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bullet3/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

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add alternative URDF parser that doens't use ROS urdf
2015-06-28 21:09:21 +00:00
#ifndef BULLET_URDF_IMPORTER_H
#define BULLET_URDF_IMPORTER_H
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
#include "URDFImporterInterface.h"
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
#include "UrdfRenderingInterface.h"
Expose a better API to allow any render engine to be used for the physics simulation when loading URDF/SDF files. 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
2016-05-20 01:37:15 +00:00
Implement first draft of pybullet.createVisualShape and add createVisualShape.py example add normals to duck.obj for nicer appearance fix plane100.urdf (so collision shape matches visual shape size)
2017-10-08 01:50:23 +00:00
struct BulletURDFTexture
{
int m_width;
int m_height;
pybullet: allow to replace existing text, to avoid flickering (remove/add) allow texture caching (disable using the disable file caching)
2017-10-25 15:15:01 +00:00
unsigned char* textureData1;
bool m_isCached;
Implement first draft of pybullet.createVisualShape and add createVisualShape.py example add normals to duck.obj for nicer appearance fix plane100.urdf (so collision shape matches visual shape size)
2017-10-08 01:50:23 +00:00
};
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
add initial SDF importer, work-in-progress (still too incomplete to be useful)
2016-05-10 00:25:07 +00:00
///BulletURDFImporter can deal with URDF and (soon) SDF files
add alternative URDF parser that doens't use ROS urdf
2015-06-28 21:09:21 +00:00
class BulletURDFImporter : public URDFImporterInterface
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
{
add alternative URDF parser that doens't use ROS urdf
2015-06-28 21:09:21 +00:00
struct BulletURDFInternalData* m_data;
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
public:
PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.
2018-01-17 20:48:48 +00:00
BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling=1, int flags=0);
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only
2015-04-23 22:41:17 +00:00
add alternative URDF parser that doens't use ROS urdf
2015-06-28 21:09:21 +00:00
virtual ~BulletURDFImporter();
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only
2015-04-23 22:41:17 +00:00
Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations. Fix two_cubes.sdf (was lacking collision shape for second cube)
2017-08-14 21:59:41 +00:00
add forceFixedBase option for URDF import example
2015-07-07 22:39:36 +00:00
virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only
2015-04-23 22:41:17 +00:00
fix build issues in previous commit
2017-08-15 17:46:09 +00:00
//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
virtual int getNumModels() const;
virtual void activateModel(int modelIndex);
virtual void setBodyUniqueId(int bodyId);
virtual int getBodyUniqueId() const;
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only
2015-04-23 22:41:17 +00:00
const char* getPathPrefix();
void printTree(); //for debugging
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
added LICENSE.txt and AUTHORS.txt file add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures. add btMultiBody::setBaseWorldTransform method todo: fix cmake build, this patch is premake only
2015-04-23 22:41:17 +00:00
virtual int getRootLinkIndex() const;
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
Add body name when loading urdf.
2017-03-23 17:16:39 +00:00
Replace spaces with tabs.
2017-03-29 22:37:33 +00:00
virtual std::string getBodyName() const;
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
virtual std::string getLinkName(int linkIndex) const;
b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API Parse and use colors from URDF file (single rgba color per link, not per visual) Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof' btHashMap, add const Value* operator[] remove a few more obsolete btMultiBody methods (on the non-multi-dof path) fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill) Add mention to Jakub Stepien for his work on btMultiBody
2015-11-07 01:11:15 +00:00
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)
2016-07-11 07:26:40 +00:00
implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support. pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor Bug fixes in b3ResourcePath::findResourcePath resolution. add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium minor fixes to obj2sdf
2017-06-01 19:32:44 +00:00
virtual bool getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const;
plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision ! See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds: https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf Add the --audio flag to enable sound in pybullet/Bullet-C-API
2017-05-01 18:14:09 +00:00
virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const;
update to tinyrenderer synthetic camera
2016-06-01 05:55:13 +00:00
plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision ! See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds: https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf Add the --audio flag to enable sound in pybullet/Bullet-C-API
2017-05-01 18:14:09 +00:00
virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
virtual std::string getJointName(int linkIndex) const;
virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
parse root transformation and test loading two robots
2016-05-11 22:52:50 +00:00
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. Add several MSVC optimization flags to cmake. Bump up VERSION because serialization format changed Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo. pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
2017-03-26 20:06:46 +00:00
virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
parse root transformation and test loading two robots
2016-05-11 22:52:50 +00:00
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface (still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
2017-06-03 17:57:56 +00:00
virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld);
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
update to tinyrenderer synthetic camera
2016-06-01 05:55:13 +00:00
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
URDF loader: fix MuJoCo xml load, also closes #993
2017-03-16 23:09:55 +00:00
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int bodyUniqueId) const;
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
fix potential memory leaks for concave triangle meshes (<concave=true> or createCollisionShape with flags=1)
2017-08-24 16:16:11 +00:00
class btCollisionShape* convertURDFToCollisionShape(const struct UrdfCollision* collision, const char* urdfPathPrefix) const;
further work on urdfEditor.py, fix some serialization issues
2018-01-08 20:25:56 +00:00
virtual int getUrdfFromCollisionShape(const btCollisionShape* collisionShape, UrdfCollision& collision) const;
fix some memory leaks in ImportURDF / PhysicsServerCommandProcessor
2016-04-11 23:42:02 +00:00
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
fix some memory leaks in ImportURDF / PhysicsServerCommandProcessor
2016-04-11 23:42:02 +00:00
virtual int getNumAllocatedCollisionShapes() const;
virtual class btCollisionShape* getAllocatedCollisionShape(int index);
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
fix potential memory leaks for concave triangle meshes (<concave=true> or createCollisionShape with flags=1)
2017-08-24 16:16:11 +00:00
virtual int getNumAllocatedMeshInterfaces() const;
virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);
explicitly remove textures during resetSimulation move glViewport to Win32Window
2018-02-22 07:22:16 +00:00
virtual int getNumAllocatedTextures() const;
virtual int getAllocatedTexture(int index) const;
improve loading performance of large textures: option to disable tinyrenderer, use p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0) also make sure to use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loadURDF, and enable rendering afterwards using p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) reorder 2 loops, making the flip texels twice as fast (cache coherency), single memcpy of entire texture in tinyrenderer, instead of per-pixel copy (memory layout is the same) add lots of B3_PROFILE timings, to see where time is going
2017-10-06 20:46:24 +00:00
virtual void setEnableTinyRenderer(bool enable);
Implement first draft of pybullet.createVisualShape and add createVisualShape.py example add normals to duck.obj for nicer appearance fix plane100.urdf (so collision shape matches visual shape size)
2017-10-08 01:50:23 +00:00
void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut) const;
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
};
add alternative URDF parser that doens't use ROS urdf
2015-06-28 21:09:21 +00:00
#endif //BULLET_URDF_IMPORTER_H
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