434 lines
16 KiB
C++
434 lines
16 KiB
C++
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#include "ImportURDFSetup.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
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static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
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static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
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static bool enableConstraints = true;//false;
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ImportUrdfDemo::ImportUrdfDemo()
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{
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}
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ImportUrdfDemo::~ImportUrdfDemo()
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{
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}
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#include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
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#include "urdf_samples.h"
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//#include "BulletCollision/CollisionShapes/btCylinderShape.h"
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//#define USE_BARREL_VERTICES
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//#include "OpenGLWindow/ShapeData.h"
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#include <iostream>
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#include <fstream>
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using namespace urdf;
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void printTree(my_shared_ptr<const Link> link,int level = 0)
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{
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level+=2;
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int count = 0;
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for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
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{
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if (*child)
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{
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for(int j=0;j<level;j++) std::cout << " "; //indent
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std::cout << "child(" << (count++)+1 << "): " << (*child)->name << std::endl;
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// first grandchild
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printTree(*child,level);
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}
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else
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{
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for(int j=0;j<level;j++) std::cout << " "; //indent
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std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
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}
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}
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}
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struct URDF_LinkInformation
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{
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const Link* m_thisLink;
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btTransform m_localInertialFrame;
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btTransform m_localVisualFrame;
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btRigidBody* m_bulletRigidBody;
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virtual ~URDF_LinkInformation()
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{
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printf("~\n");
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}
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};
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struct URDF_JointInformation
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{
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};
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struct URDF2BulletMappings
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{
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btHashMap<btHashPtr /*to Link*/, URDF_LinkInformation*> m_link2rigidbody;
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btHashMap<btHashPtr /*to Joint*/, btTypedConstraint*> m_joint2Constraint;
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};
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void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhysicsBridge& gfxBridge, const btTransform& parentTransformInWorldSpace, btDiscreteDynamicsWorld* world, URDF2BulletMappings& mappings)
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{
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btCollisionShape* shape = 0;
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btTransform linkTransformInWorldSpace;
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linkTransformInWorldSpace.setIdentity();
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btScalar mass = 1;
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btTransform inertialFrame;
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inertialFrame.setIdentity();
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const Link* parentLink = (*link).getParent();
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URDF_LinkInformation* pp = 0;
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{
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URDF_LinkInformation** ppRigidBody = mappings.m_link2rigidbody.find(parentLink);
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if (ppRigidBody)
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{
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pp = (*ppRigidBody);
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btRigidBody* parentRigidBody = pp->m_bulletRigidBody;
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btTransform tr = parentRigidBody->getWorldTransform();
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printf("rigidbody origin (COM) of link(%s) parent(%s): %f,%f,%f\n",(*link).name.c_str(), parentLink->name.c_str(), tr.getOrigin().x(), tr.getOrigin().y(), tr.getOrigin().z());
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}
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}
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if ((*link).inertial)
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{
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mass = (*link).inertial->mass;
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inertialFrame.setOrigin(btVector3((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z));
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inertialFrame.setRotation(btQuaternion((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w));
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}
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btTransform parent2joint;
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if ((*link).parent_joint)
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{
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btTransform p2j;
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const urdf::Vector3 pos = (*link).parent_joint->parent_to_joint_origin_transform.position;
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const urdf::Rotation orn = (*link).parent_joint->parent_to_joint_origin_transform.rotation;
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parent2joint.setOrigin(btVector3(pos.x,pos.y,pos.z));
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parent2joint.setRotation(btQuaternion(orn.x,orn.y,orn.z,orn.w));
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linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
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} else
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{
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linkTransformInWorldSpace = parentTransformInWorldSpace;
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}
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{
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printf("converting link %s",link->name.c_str());
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for (int v=0;v<link->visual_array.size();v++)
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{
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const Visual* visual = link->visual_array[v].get();
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switch (visual->geometry->type)
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{
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case Geometry::CYLINDER:
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{
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printf("processing a cylinder\n");
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urdf::Cylinder* cyl = (urdf::Cylinder*)visual->geometry.get();
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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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btVector3 vert(cyl->radius*btSin(SIMD_2_PI*(float(i)/numSteps)),cyl->radius*btCos(SIMD_2_PI*(float(i)/numSteps)),cyl->length/2.);
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vertices.push_back(vert);
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vert[2] = -cyl->length/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->initializePolyhedralFeatures();
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//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
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//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
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cylZShape->setMargin(0.001);
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shape = cylZShape;
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break;
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}
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case Geometry::BOX:
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{
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printf("processing a box\n");
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urdf::Box* box = (urdf::Box*)visual->geometry.get();
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btVector3 extents(box->dim.x,box->dim.y,box->dim.z);
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btBoxShape* boxShape = new btBoxShape(extents*0.5f);
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shape = boxShape;
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break;
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}
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case Geometry::SPHERE:
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{
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printf("processing a sphere\n");
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urdf::Sphere* sphere = (urdf::Sphere*)visual->geometry.get();
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btScalar radius = sphere->radius*0.8;
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btSphereShape* sphereShape = new btSphereShape(radius);
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shape = sphereShape;
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break;
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break;
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}
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case Geometry::MESH:
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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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printf("Error: unknown visual geometry type\n");
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}
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}
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if (shape)
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{
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gfxBridge.createCollisionShapeGraphicsObject(shape);
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btVector3 color(0,0,1);
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if (visual->material.get())
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{
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color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
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}
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btVector3 localInertia(0,0,0);
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if (mass)
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{
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shape->calculateLocalInertia(mass,localInertia);
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}
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btRigidBody::btRigidBodyConstructionInfo rbci(mass,0,shape,localInertia);
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btVector3 visual_pos(visual->origin.position.x,visual->origin.position.y,visual->origin.position.z);
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btQuaternion visual_orn(visual->origin.rotation.x,visual->origin.rotation.y,visual->origin.rotation.z,visual->origin.rotation.w);
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btTransform visual_frame;
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visual_frame.setOrigin(visual_pos);
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visual_frame.setRotation(visual_orn);
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btTransform visualFrameInWorldSpace =linkTransformInWorldSpace*visual_frame;
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rbci.m_startWorldTransform = visualFrameInWorldSpace;//linkCenterOfMass;
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btRigidBody* body = new btRigidBody(rbci);
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world->addRigidBody(body,bodyCollisionFilterGroup,bodyCollisionFilterMask);
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// body->setFriction(0);
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gfxBridge.createRigidBodyGraphicsObject(body,color);
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URDF_LinkInformation* linkInfo = new URDF_LinkInformation;
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linkInfo->m_bulletRigidBody = body;
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linkInfo->m_localVisualFrame =visual_frame;
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linkInfo->m_localInertialFrame =inertialFrame;
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linkInfo->m_thisLink = link.get();
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const Link* p = link.get();
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mappings.m_link2rigidbody.insert(p, linkInfo);
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//create a joint if necessary
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if ((*link).parent_joint)
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{
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btRigidBody* parentBody =pp->m_bulletRigidBody;
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const Joint* pj = (*link).parent_joint.get();
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btTransform offsetInA,offsetInB;
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btTransform p2j; p2j.setIdentity();
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btVector3 p2jPos; p2jPos.setValue(pj->parent_to_joint_origin_transform.position.x,
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pj->parent_to_joint_origin_transform.position.y,
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pj->parent_to_joint_origin_transform.position.z);
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btQuaternion p2jOrn;p2jOrn.setValue(pj->parent_to_joint_origin_transform.rotation.x,
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pj->parent_to_joint_origin_transform.rotation.y,
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pj->parent_to_joint_origin_transform.rotation.z,
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pj->parent_to_joint_origin_transform.rotation.w);
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p2j.setOrigin(p2jPos);
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p2j.setRotation(p2jOrn);
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offsetInA.setIdentity();
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offsetInA = pp->m_localVisualFrame.inverse()*p2j;
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offsetInB.setIdentity();
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offsetInB = visual_frame.inverse();
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switch (pj->type)
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{
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case Joint::FIXED:
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{
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printf("Fixed joint\n");
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btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentBody, *body,offsetInA,offsetInB);
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// btVector3 bulletAxis(pj->axis.x,pj->axis.y,pj->axis.z);
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dof6->setLinearLowerLimit(btVector3(0,0,0));
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dof6->setLinearUpperLimit(btVector3(0,0,0));
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dof6->setAngularLowerLimit(btVector3(0,0,0));
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dof6->setAngularUpperLimit(btVector3(0,0,0));
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if (enableConstraints)
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world->addConstraint(dof6,true);
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// btFixedConstraint* fixed = new btFixedConstraint(*parentBody, *body,offsetInA,offsetInB);
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// world->addConstraint(fixed,true);
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break;
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}
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case Joint::CONTINUOUS:
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case Joint::REVOLUTE:
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{
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btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentBody, *body,offsetInA,offsetInB);
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// btVector3 bulletAxis(pj->axis.x,pj->axis.y,pj->axis.z);
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dof6->setLinearLowerLimit(btVector3(0,0,0));
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dof6->setLinearUpperLimit(btVector3(0,0,0));
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dof6->setAngularLowerLimit(btVector3(0,0,1000));
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dof6->setAngularUpperLimit(btVector3(0,0,-1000));
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if (enableConstraints)
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world->addConstraint(dof6,true);
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printf("Revolute/Continuous joint\n");
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break;
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}
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case Joint::PRISMATIC:
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{
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btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentBody, *body,offsetInA,offsetInB);
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dof6->setLinearLowerLimit(btVector3(pj->limits->lower,0,0));
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dof6->setLinearUpperLimit(btVector3(pj->limits->upper,0,0));
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dof6->setAngularLowerLimit(btVector3(0,0,0));
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dof6->setAngularUpperLimit(btVector3(0,0,0));
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if (enableConstraints)
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world->addConstraint(dof6,true);
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printf("Prismatic\n");
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break;
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}
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default:
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{
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printf("Error: unsupported joint type in URDF (%d)\n", pj->type);
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}
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}
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}
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}
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}
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}
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for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
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{
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if (*child)
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{
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URDFvisual2BulletCollisionShape(*child,gfxBridge, linkTransformInWorldSpace, world,mappings);
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}
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else
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{
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std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
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}
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}
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}
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void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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int upAxis = 2;
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gfxBridge.setUpAxis(2);
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this->createEmptyDynamicsWorld();
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gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(
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//btIDebugDraw::DBG_DrawConstraints
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+btIDebugDraw::DBG_DrawContactPoints
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//+btIDebugDraw::DBG_DrawAabb
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);//+btIDebugDraw::DBG_DrawConstraintLimits);
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btVector3 gravity(0,0,0);
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gravity[upAxis]=-9.8;
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m_dynamicsWorld->setGravity(gravity);
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int argc=0;
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const char* filename="somefile.urdf";
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std::string xml_string;
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if (argc < 2){
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std::cerr << "No URDF file name provided, using a dummy test URDF" << std::endl;
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xml_string = std::string(urdf_char);
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} else
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{
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std::fstream xml_file(filename, std::fstream::in);
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while ( xml_file.good() )
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{
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std::string line;
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std::getline( xml_file, line);
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xml_string += (line + "\n");
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}
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xml_file.close();
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}
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my_shared_ptr<ModelInterface> robot = parseURDF(xml_string);
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if (!robot){
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std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
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return ;
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}
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std::cout << "robot name is: " << robot->getName() << std::endl;
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// get info from parser
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std::cout << "---------- Successfully Parsed XML ---------------" << std::endl;
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// get root link
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my_shared_ptr<const Link> root_link=robot->getRoot();
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if (!root_link) return ;
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std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " child(ren)" << std::endl;
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// print entire tree
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printTree(root_link);
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btTransform worldTrans;
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worldTrans.setIdentity();
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{
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URDF2BulletMappings mappings;
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URDFvisual2BulletCollisionShape(root_link, gfxBridge, worldTrans,m_dynamicsWorld,mappings);
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}
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{
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btVector3 groundHalfExtents(20,20,20);
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groundHalfExtents[upAxis]=1.f;
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btBoxShape* box = new btBoxShape(groundHalfExtents);
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box->initializePolyhedralFeatures();
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gfxBridge.createCollisionShapeGraphicsObject(box);
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btTransform start; start.setIdentity();
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btVector3 groundOrigin(0,0,0);
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groundOrigin[upAxis]=-1.5;
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start.setOrigin(groundOrigin);
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btRigidBody* body = createRigidBody(0,start,box);
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btVector3 color(0.5,0.5,0.5);
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gfxBridge.createRigidBodyGraphicsObject(body,color);
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}
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}
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