Add flags to load inertia values from URDF.

examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp

@@ -232,7 +232,7 @@ void ImportSDFSetup::initPhysics()
 			MyMultiBodyCreator creation(m_guiHelper);
 
             u2b.getRootTransformInWorld(rootTrans);
-			ConvertURDF2Bullet(u2b,creation, rootTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix(),true);
+			ConvertURDF2Bullet(u2b,creation, rootTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix(),CUF_USE_SDF);
 			mb = creation.getBulletMultiBody();
 			
 			

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -1,4 +1,3 @@
-#include "URDFImporterInterface.h"
 #include <stdio.h>
 #include "LinearMath/btTransform.h"
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
@@ -7,6 +6,7 @@
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
+#include "URDF2Bullet.h"
 #include "URDFImporterInterface.h"
 #include "MultiBodyCreationInterface.h"
 #include <string>
@@ -143,7 +143,12 @@ void InitURDF2BulletCache(const URDFImporterInterface& u2b, URDF2BulletCachedDat
 
 }
 
-void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, URDF2BulletCachedData& cache, int urdfLinkIndex, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,bool createMultiBody, const char* pathPrefix, bool useSDF = false)
+void ConvertURDF2BulletInternal(
+    const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
+    URDF2BulletCachedData& cache, int urdfLinkIndex,
+    const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,
+    bool createMultiBody, const char* pathPrefix,
+    int flags = 0)
 {
     //b3Printf("start converting/extracting data from URDF interface\n");
 
@@ -200,7 +205,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
 
 
     bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction);
-    if (useSDF)
+    if (flags & CUF_USE_SDF)
     {
         parent2joint =parentTransformInWorldSpace.inverse()*linkTransformInWorldSpace;
     }
@@ -231,7 +236,10 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
          */
         if (mass)
         {
-        	compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
+            if (!(flags & CUF_USE_URDF_INERTIA))
+            {
+                compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
+            }
             URDFLinkContactInfo contactInfo;
             u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
             //temporary inertia scaling until we load inertia from URDF
@@ -436,18 +444,22 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
     {
         int urdfChildLinkIndex = urdfChildIndices[i];
 
-        ConvertURDF2BulletInternal(u2b,creation, cache,urdfChildLinkIndex,linkTransformInWorldSpace,world1,createMultiBody,pathPrefix,useSDF);
+        ConvertURDF2BulletInternal(u2b,creation, cache,urdfChildLinkIndex,linkTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags);
     }
 
 }
 
-void ConvertURDF2Bullet(const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, const btTransform& rootTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,bool createMultiBody, const char* pathPrefix, bool useSDF = false)
+void ConvertURDF2Bullet(
+    const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
+    const btTransform& rootTransformInWorldSpace,
+    btMultiBodyDynamicsWorld* world1,
+    bool createMultiBody, const char* pathPrefix, int flags)
 {
     URDF2BulletCachedData cache;
 
     InitURDF2BulletCache(u2b,cache);
     int urdfLinkIndex = u2b.getRootLinkIndex();
-    ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,useSDF);
+    ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags);
 
 	if (world1 && cache.m_bulletMultiBody)
 	{

examples/Importers/ImportURDFDemo/URDF2Bullet.h

@@ -14,14 +14,19 @@ class MultiBodyCreationInterface;
 
 
 
+enum ConvertURDFFlags {
+  CUF_USE_SDF = 1,
+  // Use inertia values in URDF instead of recomputing them from collision shape.
+  CUF_USE_URDF_INERTIA = 2
+};
 
-void ConvertURDF2Bullet(const URDFImporterInterface& u2b, 
+void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
-			MultiBodyCreationInterface& creationCallback, 
+			MultiBodyCreationInterface& creationCallback,
-			const btTransform& rootTransformInWorldSpace, 
+			const btTransform& rootTransformInWorldSpace,
 			btMultiBodyDynamicsWorld* world,
-			bool createMultiBody, 
+			bool createMultiBody,
 			const char* pathPrefix,
-            bool useSDF = false);
+            int flags = 0);
 
 
 #endif //_URDF2BULLET_H

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -776,7 +776,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
             MyMultiBodyCreator creation(m_data->m_guiHelper);
 
             u2b.getRootTransformInWorld(rootTrans);
-            ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),true);
+            ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),CUF_USE_SDF);