922 lines
29 KiB
C++
922 lines
29 KiB
C++
#include "ImportURDFSetup.h"
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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 <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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#define MSTRINGIFY(A) #A
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const char* urdf_char2 = MSTRINGIFY(
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<robot name="test_robot">
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<link name="link1" />
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<link name="link2" />
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<link name="link3" />
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<link name="link4" />
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<joint name="joint1" type="continuous">
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<parent link="link1"/>
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<child link="link2"/>
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</joint>
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<joint name="joint2" type="continuous">
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<parent link="link1"/>
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<child link="link3"/>
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</joint>
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<joint name="joint3" type="continuous">
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<parent link="link3"/>
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<child link="link4"/>
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</joint>
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</robot>);
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const char* urdf_char1 = MSTRINGIFY(
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<?xml version="1.0"?>
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<robot name="myfirst">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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</visual>
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</link>
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</robot>
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);
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const char* urdf_char3 = MSTRINGIFY(<?xml version="1.0"?>
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<robot name="multipleshapes">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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</joint>
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</robot>);
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const char* urdf_char4 = MSTRINGIFY(
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<?xml version="1.0"?>
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<robot name="materials">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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<link name="left_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white"/>
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</visual>
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</link>
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<joint name="base_to_left_leg" type="fixed">
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<parent link="base_link"/>
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<child link="left_leg"/>
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<origin xyz="-0.22 0 .25"/>
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</joint>
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<link name="head">
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<visual>
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<geometry>
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<sphere radius="0.2"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="head_swivel" type="fixed">
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<parent link="base_link"/>
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<child link="head"/>
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<origin xyz="0 0 0.3"/>
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</joint>
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<link name="box">
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<visual>
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<geometry>
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<box size=".08 .08 .08"/>
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</geometry>
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<material name="blue"/>
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</visual>
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</link>
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<joint name="tobox" type="fixed">
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<parent link="head"/>
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<child link="box"/>
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<origin xyz="0 0.1414 0.1414"/>
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</joint>
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</robot>
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);
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const char* urdf_char_r2d2 = MSTRINGIFY(
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<?xml version="1.0"?>
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<robot name="visual">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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<link name="right_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="right_base_joint" type="fixed">
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<parent link="right_leg"/>
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<child link="right_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="right_front_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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</link>
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<joint name="right_front_wheel_joint" type="fixed">
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<parent link="right_base"/>
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<child link="right_front_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
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</joint>
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<link name="right_back_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="right_back_wheel_joint" type="fixed">
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<parent link="right_base"/>
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<child link="right_back_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
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</joint>
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<link name="left_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white"/>
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</visual>
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</link>
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<joint name="base_to_left_leg" type="fixed">
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<parent link="base_link"/>
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<child link="left_leg"/>
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<origin xyz="-0.22 0 .25"/>
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</joint>
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<link name="left_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="left_base_joint" type="fixed">
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<parent link="left_leg"/>
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<child link="left_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="left_front_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="left_front_wheel_joint" type="fixed">
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<parent link="left_base"/>
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<child link="left_front_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
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</joint>
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<link name="left_back_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="left_back_wheel_joint" type="fixed">
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<parent link="left_base"/>
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<child link="left_back_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
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</joint>
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<joint name="gripper_extension" type="fixed">
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<parent link="base_link"/>
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<child link="gripper_pole"/>
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<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
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</joint>
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<link name="gripper_pole">
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<visual>
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<geometry>
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<cylinder length="0.2" radius=".01"/>
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</geometry>
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<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
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<material name="Gray">
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<color rgba=".7 .7 .7 1"/>
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</material>
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</visual>
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</link>
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<joint name="left_gripper_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
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<parent link="gripper_pole"/>
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<child link="left_gripper"/>
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</joint>
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<link name="left_gripper">
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<visual>
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<origin rpy="0.0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="left_tip_joint" type="fixed">
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<parent link="left_gripper"/>
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<child link="left_tip"/>
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</joint>
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<link name="left_tip">
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<visual>
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<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="right_gripper_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
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<parent link="gripper_pole"/>
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<child link="right_gripper"/>
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</joint>
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<link name="right_gripper">
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="right_tip_joint" type="fixed">
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<parent link="right_gripper"/>
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<child link="right_tip"/>
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</joint>
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<link name="right_tip">
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
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<geometry>
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<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
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</geometry>
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</visual>
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</link>
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<link name="head">
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<visual>
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<geometry>
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<sphere radius="0.2"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="head_swivel" type="fixed">
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<parent link="base_link"/>
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<child link="head"/>
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<origin xyz="0 0 0.3"/>
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</joint>
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<link name="box">
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<visual>
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<geometry>
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<box size=".08 .08 .08"/>
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</geometry>
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<material name="blue"/>
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</visual>
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</link>
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<joint name="tobox" type="fixed">
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<parent link="head"/>
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<child link="box"/>
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<origin xyz="0 0.1414 0.1414"/>
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</joint>
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</robot>
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);
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const char* urdf_char = MSTRINGIFY(
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<?xml version="1.0"?>
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<robot name="flexible">
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<link name="base_link">
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<visual>
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<geometry>
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<cylinder length="0.6" radius="0.2"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 .8 1"/>
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</material>
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</visual>
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</link>
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<link name="right_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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</link>
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<joint name="base_to_right_leg" type="fixed">
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<parent link="base_link"/>
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<child link="right_leg"/>
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<origin xyz="0.22 0 .25"/>
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</joint>
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<link name="right_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="right_base_joint" type="fixed">
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<parent link="right_leg"/>
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<child link="right_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="right_front_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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</visual>
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</link>
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<joint name="right_front_wheel_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="right_base"/>
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<child link="right_front_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="right_back_wheel">
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<visual>
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<geometry>
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<cylinder length=".1" radius="0.035"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="right_back_wheel_joint" type="continuous">
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<axis xyz="0 0 1"/>
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<parent link="right_base"/>
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<child link="right_back_wheel"/>
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<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
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<limit effort="100" velocity="100"/>
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<joint_properties damping="0.0" friction="0.0"/>
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</joint>
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<link name="left_leg">
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<visual>
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<geometry>
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<box size="0.6 .2 .1"/>
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</geometry>
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<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
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<material name="white"/>
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</visual>
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</link>
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<joint name="base_to_left_leg" type="fixed">
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<parent link="base_link"/>
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<child link="left_leg"/>
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<origin xyz="-0.22 0 .25"/>
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</joint>
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<link name="left_base">
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<visual>
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<geometry>
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<box size=".1 0.4 .1"/>
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</geometry>
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<material name="white"/>
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</visual>
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</link>
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<joint name="left_base_joint" type="fixed">
|
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<parent link="left_leg"/>
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<child link="left_base"/>
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<origin xyz="0 0 -0.6"/>
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</joint>
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<link name="left_front_wheel">
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<visual>
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<geometry>
|
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<cylinder length=".1" radius="0.035"/>
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</geometry>
|
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<material name="black"/>
|
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</visual>
|
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</link>
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<joint name="left_front_wheel_joint" type="continuous">
|
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<axis xyz="0 0 1"/>
|
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<parent link="left_base"/>
|
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<child link="left_front_wheel"/>
|
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<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
|
|
<link name="left_back_wheel">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length=".1" radius="0.035"/>
|
|
</geometry>
|
|
<material name="black"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="left_back_wheel_joint" type="continuous">
|
|
<axis xyz="0 0 1"/>
|
|
<parent link="left_base"/>
|
|
<child link="left_back_wheel"/>
|
|
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
|
<limit effort="100" velocity="100"/>
|
|
<joint_properties damping="0.0" friction="0.0"/>
|
|
</joint>
|
|
<joint name="gripper_extension" type="prismatic">
|
|
<parent link="base_link"/>
|
|
<child link="gripper_pole"/>
|
|
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
|
|
<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
|
|
</joint>
|
|
|
|
<link name="gripper_pole">
|
|
<visual>
|
|
<geometry>
|
|
<cylinder length="0.2" radius=".01"/>
|
|
</geometry>
|
|
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
|
<material name="Gray">
|
|
<color rgba=".7 .7 .7 1"/>
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="left_gripper_joint" type="revolute">
|
|
<axis xyz="0 0 1"/>
|
|
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
|
|
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
|
|
<parent link="gripper_pole"/>
|
|
<child link="left_gripper"/>
|
|
</joint>
|
|
|
|
<link name="left_gripper">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="left_tip_joint" type="fixed">
|
|
<parent link="left_gripper"/>
|
|
<child link="left_tip"/>
|
|
</joint>
|
|
|
|
<link name="left_tip">
|
|
<visual>
|
|
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
|
|
<geometry>
|
|
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="right_gripper_joint" type="revolute">
|
|
<axis xyz="0 0 -1"/>
|
|
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
|
|
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
|
|
<parent link="gripper_pole"/>
|
|
<child link="right_gripper"/>
|
|
</joint>
|
|
|
|
<link name="right_gripper">
|
|
<visual>
|
|
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="right_tip_joint" type="fixed">
|
|
<parent link="right_gripper"/>
|
|
<child link="right_tip"/>
|
|
</joint>
|
|
|
|
<link name="right_tip">
|
|
<visual>
|
|
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
|
|
<geometry>
|
|
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
|
|
<link name="head">
|
|
<visual>
|
|
<geometry>
|
|
<sphere radius="0.2"/>
|
|
</geometry>
|
|
<material name="white"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="head_swivel" type="continuous">
|
|
<parent link="base_link"/>
|
|
<child link="head"/>
|
|
<axis xyz="0 0 1"/>
|
|
<origin xyz="0 0 0.3"/>
|
|
</joint>
|
|
|
|
<link name="box">
|
|
<visual>
|
|
<geometry>
|
|
<box size=".08 .08 .08"/>
|
|
</geometry>
|
|
<material name="blue"/>
|
|
</visual>
|
|
</link>
|
|
|
|
<joint name="tobox" type="fixed">
|
|
<parent link="head"/>
|
|
<child link="box"/>
|
|
<origin xyz="0 0.1414 0.1414"/>
|
|
</joint>
|
|
|
|
</robot>
|
|
|
|
);
|
|
|
|
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
|
|
|
|
void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhysicsBridge& gfxBridge, const btTransform& parentTransformInWorldSpace, btDiscreteDynamicsWorld* world)
|
|
{
|
|
btCollisionShape* shape = 0;
|
|
|
|
btTransform linkTransformInWorldSpace;
|
|
linkTransformInWorldSpace.setIdentity();
|
|
|
|
btScalar mass = 0;
|
|
btTransform inertialFrame;
|
|
inertialFrame.setIdentity();
|
|
|
|
if ((*link).inertial)
|
|
{
|
|
mass = (*link).inertial->mass;
|
|
inertialFrame.setOrigin(btVector3((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z));
|
|
inertialFrame.setRotation(btQuaternion((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w));
|
|
}
|
|
|
|
if ((*link).parent_joint)
|
|
{
|
|
btTransform p2j;
|
|
const urdf::Vector3 pos = (*link).parent_joint->parent_to_joint_origin_transform.position;
|
|
const urdf::Rotation orn = (*link).parent_joint->parent_to_joint_origin_transform.rotation;
|
|
btTransform parent2joint;
|
|
parent2joint.setOrigin(btVector3(pos.x,pos.y,pos.z));
|
|
parent2joint.setRotation(btQuaternion(orn.x,orn.y,orn.z,orn.w));
|
|
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
|
|
} else
|
|
{
|
|
linkTransformInWorldSpace = parentTransformInWorldSpace;
|
|
}
|
|
|
|
//btTransform linkCenterOfMass =inertialFrame*linkTransformInWorldSpace;
|
|
|
|
{
|
|
printf("converting link %s",link->name.c_str());
|
|
for (int v=0;v<link->visual_array.size();v++)
|
|
{
|
|
const Visual* visual = link->visual_array[v].get();
|
|
|
|
|
|
switch (visual->geometry->type)
|
|
{
|
|
case Geometry::CYLINDER:
|
|
{
|
|
printf("processing a cylinder\n");
|
|
urdf::Cylinder* cyl = (urdf::Cylinder*)visual->geometry.get();
|
|
btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
|
|
btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
|
|
shape = cylZShape;
|
|
break;
|
|
}
|
|
case Geometry::BOX:
|
|
{
|
|
printf("processing a box\n");
|
|
urdf::Box* box = (urdf::Box*)visual->geometry.get();
|
|
btVector3 extents(box->dim.x,box->dim.y,box->dim.z);
|
|
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
|
|
shape = boxShape;
|
|
break;
|
|
}
|
|
case Geometry::SPHERE:
|
|
{
|
|
printf("processing a sphere\n");
|
|
urdf::Sphere* sphere = (urdf::Sphere*)visual->geometry.get();
|
|
btScalar radius = sphere->radius;
|
|
btSphereShape* sphereShape = new btSphereShape(radius);
|
|
shape = sphereShape;
|
|
break;
|
|
|
|
break;
|
|
}
|
|
case Geometry::MESH:
|
|
{
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
printf("Error: unknown visual geometry type\n");
|
|
}
|
|
}
|
|
|
|
|
|
|
|
if (shape)
|
|
{
|
|
gfxBridge.createCollisionShapeGraphicsObject(shape);
|
|
|
|
btVector3 color(0,0,1);
|
|
if (visual->material.get())
|
|
{
|
|
color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
|
|
}
|
|
|
|
btVector3 localInertia(0,0,0);
|
|
if (mass)
|
|
{
|
|
shape->calculateLocalInertia(mass,localInertia);
|
|
}
|
|
btRigidBody::btRigidBodyConstructionInfo rbci(mass,0,shape,localInertia);
|
|
|
|
|
|
btVector3 visual_pos(visual->origin.position.x,visual->origin.position.y,visual->origin.position.z);
|
|
btQuaternion visual_orn(visual->origin.rotation.x,visual->origin.rotation.y,visual->origin.rotation.z,visual->origin.rotation.w);
|
|
btTransform visual_frame;
|
|
visual_frame.setOrigin(visual_pos);
|
|
visual_frame.setRotation(visual_orn);
|
|
|
|
btTransform visualFrameInWorldSpace =linkTransformInWorldSpace*visual_frame;
|
|
rbci.m_startWorldTransform = visualFrameInWorldSpace;//linkCenterOfMass;
|
|
|
|
|
|
btRigidBody* body = new btRigidBody(rbci);
|
|
world->addRigidBody(body);
|
|
gfxBridge.createRigidBodyGraphicsObject(body,color);
|
|
}
|
|
}
|
|
}
|
|
|
|
for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
|
|
{
|
|
if (*child)
|
|
{
|
|
URDFvisual2BulletCollisionShape(*child,gfxBridge, linkTransformInWorldSpace, world);
|
|
|
|
}
|
|
else
|
|
{
|
|
std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
|
|
{
|
|
|
|
int upAxis = 2;
|
|
gfxBridge.setUpAxis(upAxis);
|
|
|
|
this->createEmptyDynamicsWorld();
|
|
/* btVector3 groundHalfExtents(50,50,50);
|
|
groundHalfExtents[upAxis]=1.f;
|
|
btBoxShape* box = new btBoxShape(groundHalfExtents);
|
|
gfxBridge.createCollisionShapeGraphicsObject(box);
|
|
btTransform start; start.setIdentity();
|
|
btVector3 groundOrigin(0,0,0);
|
|
groundOrigin[upAxis]=-5;
|
|
start.setOrigin(groundOrigin);
|
|
btRigidBody* body = createRigidBody(0,start,box);
|
|
btVector3 color(0,1,0);
|
|
gfxBridge.createRigidBodyGraphicsObject(body,color);
|
|
*/
|
|
btVector3 gravity(0,0,0);
|
|
gravity[upAxis]=-9.8;
|
|
|
|
m_dynamicsWorld->setGravity(gravity);
|
|
int argc=0;
|
|
char* filename="somefile.urdf";
|
|
|
|
std::string xml_string;
|
|
|
|
if (argc < 2){
|
|
std::cerr << "No URDF file name provided, using a dummy test URDF" << std::endl;
|
|
|
|
xml_string = std::string(urdf_char);
|
|
|
|
} else
|
|
{
|
|
|
|
|
|
std::fstream xml_file(filename, std::fstream::in);
|
|
while ( xml_file.good() )
|
|
{
|
|
std::string line;
|
|
std::getline( xml_file, line);
|
|
xml_string += (line + "\n");
|
|
}
|
|
xml_file.close();
|
|
}
|
|
|
|
my_shared_ptr<ModelInterface> robot = parseURDF(xml_string);
|
|
if (!robot){
|
|
std::cerr << "ERROR: Model Parsing the xml failed" << std::endl;
|
|
return ;
|
|
}
|
|
std::cout << "robot name is: " << robot->getName() << std::endl;
|
|
|
|
// get info from parser
|
|
std::cout << "---------- Successfully Parsed XML ---------------" << std::endl;
|
|
// get root link
|
|
my_shared_ptr<const Link> root_link=robot->getRoot();
|
|
if (!root_link) return ;
|
|
|
|
std::cout << "root Link: " << root_link->name << " has " << root_link->child_links.size() << " child(ren)" << std::endl;
|
|
|
|
// print entire tree
|
|
printTree(root_link);
|
|
btTransform worldTrans;
|
|
worldTrans.setIdentity();
|
|
|
|
{
|
|
URDFvisual2BulletCollisionShape(root_link, gfxBridge, worldTrans,m_dynamicsWorld);
|
|
}
|
|
|
|
|
|
}
|