2fc0358750
See bullet3/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h Give the kuka_iiwa/model.urdf some blue color, not just orange, to mimick the original a bit better Preparation for the CMD_CAMERA_IMAGE_COMPLETED command, to expose a virtual camera to the robotics API
437 lines
13 KiB
C++
437 lines
13 KiB
C++
/* Copyright (C) 2016 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 "DefaultVisualShapeConverter.h"
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#include "URDFImporterInterface.h"
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#include "btBulletCollisionCommon.h"
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#include "../ImportObjDemo/LoadMeshFromObj.h"
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#include "../ImportSTLDemo/LoadMeshFromSTL.h"
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#include "../ImportColladaDemo/LoadMeshFromCollada.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
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#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "Bullet3Common/b3FileUtils.h"
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#include <string>
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#include "../../Utils/b3ResourcePath.h"
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#include <iostream>
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#include <fstream>
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#include "UrdfParser.h"
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enum MyFileType
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{
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MY_FILE_STL=1,
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MY_FILE_COLLADA=2,
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MY_FILE_OBJ=3,
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};
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struct DefaultVisualShapeConverterInternalData
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{
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struct GUIHelperInterface* m_guiHelper;
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//char m_pathPrefix[1024];
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btHashMap<btHashInt,btVector4> m_linkColors;
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};
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DefaultVisualShapeConverter::DefaultVisualShapeConverter(struct GUIHelperInterface* guiHelper)
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{
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m_data = new DefaultVisualShapeConverterInternalData();
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m_data->m_guiHelper = guiHelper;
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}
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DefaultVisualShapeConverter::~DefaultVisualShapeConverter()
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{
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delete m_data;
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}
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void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
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{
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GLInstanceGraphicsShape* glmesh = 0;
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btConvexShape* convexColShape = 0;
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switch (visual->m_geometry.m_type)
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{
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case URDF_GEOM_CYLINDER:
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{
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btAlignedObjectArray<btVector3> vertices;
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//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
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int numSteps = 32;
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for (int i = 0; i<numSteps; i++)
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{
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btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
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btScalar cylLength = visual->m_geometry.m_cylinderLength;
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btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
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vertices.push_back(vert);
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vert[2] = -cylLength / 2.;
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vertices.push_back(vert);
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}
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btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
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cylZShape->setMargin(0.001);
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convexColShape = cylZShape;
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break;
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}
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case URDF_GEOM_BOX:
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{
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btVector3 extents = visual->m_geometry.m_boxSize;
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btBoxShape* boxShape = new btBoxShape(extents*0.5f);
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//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
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convexColShape = boxShape;
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convexColShape->setMargin(0.001);
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break;
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}
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case URDF_GEOM_SPHERE:
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{
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btScalar radius = visual->m_geometry.m_sphereRadius;
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btSphereShape* sphereShape = new btSphereShape(radius);
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convexColShape = sphereShape;
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convexColShape->setMargin(0.001);
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break;
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break;
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}
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case URDF_GEOM_MESH:
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{
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if (visual->m_name.length())
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{
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//b3Printf("visual->name=%s\n", visual->m_name.c_str());
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}
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if (1)//visual->m_geometry)
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{
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if (visual->m_geometry.m_meshFileName.length())
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{
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const char* filename = visual->m_geometry.m_meshFileName.c_str();
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//b3Printf("mesh->filename=%s\n", filename);
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char fullPath[1024];
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int fileType = 0;
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char tmpPathPrefix[1024];
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std::string xml_string;
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int maxPathLen = 1024;
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b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
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char visualPathPrefix[1024];
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sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
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sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
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b3FileUtils::toLower(fullPath);
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if (strstr(fullPath, ".dae"))
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{
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fileType = MY_FILE_COLLADA;
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}
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if (strstr(fullPath, ".stl"))
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{
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fileType = MY_FILE_STL;
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}
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if (strstr(fullPath,".obj"))
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{
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fileType = MY_FILE_OBJ;
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}
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sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
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FILE* f = fopen(fullPath, "rb");
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if (f)
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{
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fclose(f);
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switch (fileType)
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{
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case MY_FILE_OBJ:
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{
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glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
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break;
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}
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case MY_FILE_STL:
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{
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glmesh = LoadMeshFromSTL(fullPath);
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break;
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}
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case MY_FILE_COLLADA:
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{
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btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
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btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
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btTransform upAxisTrans; upAxisTrans.setIdentity();
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float unitMeterScaling = 1;
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int upAxis = 2;
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LoadMeshFromCollada(fullPath,
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visualShapes,
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visualShapeInstances,
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upAxisTrans,
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unitMeterScaling,
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upAxis);
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glmesh = new GLInstanceGraphicsShape;
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// int index = 0;
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glmesh->m_indices = new b3AlignedObjectArray<int>();
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glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
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for (int i = 0; i<visualShapeInstances.size(); i++)
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{
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ColladaGraphicsInstance* instance = &visualShapeInstances[i];
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GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
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b3AlignedObjectArray<GLInstanceVertex> verts;
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verts.resize(gfxShape->m_vertices->size());
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int baseIndex = glmesh->m_vertices->size();
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for (int i = 0; i<gfxShape->m_vertices->size(); i++)
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{
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verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
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verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
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verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
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verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
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verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
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verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
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verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
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verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
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verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
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}
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int curNumIndices = glmesh->m_indices->size();
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int additionalIndices = gfxShape->m_indices->size();
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glmesh->m_indices->resize(curNumIndices + additionalIndices);
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for (int k = 0; k<additionalIndices; k++)
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{
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glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
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}
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//compensate upAxisTrans and unitMeterScaling here
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btMatrix4x4 upAxisMat;
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upAxisMat.setIdentity();
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// upAxisMat.setPureRotation(upAxisTrans.getRotation());
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btMatrix4x4 unitMeterScalingMat;
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unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
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btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
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//btMatrix4x4 worldMat = instance->m_worldTransform;
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int curNumVertices = glmesh->m_vertices->size();
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int additionalVertices = verts.size();
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glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
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for (int v = 0; v<verts.size(); v++)
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{
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btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
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pos = worldMat*pos;
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verts[v].xyzw[0] = float(pos[0]);
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verts[v].xyzw[1] = float(pos[1]);
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verts[v].xyzw[2] = float(pos[2]);
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glmesh->m_vertices->push_back(verts[v]);
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}
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}
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glmesh->m_numIndices = glmesh->m_indices->size();
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glmesh->m_numvertices = glmesh->m_vertices->size();
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//glmesh = LoadMeshFromCollada(fullPath);
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break;
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}
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default:
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{
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b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
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btAssert(0);
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}
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}
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if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
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{
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//apply the geometry scaling
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for (int i=0;i<glmesh->m_vertices->size();i++)
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{
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glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
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glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
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glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
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}
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}
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else
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{
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b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
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}
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}
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else
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{
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b3Warning("mesh geometry not found %s\n", fullPath);
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}
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}
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}
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break;
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}
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default:
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{
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b3Warning("Error: unknown visual geometry type\n");
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}
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}
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//if we have a convex, tesselate into localVertices/localIndices
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if ((glmesh==0) && convexColShape)
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{
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btShapeHull* hull = new btShapeHull(convexColShape);
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hull->buildHull(0.0);
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{
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// int strideInBytes = 9*sizeof(float);
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int numVertices = hull->numVertices();
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int numIndices = hull->numIndices();
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glmesh = new GLInstanceGraphicsShape;
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// int index = 0;
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glmesh->m_indices = new b3AlignedObjectArray<int>();
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glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
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for (int i = 0; i < numVertices; i++)
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{
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GLInstanceVertex vtx;
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btVector3 pos = hull->getVertexPointer()[i];
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vtx.xyzw[0] = pos.x();
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vtx.xyzw[1] = pos.y();
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vtx.xyzw[2] = pos.z();
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vtx.xyzw[3] = 1.f;
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pos.normalize();
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vtx.normal[0] = pos.x();
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vtx.normal[1] = pos.y();
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vtx.normal[2] = pos.z();
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vtx.uv[0] = 0.5f;
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vtx.uv[1] = 0.5f;
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glmesh->m_vertices->push_back(vtx);
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}
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btAlignedObjectArray<int> indices;
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for (int i = 0; i < numIndices; i++)
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{
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glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
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}
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glmesh->m_numvertices = glmesh->m_vertices->size();
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glmesh->m_numIndices = glmesh->m_indices->size();
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}
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delete hull;
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delete convexColShape;
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convexColShape = 0;
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}
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if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
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{
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int baseIndex = verticesOut.size();
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for (int i = 0; i < glmesh->m_indices->size(); i++)
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{
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indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
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}
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for (int i = 0; i < glmesh->m_vertices->size(); i++)
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{
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GLInstanceVertex& v = glmesh->m_vertices->at(i);
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btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
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btVector3 vt = visualTransform*vert;
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v.xyzw[0] = vt[0];
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v.xyzw[1] = vt[1];
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v.xyzw[2] = vt[2];
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btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
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triNormal = visualTransform.getBasis()*triNormal;
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v.normal[0] = triNormal[0];
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v.normal[1] = triNormal[1];
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v.normal[2] = triNormal[2];
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verticesOut.push_back(v);
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}
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}
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delete glmesh;
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}
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int DefaultVisualShapeConverter::convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionShape* colShape)
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{
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btAlignedObjectArray<GLInstanceVertex> vertices;
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btAlignedObjectArray<int> indices;
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btTransform startTrans; startTrans.setIdentity();
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int graphicsIndex = -1;
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UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
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if (linkPtr)
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{
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const UrdfLink* link = *linkPtr;
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for (int v = 0; v < link->m_visualArray.size();v++)
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{
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const UrdfVisual& vis = link->m_visualArray[v];
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btTransform childTrans = vis.m_linkLocalFrame;
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btHashString matName(vis.m_materialName.c_str());
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UrdfMaterial *const * matPtr = model.m_materials[matName];
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if (matPtr)
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{
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UrdfMaterial *const mat = *matPtr;
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//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]);
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m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
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}
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convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices);
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}
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}
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if (vertices.size() && indices.size())
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{
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graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
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}
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return graphicsIndex;
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}
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bool DefaultVisualShapeConverter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
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{
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const btVector4* rgbaPtr = m_data->m_linkColors[linkIndex];
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if (rgbaPtr)
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{
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colorRGBA = *rgbaPtr;
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return true;
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}
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return false;
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}
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