05bf86d95f
add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only
73 lines
2.7 KiB
C++
73 lines
2.7 KiB
C++
#include "MyMultiBodyCreator.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
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MyMultiBodyCreator::MyMultiBodyCreator(GUIHelperInterface* guiHelper)
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:m_guiHelper(guiHelper),
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m_bulletMultiBody(0)
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{
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}
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class btMultiBody* MyMultiBodyCreator::allocateMultiBody(int /* urdfLinkIndex */, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep, bool multiDof)
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{
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m_urdf2mbLink.resize(totalNumJoints+1,-2);
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m_mb2urdfLink.resize(totalNumJoints+1,-2);
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m_bulletMultiBody = new btMultiBody(totalNumJoints,mass,localInertiaDiagonal,isFixedBase,canSleep,multiDof);
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return m_bulletMultiBody;
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}
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class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btScalar mass, const btVector3& localInertiaDiagonal, const btTransform& initialWorldTrans, class btCollisionShape* colShape)
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{
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btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
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rbci.m_startWorldTransform = initialWorldTrans;
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btRigidBody* body = new btRigidBody(rbci);
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return body;
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}
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class btMultiBodyLinkCollider* MyMultiBodyCreator::allocateMultiBodyLinkCollider(int /*urdfLinkIndex*/, int mbLinkIndex, btMultiBody* multiBody)
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{
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btMultiBodyLinkCollider* mbCol= new btMultiBodyLinkCollider(multiBody, mbLinkIndex);
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return mbCol;
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}
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class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder)
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{
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btGeneric6DofSpring2Constraint* c = new btGeneric6DofSpring2Constraint(rbA,rbB,offsetInA, offsetInB, (RotateOrder)rotateOrder);
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return c;
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}
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void MyMultiBodyCreator::addLinkMapping(int urdfLinkIndex, int mbLinkIndex)
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{
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m_urdf2mbLink[urdfLinkIndex] = mbLinkIndex;
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m_mb2urdfLink[mbLinkIndex] = urdfLinkIndex;
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}
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void MyMultiBodyCreator::createRigidBodyGraphicsInstance(int linkIndex, btRigidBody* body, const btVector3& colorRgba, int graphicsIndex)
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{
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m_guiHelper->createRigidBodyGraphicsObject(body, colorRgba);
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}
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void MyMultiBodyCreator::createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* colObj, const btVector3& colorRgba)
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{
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m_guiHelper->createCollisionObjectGraphicsObject(colObj,colorRgba);
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}
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btMultiBody* MyMultiBodyCreator::getBulletMultiBody()
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{
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return m_bulletMultiBody;
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}
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