remove 'Custom' multi body demo, it has no point on its own
This commit is contained in:
Erwin Coumans
@@ -121,7 +121,6 @@
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include "../examples/HelloWorld"
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include "../examples/HelloWorld"
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include "../examples/BasicDemo"
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include "../examples/BasicDemo"
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include "../examples/MultiBody"
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@@ -74,8 +74,6 @@ SET(App_ExampleBrowser_SRCS
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../MultiBody/TestJointTorqueSetup.h
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../MultiBody/TestJointTorqueSetup.h
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../MultiBody/MultiDofDemo.cpp
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../MultiBody/MultiDofDemo.cpp
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../MultiBody/MultiDofDemo.h
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../MultiBody/MultiDofDemo.h
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../MultiBody/MultiBodyCustomURDFDemo.cpp
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../MultiBody/MultiBodyCustomURDFDemo.h
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../Constraints/ConstraintDemo.cpp
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../Constraints/ConstraintDemo.cpp
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../Constraints/ConstraintDemo.h
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../Constraints/ConstraintDemo.h
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../Constraints/Dof6Spring2Setup.cpp
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../Constraints/Dof6Spring2Setup.cpp
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@@ -21,7 +21,6 @@
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#include "../Constraints/ConstraintPhysicsSetup.h"
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#include "../Constraints/ConstraintPhysicsSetup.h"
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#include "../MultiBody/TestJointTorqueSetup.h"
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#include "../MultiBody/TestJointTorqueSetup.h"
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#include "../MultiBody/MultiDofDemo.h"
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#include "../MultiBody/MultiDofDemo.h"
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#include "../MultiBody/MultiBodyCustomURDFDemo.h"
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#include "../VoronoiFracture/VoronoiFractureDemo.h"
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#include "../VoronoiFracture/VoronoiFractureDemo.h"
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#include "../SoftDemo/SoftDemo.h"
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#include "../SoftDemo/SoftDemo.h"
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#include "../Constraints/ConstraintDemo.h"
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#include "../Constraints/ConstraintDemo.h"
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@@ -68,7 +67,6 @@ static ExampleEntry gDefaultExamples[]=
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ExampleEntry(0,"MultiBody"),
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ExampleEntry(0,"MultiBody"),
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ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody.", MultiDofCreateFunc),
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ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody.", MultiDofCreateFunc),
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ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody.", TestJointTorqueCreateFunc),
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ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody.", TestJointTorqueCreateFunc),
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ExampleEntry(1,"Custom URDF","Load a URDF file to allow creation of custom data structures.", MultiBodyCustomURDFDemoCreateFunc),
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#ifdef INCLUDE_CLOTH_DEMOS
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#ifdef INCLUDE_CLOTH_DEMOS
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@@ -32,7 +32,6 @@
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"../SoftDemo/*",
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"../SoftDemo/*",
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"../Constraints/*",
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"../Constraints/*",
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"../Vehicles/*",
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"../Vehicles/*",
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"../MultiBody/MultiBodyCustomURDFDemo.cpp",
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"../MultiBody/MultiDofDemo.cpp",
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"../MultiBody/MultiDofDemo.cpp",
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"../MultiBody/TestJointTorqueSetup.cpp",
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"../MultiBody/TestJointTorqueSetup.cpp",
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"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
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"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
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@@ -1,56 +0,0 @@
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/* Copyright (C) 2015 Google
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CUSTOM_MULTIBODY_CALLBACK_H
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#define CUSTOM_MULTIBODY_CALLBACK_H
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#ifdef USE_EIGEN
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typedef Eigen::Quaternion<double> QuaternionType;
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typedef Eigen::Vector3d<double> Vector3dType;
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typedef double ScalarType;
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#else
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typedef btQuaternion QuaternionType;
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typedef btVector3 Vector3dType;
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typedef btScalar ScalarType;
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#endif
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class CustomMultiBodyCreationCallback
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{
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public:
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virtual ~CustomMultiBodyCreationCallback() {}
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enum {
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RevoluteJoint=1,
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PrismaticJoint,
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FixedJoint,
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};
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virtual int allocateMultiBodyBase(int urdfLinkIndex, int totalNumJoints,ScalarType baseMass, const Vector3dType& localInertiaDiagonal, bool isFixedBase) const =0;
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virtual void addLinkAndJoint(int jointType, int linkIndex, // 0 to num_links-1
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int parentIndex,
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double mass,
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const Vector3dType& inertia,
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const QuaternionType &rotParentFrameToLinkFrame, // rotate points in parent frame to this frame, when q = 0
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const Vector3dType& jointAxisInLinkFrame, // in Link frame
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const Vector3dType& parentComToThisJointOffset, // vector from parent COM to joint frame, in Parent frame
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const Vector3dType& thisJointToThisComOffset) = 0; // vector from joint frame to my COM, in Link frame);
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// @todo: Decide if we need this link mapping?
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// virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex) const = 0;
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};
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#endif //CUSTOM_MULTIBODY_CALLBACK_H
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@@ -1,148 +0,0 @@
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/* Copyright (C) 2015 Google
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "MultiBodyCustomURDFDemo.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
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#include "../Importers/ImportURDFDemo/MyURDFImporter.h"
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#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
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#include "CustomMultiBodyCreationCallback.h"
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struct MultiBodyCustomURDFDemo : public CommonMultiBodyBase
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{
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btMultiBody* m_multiBody;
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public:
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MultiBodyCustomURDFDemo(struct GUIHelperInterface* helper);
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virtual ~MultiBodyCustomURDFDemo();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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};
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MultiBodyCustomURDFDemo::MultiBodyCustomURDFDemo(struct GUIHelperInterface* helper)
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:CommonMultiBodyBase(helper)
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{
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}
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MultiBodyCustomURDFDemo::~MultiBodyCustomURDFDemo()
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{
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}
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static void myPrintTree(const URDFImporterInterface& u2b, int linkIndex, int indentationLevel)
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{
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btAlignedObjectArray<int> childIndices;
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u2b.getLinkChildIndices(linkIndex,childIndices);
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int numChildren = childIndices.size();
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indentationLevel+=2;
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int count = 0;
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for (int i=0;i<numChildren;i++)
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{
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int childLinkIndex = childIndices[i];
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std::string name = u2b.getLinkName(childLinkIndex);
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for(int j=0;j<indentationLevel;j++) printf(" "); //indent
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printf("child(%d).name=%s with childIndex=%d\n",(count++)+1, name.c_str(),childLinkIndex);
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// first grandchild
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printTree(u2b,childLinkIndex,indentationLevel);
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}
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}
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class TestMultiBodyCreationCallback : public CustomMultiBodyCreationCallback
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{
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virtual int allocateMultiBodyBase(int urdfLinkIndex, int totalNumJoints,ScalarType baseMass, const Vector3dType& localInertiaDiagonal, bool isFixedBase)
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{
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printf("added base\n");
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}
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virtual void addLinkAndJoint(int jointType, int linkIndex, // 0 to num_links-1
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int parentIndex,
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double mass,
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const Vector3dType& inertia,
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const QuaternionType &rotParentFrameToLinkFrame, // rotate points in parent frame to this frame, when q = 0
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const Vector3dType& jointAxisInLinkFrame, // in Link frame
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const Vector3dType& parentComToThisJointOffset, // vector from parent COM to joint frame, in Parent frame
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const Vector3dType& thisJointToThisComOffset) // vector from joint frame to my COM, in Link frame);
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{
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printf("added link\n");
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}
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};
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void MultiBodyCustomURDFDemo::initPhysics()
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{
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int upAxis = 2;
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m_guiHelper->setUpAxis(upAxis);
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createEmptyDynamicsWorld();
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btVector3 grav(0,0,0);
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//grav[upAxis] = -10.f;
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m_dynamicsWorld->setGravity(grav);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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MyURDFImporter u2b(m_guiHelper);
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bool loadOk = u2b.loadURDF("r2d2.urdf");
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if (loadOk)
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{
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u2b.printTree();
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int urdfRootLinkIndex = u2b.getRootLinkIndex();
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myPrintTree(u2b,urdfRootLinkIndex,0);
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btTransform identityTrans;
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identityTrans.setIdentity();
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btMultiBody* mb = 0;
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//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
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int rootLinkIndex = u2b.getRootLinkIndex();
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printf("urdf root link index = %d\n",rootLinkIndex);
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MyMultiBodyCreator creation(m_guiHelper);
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bool useMultiBody = true;
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ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
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mb = creation.getBulletMultiBody();
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}
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}
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void MultiBodyCustomURDFDemo::stepSimulation(float deltaTime)
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{
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m_dynamicsWorld->stepSimulation(deltaTime);
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}
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class CommonExampleInterface* MultiBodyCustomURDFDemoCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
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{
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return new MultiBodyCustomURDFDemo(helper);
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}
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@@ -1,20 +0,0 @@
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/* Copyright (C) 2015 Google
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef MULTI_DOF_CUSTOM_URDF_DEMO_H
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#define MULTI_DOF_CUSTOM_URDF_DEMO_H
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class CommonExampleInterface* MultiBodyCustomURDFDemoCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
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#endif //MULTI_DOF_CUSTOM_URDF_DEMO_H
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@@ -1,43 +0,0 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
|
|
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "MultiBodyCustomURDFDemo.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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int main(int argc, char* argv[])
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{
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struct PhysicsInterface* pint = 0;
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DummyGUIHelper noGfx;
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int option = 0;
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CommonExampleInterface* example = MultiBodyCustomURDFDemoCreateFunc(pint, &noGfx, option);
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example->initPhysics();
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example->stepSimulation(1.f/60.f);
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example->exitPhysics();
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delete example;
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return 0;
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}
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@@ -1,40 +0,0 @@
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project "App_CustomMultiBodyCreation"
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if _OPTIONS["ios"] then
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kind "WindowedApp"
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else
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kind "ConsoleApp"
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end
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includedirs {".", "../../src", "../ThirdPartyLibs"}
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links {
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"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath"
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}
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language "C++"
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files {
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"MultiBodyCustomURDFDemo.cpp",
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"main.cpp",
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"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
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"../Importers/ImportURDFDemo/MyURDFImporter.cpp",
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"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
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"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
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"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
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"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
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"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
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"../ThirdPartyLibs/tinyxml/tinystr.cpp",
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"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
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"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
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"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
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"../ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp",
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"../ThirdPartyLibs/urdf/boost_replacement/string_split.cpp",
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"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp",
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"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp",
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"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp",
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"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp",
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}
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Reference in New Issue
Block a user