fu.findFile(someFileName, relativeFileName, 1024);
printf("m_fileName=%s\n", m_fileName);
bool fileFound = fu.findFile(m_fileName, relativeFileName, 1024);
@@ -773,6 +789,8 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
groundOrigin[upAxis]=-2.5;
start.setOrigin(groundOrigin);
btRigidBody* body = createRigidBody(0,start,box);
//m_dynamicsWorld->removeRigidBody(body);
// m_dynamicsWorld->addRigidBody(body,2,1);
btVector3 color(0.5,0.5,0.5);
gfxBridge.createRigidBodyGraphicsObject(body,color);
}
@@ -787,4 +805,4 @@ void ImportUrdfDemo::stepSimulation(float deltaTime)
//the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge
m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
}
}
}

4
Demos3/ImportURDFDemo/ImportURDFSetup.h
View File

@@ -6,12 +6,16 @@
class ImportUrdfDemo : public CommonMultiBodySetup
{
char m_fileName[1024];
public:
ImportUrdfDemo();
virtual ~ImportUrdfDemo();
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
virtual void stepSimulation(float deltaTime);
void setFileName(const char* urdfFileName);
};
#endif //IMPORT_URDF_SETUP_H