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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
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
#define BULLET_URDF_IMPORTER_H
refactor of URDF importer (work-in-progress)
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#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
};
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
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class BulletURDFImporter : public URDFImporterInterface
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{
add alternative URDF parser that doens't use ROS urdf
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struct BulletURDFInternalData* m_data;
refactor of URDF importer (work-in-progress)
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public:
backward compatibility fix
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BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, struct CommonFileIOInterface* fileIO=0,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
removed flags from loadURDF command. The flags are already available in m_data->m_flags in BulletUrdfImporter.cpp
2018-10-02 15:39:47 +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();
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
void printTree(); //for debugging
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;
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
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
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +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;
PyBullet: add option to cache graphics shapes for URDF files, handy for benchmarks with many duplicate robots See https://github.com/erwincoumans/pybullet_robots ANYmal.py for an example. PyBullet: Expose p.setPhysicsEngineParameter(solverResidualThreshold=1e-2) (b3PhysicsParamSetSolverResidualThreshold), increases solver performance a lot PyBullet: Expose p.setPhysicsEngineParameter(contactSlop) Set it to zero, to avoid issues with restitution. PyBullet: Expose isNumpyEnabled, return True is PyBullet was compiled with NUMPY support for 'getCameraImage'. PyBullet: Expose p.ChangeDynamics(objectUid, linkIndex, contactProcessingThreshold), to avoid issues of speculative/predictive contacts with restitution. See also http://twvideo01.ubm-us.net/o1/vault/gdc2012/slides/Programming%20Track/Vincent_ROBERT_Track_ADifferentApproach.pdf
2018-05-23 03:26:00 +00:00
virtual void setLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const;
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo) 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 getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
virtual std::string getJointName(int linkIndex) const;
don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA is set, not for the diagonal and also not for the inertial frame shift.
2018-05-03 21:24:16 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
virtual void getMassAndInertia(int linkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
virtual void getMassAndInertia2(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame, int flags) 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
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
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;
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
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
update to tinyrenderer synthetic camera
2016-06-01 05:55:13 +00:00
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +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;
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
refactor of URDF importer (work-in-progress)
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virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
PyBullet / BulletRobotics: Implement collisionFilterPlugin, use setCollisionFilterPair to enable or disable collision detection between specific pairs of objects. Also, expose setCollisionFilterGroupMask as PyBullet API and in urdf using the tag <collision group="1" mask="2"/>. See examples/pybullet/examples/collisionFilter.py for an example. PyBullet default: Lower the warmstarting factor, for maximal coordinates rigid bodies for more stable simulation. Add btCollisionWorld::refreshBroadphaseProxy to easier recreate the broadphase proxy without adding/removing objects to the world.
2018-09-13 02:30:49 +00:00
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const;
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +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;
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
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 InMemoryFile for memory caching for fileIO plugin. Support SDF loading through fileIO plugin. Replace strcspn by C code (not crossplatform) Add flag for loadURDF to use color from MTL file (instead from URDF link material) pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL and pybullet.URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL
2018-10-14 19:54:34 +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, struct b3ImportMeshData& meshData) const;
refactor of URDF importer (work-in-progress)
2015-04-22 23:35:27 +00:00
};
Code-style consistency improvement: Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 21:17:31 +00:00
#endif //BULLET_URDF_IMPORTER_H
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