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update to tinyrenderer synthetic camera

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This commit is contained in:
erwin coumans
2016-05-31 22:55:13 -07:00
parent 14aa666c6f
commit f469a2cb49
20 changed files with 675 additions and 115 deletions
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387
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -37,7 +37,7 @@ struct BulletURDFInternalData
UrdfParser m_urdfParser;
struct GUIHelperInterface* m_guiHelper;
char m_pathPrefix[1024];
btHashMap<btHashInt,btVector4> m_linkColors;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
LinkVisualShapesConverter* m_customVisualShapesConverter;
@@ -232,14 +232,6 @@ void BulletURDFImporter::getLinkChildIndices(int linkIndex, btAlignedObjectArray
}
}
bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
{
if (m_data->m_customVisualShapesConverter)
{
return m_data->m_customVisualShapesConverter->getLinkColor(linkIndex, colorRGBA);
}
return false;
}
std::string BulletURDFImporter::getLinkName(int linkIndex) const
{
@@ -585,16 +577,385 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
return shape;
}
int BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionShape* colShape) const
static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
{
GLInstanceGraphicsShape* glmesh = 0;
btConvexShape* convexColShape = 0;
switch (visual->m_geometry.m_type)
{
case URDF_GEOM_CYLINDER:
{
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i = 0; i<numSteps; i++)
{
btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
btScalar cylLength = visual->m_geometry.m_cylinderLength;
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
vertices.push_back(vert);
vert[2] = -cylLength / 2.;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(0.001);
convexColShape = cylZShape;
break;
}
case URDF_GEOM_BOX:
{
btVector3 extents = visual->m_geometry.m_boxSize;
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
convexColShape = boxShape;
convexColShape->setMargin(0.001);
break;
}
case URDF_GEOM_SPHERE:
{
btScalar radius = visual->m_geometry.m_sphereRadius;
btSphereShape* sphereShape = new btSphereShape(radius);
convexColShape = sphereShape;
convexColShape->setMargin(0.001);
break;
break;
}
case URDF_GEOM_MESH:
{
if (visual->m_name.length())
{
//b3Printf("visual->name=%s\n", visual->m_name.c_str());
}
if (1)//visual->m_geometry)
{
if (visual->m_geometry.m_meshFileName.length())
{
const char* filename = visual->m_geometry.m_meshFileName.c_str();
//b3Printf("mesh->filename=%s\n", filename);
char fullPath[1024];
int fileType = 0;
char tmpPathPrefix[1024];
std::string xml_string;
int maxPathLen = 1024;
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
char visualPathPrefix[1024];
sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
b3FileUtils::toLower(fullPath);
if (strstr(fullPath, ".dae"))
{
fileType = FILE_COLLADA;
}
if (strstr(fullPath, ".stl"))
{
fileType = FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = FILE_OBJ;
}
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
FILE* f = fopen(fullPath, "rb");
if (f)
{
fclose(f);
switch (fileType)
{
case FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
break;
}
case FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
break;
}
case FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans; upAxisTrans.setIdentity();
float unitMeterScaling = 1;
int upAxis = 2;
LoadMeshFromCollada(fullPath,
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i<visualShapeInstances.size(); i++)
{
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
for (int i = 0; i<gfxShape->m_vertices->size(); i++)
{
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices + additionalIndices);
for (int k = 0; k<additionalIndices; k++)
{
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
for (int v = 0; v<verts.size(); v++)
{
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(fullPath);
break;
}
default:
{
b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
btAssert(0);
}
}
if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
{
//apply the geometry scaling
for (int i=0;i<glmesh->m_vertices->size();i++)
{
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
}
}
else
{
b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
}
}
else
{
b3Warning("mesh geometry not found %s\n", fullPath);
}
}
}
break;
}
default:
{
b3Warning("Error: unknown visual geometry type\n");
}
}
//if we have a convex, tesselate into localVertices/localIndices
if ((glmesh==0) && convexColShape)
{
btShapeHull* hull = new btShapeHull(convexColShape);
hull->buildHull(0.0);
{
// int strideInBytes = 9*sizeof(float);
int numVertices = hull->numVertices();
int numIndices = hull->numIndices();
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i < numVertices; i++)
{
GLInstanceVertex vtx;
btVector3 pos = hull->getVertexPointer()[i];
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 1.f;
pos.normalize();
vtx.normal[0] = pos.x();
vtx.normal[1] = pos.y();
vtx.normal[2] = pos.z();
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
glmesh->m_vertices->push_back(vtx);
}
btAlignedObjectArray<int> indices;
for (int i = 0; i < numIndices; i++)
{
glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
}
glmesh->m_numvertices = glmesh->m_vertices->size();
glmesh->m_numIndices = glmesh->m_indices->size();
}
delete hull;
delete convexColShape;
convexColShape = 0;
}
if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
{
int baseIndex = verticesOut.size();
for (int i = 0; i < glmesh->m_indices->size(); i++)
{
indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
}
for (int i = 0; i < glmesh->m_vertices->size(); i++)
{
GLInstanceVertex& v = glmesh->m_vertices->at(i);
btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
btVector3 vt = visualTransform*vert;
v.xyzw[0] = vt[0];
v.xyzw[1] = vt[1];
v.xyzw[2] = vt[2];
btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
triNormal = visualTransform.getBasis()*triNormal;
v.normal[0] = triNormal[0];
v.normal[1] = triNormal[1];
v.normal[2] = triNormal[2];
verticesOut.push_back(v);
}
}
delete glmesh;
}
int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
{
int graphicsIndex = -1;
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
const UrdfModel& model = m_data->m_urdfParser.getModel();
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
if (linkPtr)
{
const UrdfLink* link = *linkPtr;
for (int v = 0; v < link->m_visualArray.size();v++)
{
const UrdfVisual& vis = link->m_visualArray[v];
btTransform childTrans = vis.m_linkLocalFrame;
btHashString matName(vis.m_materialName.c_str());
UrdfMaterial *const * matPtr = model.m_materials[matName];
if (matPtr)
{
UrdfMaterial *const mat = *matPtr;
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
}
convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices);
}
}
if (vertices.size() && indices.size())
{
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
}
return graphicsIndex;
}
bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
{
const btVector4* rgbaPtr = m_data->m_linkColors[linkIndex];
if (rgbaPtr)
{
colorRGBA = *rgbaPtr;
return true;
}
return false;
}
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj) const
{
int graphicsIndex = -1;
if (m_data->m_customVisualShapesConverter)
{
const UrdfModel& model = m_data->m_urdfParser.getModel();
graphicsIndex = m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colShape);
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colObj);
}
return graphicsIndex;
}

7
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
View File

@@ -37,7 +37,7 @@ public:
virtual std::string getLinkName(int linkIndex) const;
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
virtual std::string getJointName(int linkIndex) const;
virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
@@ -46,7 +46,9 @@ public:
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
virtual int convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionShape* colShape) const;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj) const;
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
@@ -55,6 +57,7 @@ public:
virtual int getNumAllocatedCollisionShapes() const;
virtual class btCollisionShape* getAllocatedCollisionShape(int index);
};

436
examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp
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@@ -1,436 +0,0 @@
/* Copyright (C) 2016 Google
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "DefaultVisualShapeConverter.h"
#include "URDFImporterInterface.h"
#include "btBulletCollisionCommon.h"
#include "../ImportObjDemo/LoadMeshFromObj.h"
#include "../ImportSTLDemo/LoadMeshFromSTL.h"
#include "../ImportColladaDemo/LoadMeshFromCollada.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
#include "Bullet3Common/b3FileUtils.h"
#include <string>
#include "../../Utils/b3ResourcePath.h"
#include <iostream>
#include <fstream>
#include "UrdfParser.h"
enum MyFileType
{
MY_FILE_STL=1,
MY_FILE_COLLADA=2,
MY_FILE_OBJ=3,
};
struct DefaultVisualShapeConverterInternalData
{
struct GUIHelperInterface* m_guiHelper;
//char m_pathPrefix[1024];
btHashMap<btHashInt,btVector4> m_linkColors;
};
DefaultVisualShapeConverter::DefaultVisualShapeConverter(struct GUIHelperInterface* guiHelper)
{
m_data = new DefaultVisualShapeConverterInternalData();
m_data->m_guiHelper = guiHelper;
}
DefaultVisualShapeConverter::~DefaultVisualShapeConverter()
{
delete m_data;
}
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
{
GLInstanceGraphicsShape* glmesh = 0;
btConvexShape* convexColShape = 0;
switch (visual->m_geometry.m_type)
{
case URDF_GEOM_CYLINDER:
{
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i = 0; i<numSteps; i++)
{
btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
btScalar cylLength = visual->m_geometry.m_cylinderLength;
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
vertices.push_back(vert);
vert[2] = -cylLength / 2.;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(0.001);
convexColShape = cylZShape;
break;
}
case URDF_GEOM_BOX:
{
btVector3 extents = visual->m_geometry.m_boxSize;
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
convexColShape = boxShape;
convexColShape->setMargin(0.001);
break;
}
case URDF_GEOM_SPHERE:
{
btScalar radius = visual->m_geometry.m_sphereRadius;
btSphereShape* sphereShape = new btSphereShape(radius);
convexColShape = sphereShape;
convexColShape->setMargin(0.001);
break;
break;
}
case URDF_GEOM_MESH:
{
if (visual->m_name.length())
{
//b3Printf("visual->name=%s\n", visual->m_name.c_str());
}
if (1)//visual->m_geometry)
{
if (visual->m_geometry.m_meshFileName.length())
{
const char* filename = visual->m_geometry.m_meshFileName.c_str();
//b3Printf("mesh->filename=%s\n", filename);
char fullPath[1024];
int fileType = 0;
char tmpPathPrefix[1024];
std::string xml_string;
int maxPathLen = 1024;
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
char visualPathPrefix[1024];
sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
b3FileUtils::toLower(fullPath);
if (strstr(fullPath, ".dae"))
{
fileType = MY_FILE_COLLADA;
}
if (strstr(fullPath, ".stl"))
{
fileType = MY_FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = MY_FILE_OBJ;
}
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
FILE* f = fopen(fullPath, "rb");
if (f)
{
fclose(f);
switch (fileType)
{
case MY_FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
break;
}
case MY_FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
break;
}
case MY_FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans; upAxisTrans.setIdentity();
float unitMeterScaling = 1;
int upAxis = 2;
LoadMeshFromCollada(fullPath,
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i<visualShapeInstances.size(); i++)
{
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
for (int i = 0; i<gfxShape->m_vertices->size(); i++)
{
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices + additionalIndices);
for (int k = 0; k<additionalIndices; k++)
{
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
for (int v = 0; v<verts.size(); v++)
{
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(fullPath);
break;
}
default:
{
b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
btAssert(0);
}
}
if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
{
//apply the geometry scaling
for (int i=0;i<glmesh->m_vertices->size();i++)
{
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
}
}
else
{
b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
}
}
else
{
b3Warning("mesh geometry not found %s\n", fullPath);
}
}
}
break;
}
default:
{
b3Warning("Error: unknown visual geometry type\n");
}
}
//if we have a convex, tesselate into localVertices/localIndices
if ((glmesh==0) && convexColShape)
{
btShapeHull* hull = new btShapeHull(convexColShape);
hull->buildHull(0.0);
{
// int strideInBytes = 9*sizeof(float);
int numVertices = hull->numVertices();
int numIndices = hull->numIndices();
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i < numVertices; i++)
{
GLInstanceVertex vtx;
btVector3 pos = hull->getVertexPointer()[i];
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 1.f;
pos.normalize();
vtx.normal[0] = pos.x();
vtx.normal[1] = pos.y();
vtx.normal[2] = pos.z();
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
glmesh->m_vertices->push_back(vtx);
}
btAlignedObjectArray<int> indices;
for (int i = 0; i < numIndices; i++)
{
glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
}
glmesh->m_numvertices = glmesh->m_vertices->size();
glmesh->m_numIndices = glmesh->m_indices->size();
}
delete hull;
delete convexColShape;
convexColShape = 0;
}
if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
{
int baseIndex = verticesOut.size();
for (int i = 0; i < glmesh->m_indices->size(); i++)
{
indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
}
for (int i = 0; i < glmesh->m_vertices->size(); i++)
{
GLInstanceVertex& v = glmesh->m_vertices->at(i);
btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
btVector3 vt = visualTransform*vert;
v.xyzw[0] = vt[0];
v.xyzw[1] = vt[1];
v.xyzw[2] = vt[2];
btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
triNormal = visualTransform.getBasis()*triNormal;
v.normal[0] = triNormal[0];
v.normal[1] = triNormal[1];
v.normal[2] = triNormal[2];
verticesOut.push_back(v);
}
}
delete glmesh;
}
int DefaultVisualShapeConverter::convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionShape* colShape)
{
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
int graphicsIndex = -1;
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
if (linkPtr)
{
const UrdfLink* link = *linkPtr;
for (int v = 0; v < link->m_visualArray.size();v++)
{
const UrdfVisual& vis = link->m_visualArray[v];
btTransform childTrans = vis.m_linkLocalFrame;
btHashString matName(vis.m_materialName.c_str());
UrdfMaterial *const * matPtr = model.m_materials[matName];
if (matPtr)
{
UrdfMaterial *const mat = *matPtr;
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
}
convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices);
}
}
if (vertices.size() && indices.size())
{
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
}
return graphicsIndex;
}
bool DefaultVisualShapeConverter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
{
const btVector4* rgbaPtr = m_data->m_linkColors[linkIndex];
if (rgbaPtr)
{
colorRGBA = *rgbaPtr;
return true;
}
return false;
}

26
examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
View File

@@ -1,26 +0,0 @@
#ifndef DEFAULT_VISUAL_SHAPE_CONVERTER_H
#define DEFAULT_VISUAL_SHAPE_CONVERTER_H
#include "LinkVisualShapesConverter.h"
struct DefaultVisualShapeConverter : public LinkVisualShapesConverter
{
struct DefaultVisualShapeConverterInternalData* m_data;
DefaultVisualShapeConverter(struct GUIHelperInterface* guiHelper);
virtual ~DefaultVisualShapeConverter();
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionShape* colShape);
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
};
#endif //DEFAULT_VISUAL_SHAPE_CONVERTER_H

6
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -10,7 +10,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../../Utils/b3ResourcePath.h"
#include "DefaultVisualShapeConverter.h"
#include "BulletUrdfImporter.h"
@@ -200,9 +200,7 @@ void ImportUrdfSetup::initPhysics()
m_dynamicsWorld->setGravity(gravity);
DefaultVisualShapeConverter visualConverter(m_guiHelper);
BulletURDFImporter u2b(m_guiHelper, &visualConverter);
BulletURDFImporter u2b(m_guiHelper, 0);
bool loadOk = u2b.loadURDF(m_fileName);

3
examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
View File

@@ -3,8 +3,7 @@
struct LinkVisualShapesConverter
{
virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const class btTransform& localInertiaFrame, const struct UrdfModel& model, class btCollisionShape* colShape)=0;
virtual bool getLinkColor(int linkIndex, class btVector4& colorRGBA) const = 0;
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const class btTransform& localInertiaFrame, const struct UrdfModel& model, class btCollisionObject* colObj)=0;
};
#endif //LINK_VISUAL_SHAPES_CONVERTER_H

11
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -213,7 +213,9 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
btCompoundShape* compoundShape = u2b.convertLinkCollisionShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
int graphicsIndex = u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,compoundShape);
int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
if (compoundShape)
@@ -246,6 +248,8 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
creation.createRigidBodyGraphicsInstance(urdfLinkIndex, body, color, graphicsIndex);
cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
//untested: u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,body);
} else
{
if (cache.m_bulletMultiBody==0)
@@ -385,6 +389,8 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
btVector4 color = selectColor2();//(0.0,0.0,0.5);
u2b.getLinkColor(urdfLinkIndex,color);
creation.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,col);
btScalar friction = 0.5f;
@@ -398,6 +404,9 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
cache.m_bulletMultiBody->setBaseCollider(col);
}
}
} else
{
//u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,compoundShape);
}
}

2
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
View File

@@ -44,7 +44,7 @@ public:
///quick hack: need to rethink the API/dependencies of this
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const { return -1;}
virtual int convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionShape* colShape) const { return -1;}
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj) const { }
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
};