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Code Issues Releases Wiki Activity

Merge remote-tracking branch 'bulletphysics/master'

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This commit is contained in:
Erwin Coumans 2014-08-03 21:18:32 -07:00
commit 4027ed09ae
19 changed files with 1202 additions and 71 deletions
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4
Demos/CommonPhysicsSetup.h
View File

@ -33,6 +33,10 @@ struct GraphicsPhysicsBridge
return 0;
}
virtual void setUpAxis(int axis)
{
}
};
struct CommonPhysicsSetup

2
Demos/ConstraintDemo/ConstraintPhysicsSetup.cpp
View File

@ -22,6 +22,8 @@ void ConstraintPhysicsSetup::stepSimulation(float deltaTime)
void ConstraintPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
gfxBridge.setUpAxis(1);
createEmptyDynamicsWorld();
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);

17
Demos3/AllBullet2Demos/BulletDemoEntries.h
View File

@ -16,6 +16,8 @@
#include "../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h"
#include "../../Demos/ConstraintDemo/ConstraintPhysicsSetup.h"
#include "../ImportURDFDemo/ImportURDFSetup.h"
#include "../ImportObjDemo/ImportObjSetup.h"
#include "../ImportSTLDemo/ImportSTLSetup.h"
static BulletDemoInterface* MyCcdPhysicsDemoCreateFunc(SimpleOpenGL3App* app)
@ -41,6 +43,17 @@ static BulletDemoInterface* MyImportUrdfCreateFunc(SimpleOpenGL3App* app)
CommonPhysicsSetup* physicsSetup = new ImportUrdfDemo();
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MyImportObjCreateFunc(SimpleOpenGL3App* app)
{
CommonPhysicsSetup* physicsSetup = new ImportObjDemo(app);
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MyImportSTLCreateFunc(SimpleOpenGL3App* app)
{
CommonPhysicsSetup* physicsSetup = new ImportSTLDemo(app);
return new BasicDemo(app, physicsSetup);
}
struct BulletDemoEntry
{
@ -60,7 +73,11 @@ static BulletDemoEntry allDemos[]=
{ 1, "CcdDemo", MyCcdPhysicsDemoCreateFunc },
{ 1, "Kinematic", MyKinematicObjectCreateFunc },
{ 1, "Constraints", MyConstraintCreateFunc },
{0,"File Formats", 0},
//@todo(erwincoumans) { 1, "bullet", MyImportSTLCreateFunc},
{ 1, "Wavefront Obj", MyImportObjCreateFunc},
{ 1, "URDF", MyImportUrdfCreateFunc },
{ 1, "STL", MyImportSTLCreateFunc},
/* {1,"ChainDemo",ChainDemo::MyCreateFunc},
// {0, "Stress tests", 0 },

4
Demos3/AllBullet2Demos/CMakeLists.txt
View File

@ -40,6 +40,10 @@ SET(App_AllBullet2Demos_SRCS
../GpuDemos/gwenUserInterface.h
../ImportURDFDemo/ImportURDFSetup.cpp
../ImportURDFDemo/ImportURDFSetup.h
../ImportObjDemo/ImportObjSetup.cpp
../ImportSTLDemo/ImportSTLSetup.cpp
../Wavefront/tiny_obj_loader.cpp
../Wavefront/tiny_obj_loader.h
../../btgui/Timing/b3Clock.cpp
../../btgui/Timing/b3Clock.h
../../btgui/urdf/urdfdom/urdf_parser/src/pose.cpp

4
Demos3/AllBullet2Demos/main.cpp
View File

@ -331,8 +331,8 @@ int main(int argc, char* argv[])
assert(err==GL_NO_ERROR);
app->m_instancingRenderer->init();
DrawGridData dg;
// dg.upAxis = 2;
dg.upAxis = app->getUpAxis();
app->m_instancingRenderer->updateCamera(dg.upAxis);
app->drawGrid(dg);

4
Demos3/AllBullet2Demos/premake4.lua
View File

@ -30,6 +30,10 @@
"../../Demos/ConstraintDemo/ConstraintPhysicsSetup.cpp",
"../../Demos/ConstraintDemo/ConstraintPhysicsSetup.h",
"../ImportURDFDemo/ImportURDFSetup.cpp",
"../ImportObjDemo/ImportObjSetup.cpp",
"../ImportSTLDemo/ImportSTLSetup.cpp",
"../Wavefront/tiny_obj_loader.cpp",
"../Wavefront/tiny_obj_loader.h",
"../../btgui/urdf/urdfdom/urdf_parser/src/pose.cpp",
"../../btgui/urdf/urdfdom/urdf_parser/src/model.cpp",
"../../btgui/urdf/urdfdom/urdf_parser/src/link.cpp",

208
Demos3/ImportObjDemo/ImportObjSetup.cpp Normal file
View File

@ -0,0 +1,208 @@
#include "ImportObjSetup.h"
#include <vector>
#include "OpenGLWindow/GLInstancingRenderer.h"
#include"../Wavefront/tiny_obj_loader.h"
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
#include "btBulletDynamicsCommon.h"
#include "OpenGLWindow/SimpleOpenGL3App.h"
ImportObjDemo::ImportObjDemo(SimpleOpenGL3App* app)
:m_app(app)
{
}
ImportObjDemo::~ImportObjDemo()
{
}
static GLInstanceGraphicsShape* gCreateGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes)
{
b3AlignedObjectArray<GLInstanceVertex>* vertices = new b3AlignedObjectArray<GLInstanceVertex>;
{
// int numVertices = obj->vertexCount;
// int numIndices = 0;
b3AlignedObjectArray<int>* indicesPtr = new b3AlignedObjectArray<int>;
for (int s=0;s<shapes.size();s++)
{
tinyobj::shape_t& shape = shapes[s];
int faceCount = shape.mesh.indices.size();
for (int f=0;f<faceCount;f+=3)
{
//btVector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
if (1)
{
btVector3 normal(0,1,0);
int vtxBaseIndex = vertices->size();
indicesPtr->push_back(vtxBaseIndex);
indicesPtr->push_back(vtxBaseIndex+1);
indicesPtr->push_back(vtxBaseIndex+2);
GLInstanceVertex vtx0;
vtx0.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f]*3+0];
vtx0.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f]*3+1];
vtx0.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f]*3+2];
vtx0.xyzw[3] = 0.f;
vtx0.uv[0] = 0.5f;//shape.mesh.positions[shape.mesh.indices[f]*3+2];?
vtx0.uv[1] = 0.5f;
GLInstanceVertex vtx1;
vtx1.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f+1]*3+0];
vtx1.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f+1]*3+1];
vtx1.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f+1]*3+2];
vtx1.xyzw[3]= 0.f;
vtx1.uv[0] = 0.5f;//obj->textureList[face->vertex_index[1]]->e[0];
vtx1.uv[1] = 0.5f;//obj->textureList[face->vertex_index[1]]->e[1];
GLInstanceVertex vtx2;
vtx2.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f+2]*3+0];
vtx2.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f+2]*3+1];
vtx2.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f+2]*3+2];
vtx2.xyzw[3] = 0.f;
vtx2.uv[0] = 0.5f;
vtx2.uv[1] = 0.5f;
btVector3 v0(vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
btVector3 v1(vtx1.xyzw[0],vtx1.xyzw[1],vtx1.xyzw[2]);
btVector3 v2(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
normal = (v1-v0).cross(v2-v0);
normal.normalize();
vtx0.normal[0] = normal[0];
vtx0.normal[1] = normal[1];
vtx0.normal[2] = normal[2];
vtx1.normal[0] = normal[0];
vtx1.normal[1] = normal[1];
vtx1.normal[2] = normal[2];
vtx2.normal[0] = normal[0];
vtx2.normal[1] = normal[1];
vtx2.normal[2] = normal[2];
vertices->push_back(vtx0);
vertices->push_back(vtx1);
vertices->push_back(vtx2);
}
}
}
GLInstanceGraphicsShape* gfxShape = new GLInstanceGraphicsShape;
gfxShape->m_vertices = vertices;
gfxShape->m_numvertices = vertices->size();
gfxShape->m_indices = indicesPtr;
gfxShape->m_numIndices = indicesPtr->size();
for (int i=0;i<4;i++)
gfxShape->m_scaling[i] = 1;//bake the scaling into the vertices
return gfxShape;
}
}
void ImportObjDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
this->createEmptyDynamicsWorld();
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
const char* fileName = "samurai_monastry.obj";
char relativeFileName[1024];
const char* prefix[]={"./data/","../data/","../../data/","../../../data/","../../../../data/"};
int prefixIndex=-1;
{
int numPrefixes = sizeof(prefix)/sizeof(char*);
for (int i=0;i<numPrefixes;i++)
{
FILE* f = 0;
sprintf(relativeFileName,"%s%s",prefix[i],fileName);
f = fopen(relativeFileName,"r");
if (f)
{
fclose(f);
prefixIndex = i;
break;
}
}
}
if (prefixIndex<0)
return;
btVector3 shift(0,0,0);
btVector3 scaling(1,1,1);
int index=10;
{
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, relativeFileName, prefix[prefixIndex]);
GLInstanceGraphicsShape* gfxShape = gCreateGraphicsShapeFromWavefrontObj(shapes);
btTransform trans;
trans.setIdentity();
trans.setRotation(btQuaternion(btVector3(1,0,0),SIMD_HALF_PI));
btVector3 position = trans.getOrigin();
btQuaternion orn = trans.getRotation();
btVector3 color(0,0,1);
int shapeId = m_app->m_instancingRenderer->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices);
int id = m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
/*
btTriangleMesh* trimeshData = new btTriangleMesh();
for (int i=0;i<gfxShape->m_numvertices;i++)
{
for (int j=0;j<3;j++)
gfxShape->m_vertices->at(i).xyzw[j] += shift[j];
}
for (int i=0;i<gfxShape->m_numIndices;i+=3)
{
int index0 = gfxShape->m_indices->at(i);
int index1 = gfxShape->m_indices->at(i+1);
int index2 = gfxShape->m_indices->at(i+2);
btVector3 v0(gfxShape->m_vertices->at(index0).xyzw[0],
gfxShape->m_vertices->at(index0).xyzw[1],
gfxShape->m_vertices->at(index0).xyzw[2]);
btVector3 v1(gfxShape->m_vertices->at(index1).xyzw[0],
gfxShape->m_vertices->at(index1).xyzw[1],
gfxShape->m_vertices->at(index1).xyzw[2]);
btVector3 v2(gfxShape->m_vertices->at(index2).xyzw[0],
gfxShape->m_vertices->at(index2).xyzw[1],
gfxShape->m_vertices->at(index2).xyzw[2]);
trimeshData->addTriangle(v0,v1,v2);
}
//btConvexHullShape* convexShape = new btConvexHullShape(&verts[0].x(),verts.size(),sizeof(btVector3));
btBvhTriangleMeshShape* shape = new btBvhTriangleMeshShape(trimeshData,true);//meshInterface);
btTransform startTrans;startTrans.setIdentity();
btRigidBody* body = this->createRigidBody(0,startTrans,shape);
//gfxBridge.createCollisionShapeGraphicsObject(shape);
btVector3 color(0,0,1);
*/
//gfxBridge.createRigidBodyGraphicsObject(body,color);
}
}

17
Demos3/ImportObjDemo/ImportObjSetup.h Normal file
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@ -0,0 +1,17 @@
#ifndef IMPORT_OBJ_SETUP_H
#define IMPORT_OBJ_SETUP_H
#include "../../Demos/CommonRigidBodySetup.h"
class ImportObjDemo : public CommonRigidBodySetup
{
struct SimpleOpenGL3App* m_app;
public:
ImportObjDemo(SimpleOpenGL3App* app);
virtual ~ImportObjDemo();
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
};
#endif //IMPORT_OBJ_SETUP_H

204
Demos3/ImportSTLDemo/ImportSTLSetup.cpp Normal file
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@ -0,0 +1,204 @@
#include "ImportSTLSetup.h"
#include <vector>
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
#include "btBulletDynamicsCommon.h"
#include "OpenGLWindow/SimpleOpenGL3App.h"
ImportSTLDemo::ImportSTLDemo(SimpleOpenGL3App* app)
:m_app(app)
{
}
ImportSTLDemo::~ImportSTLDemo()
{
}
struct MySTLTriangle
{
float normal[3];
float vertex0[3];
float vertex1[3];
float vertex2[3];
};
GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
{
GLInstanceGraphicsShape* shape = 0;
FILE* file = fopen(relativeFileName,"rb");
if (file)
{
int size=0;
if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET))
{
printf("Error: Cannot access file to determine size of %s\n", relativeFileName);
} else
{
if (size)
{
printf("Open STL file of %d bytes\n",size);
char* memoryBuffer = new char[size+1];
int actualBytesRead = fread(memoryBuffer,1,size,file);
if (actualBytesRead!=size)
{
printf("Error reading from file %s",relativeFileName);
} else
{
int numTriangles = *(int*)&memoryBuffer[80];
if (numTriangles)
{
shape = new GLInstanceGraphicsShape;
// b3AlignedObjectArray<GLInstanceVertex>* m_vertices;
// int m_numvertices;
// b3AlignedObjectArray<int>* m_indices;
// int m_numIndices;
// float m_scaling[4];
shape->m_scaling[0] = 1;
shape->m_scaling[1] = 1;
shape->m_scaling[2] = 1;
shape->m_scaling[3] = 1;
int index = 0;
shape->m_indices = new b3AlignedObjectArray<int>();
shape->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i=0;i<numTriangles;i++)
{
char* curPtr = &memoryBuffer[84+i*50];
MySTLTriangle* tri = (MySTLTriangle*) curPtr;
GLInstanceVertex v0,v1,v2;
if (i==numTriangles-2)
{
printf("!\n");
}
v0.uv[0] = v1.uv[0] = v2.uv[0] = 0.5;
v0.uv[1] = v1.uv[1] = v2.uv[1] = 0.5;
for (int v=0;v<3;v++)
{
v0.xyzw[v] = tri->vertex0[v];
v1.xyzw[v] = tri->vertex1[v];
v2.xyzw[v] = tri->vertex2[v];
v0.normal[v] = v1.normal[v] = v2.normal[v] = tri->normal[v];
}
v0.xyzw[3] = v1.xyzw[3] = v2.xyzw[3] = 0.f;
shape->m_vertices->push_back(v0);
shape->m_vertices->push_back(v1);
shape->m_vertices->push_back(v2);
shape->m_indices->push_back(index++);
shape->m_indices->push_back(index++);
shape->m_indices->push_back(index++);
}
}
}
delete[] memoryBuffer;
}
}
fclose(file);
}
shape->m_numIndices = shape->m_indices->size();
shape->m_numvertices = shape->m_vertices->size();
return shape;
}
void ImportSTLDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
this->createEmptyDynamicsWorld();
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
const char* fileName = "l_finger_tip.stl";
char relativeFileName[1024];
const char* prefix[]={"./data/","../data/","../../data/","../../../data/","../../../../data/"};
int prefixIndex=-1;
{
int numPrefixes = sizeof(prefix)/sizeof(char*);
for (int i=0;i<numPrefixes;i++)
{
FILE* f = 0;
sprintf(relativeFileName,"%s%s",prefix[i],fileName);
f = fopen(relativeFileName,"r");
if (f)
{
fclose(f);
prefixIndex = i;
break;
}
}
}
if (prefixIndex<0)
return;
btVector3 shift(0,0,0);
btVector3 scaling(10,10,10);
int index=10;
{
GLInstanceGraphicsShape* gfxShape = LoadMeshFromSTL(relativeFileName);
btTransform trans;
trans.setIdentity();
trans.setRotation(btQuaternion(btVector3(1,0,0),SIMD_HALF_PI));
btVector3 position = trans.getOrigin();
btQuaternion orn = trans.getRotation();
btVector3 color(0,0,1);
int shapeId = m_app->m_instancingRenderer->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices);
int id = m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
/*
btTriangleMesh* trimeshData = new btTriangleMesh();
for (int i=0;i<gfxShape->m_numvertices;i++)
{
for (int j=0;j<3;j++)
gfxShape->m_vertices->at(i).xyzw[j] += shift[j];
}
for (int i=0;i<gfxShape->m_numIndices;i+=3)
{
int index0 = gfxShape->m_indices->at(i);
int index1 = gfxShape->m_indices->at(i+1);
int index2 = gfxShape->m_indices->at(i+2);
btVector3 v0(gfxShape->m_vertices->at(index0).xyzw[0],
gfxShape->m_vertices->at(index0).xyzw[1],
gfxShape->m_vertices->at(index0).xyzw[2]);
btVector3 v1(gfxShape->m_vertices->at(index1).xyzw[0],
gfxShape->m_vertices->at(index1).xyzw[1],
gfxShape->m_vertices->at(index1).xyzw[2]);
btVector3 v2(gfxShape->m_vertices->at(index2).xyzw[0],
gfxShape->m_vertices->at(index2).xyzw[1],
gfxShape->m_vertices->at(index2).xyzw[2]);
trimeshData->addTriangle(v0,v1,v2);
}
//btConvexHullShape* convexShape = new btConvexHullShape(&verts[0].x(),verts.size(),sizeof(btVector3));
btBvhTriangleMeshShape* shape = new btBvhTriangleMeshShape(trimeshData,true);//meshInterface);
btTransform startTrans;startTrans.setIdentity();
btRigidBody* body = this->createRigidBody(0,startTrans,shape);
//gfxBridge.createCollisionShapeGraphicsObject(shape);
btVector3 color(0,0,1);
*/
//gfxBridge.createRigidBodyGraphicsObject(body,color);
}
}

17
Demos3/ImportSTLDemo/ImportSTLSetup.h Normal file
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@ -0,0 +1,17 @@
#ifndef IMPORT_STL_SETUP_H
#define IMPORT_STL_SETUP_H
#include "../../Demos/CommonRigidBodySetup.h"
class ImportSTLDemo : public CommonRigidBodySetup
{
struct SimpleOpenGL3App* m_app;
public:
ImportSTLDemo(SimpleOpenGL3App* app);
virtual ~ImportSTLDemo();
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
};
#endif //IMPORT_OBJ_SETUP_H

744
Demos3/ImportURDFDemo/ImportURDFSetup.cpp
View File

@ -106,65 +106,646 @@ const char* urdf_char3 = MSTRINGIFY(<?xml version="1.0"?>
</robot>);
const char* urdf_char = MSTRINGIFY(<?xml version="1.0"?>
<robot name="materials">
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
</link>
<link name="right_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
</link>
<joint name="base_to_right_leg" type="fixed">
<parent link="base_link"/>
<child link="right_leg"/>
<origin xyz="0.22 0 .25"/>
</joint>
<link name="left_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white"/>
</visual>
</link>
<joint name="base_to_left_leg" type="fixed">
<parent link="base_link"/>
<child link="left_leg"/>
<origin xyz="-0.22 0 .25"/>
</joint>
</robot>);
const char* urdf_char4 = MSTRINGIFY(
<?xml version="1.0"?>
<robot name="materials">
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
</link>
<link name="right_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
</link>
<joint name="base_to_right_leg" type="fixed">
<parent link="base_link"/>
<child link="right_leg"/>
<origin xyz="0.22 0 .25"/>
</joint>
<link name="left_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white"/>
</visual>
</link>
<joint name="base_to_left_leg" type="fixed">
<parent link="base_link"/>
<child link="left_leg"/>
<origin xyz="-0.22 0 .25"/>
</joint>
<link name="head">
<visual>
<geometry>
<sphere radius="0.2"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint name="head_swivel" type="fixed">
<parent link="base_link"/>
<child link="head"/>
<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>
);
const char* urdf_char_r2d2 = MSTRINGIFY(
<?xml version="1.0"?>
<robot name="visual">
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
</link>
<link name="right_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
</link>
<joint name="base_to_right_leg" type="fixed">
<parent link="base_link"/>
<child link="right_leg"/>
<origin xyz="0.22 0 .25"/>
</joint>
<link name="right_base">
<visual>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint name="right_base_joint" type="fixed">
<parent link="right_leg"/>
<child link="right_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="right_front_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="right_front_wheel_joint" type="fixed">
<parent link="right_base"/>
<child link="right_front_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
</joint>
<link name="right_back_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="right_back_wheel_joint" type="fixed">
<parent link="right_base"/>
<child link="right_back_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
</joint>
<link name="left_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white"/>
</visual>
</link>
<joint name="base_to_left_leg" type="fixed">
<parent link="base_link"/>
<child link="left_leg"/>
<origin xyz="-0.22 0 .25"/>
</joint>
<link name="left_base">
<visual>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint name="left_base_joint" type="fixed">
<parent link="left_leg"/>
<child link="left_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="left_front_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="left_front_wheel_joint" type="fixed">
<parent link="left_base"/>
<child link="left_front_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
</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="fixed">
<parent link="left_base"/>
<child link="left_back_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
</joint>
<joint name="gripper_extension" type="fixed">
<parent link="base_link"/>
<child link="gripper_pole"/>
<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="fixed">
<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="fixed">
<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="fixed">
<parent link="base_link"/>
<child link="head"/>
<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>
);
const char* urdf_char = MSTRINGIFY(
<?xml version="1.0"?>
<robot name="flexible">
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
</link>
<link name="right_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
</link>
<joint name="base_to_right_leg" type="fixed">
<parent link="base_link"/>
<child link="right_leg"/>
<origin xyz="0.22 0 .25"/>
</joint>
<link name="right_base">
<visual>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint name="right_base_joint" type="fixed">
<parent link="right_leg"/>
<child link="right_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="right_front_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="right_base"/>
<child link="right_front_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>
<link name="right_back_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="right_back_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="right_base"/>
<child link="right_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>
<link name="left_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white"/>
</visual>
</link>
<joint name="base_to_left_leg" type="fixed">
<parent link="base_link"/>
<child link="left_leg"/>
<origin xyz="-0.22 0 .25"/>
</joint>
<link name="left_base">
<visual>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint name="left_base_joint" type="fixed">
<parent link="left_leg"/>
<child link="left_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="left_front_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="left_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="left_base"/>
<child link="left_front_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>
<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)
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();
@ -172,12 +753,11 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
switch (visual->geometry->type)
{
// , BOX, CYLINDER, MESH:
case Geometry::CYLINDER:
{
printf("processing a cylinder\n");
urdf::Cylinder* cyl = (urdf::Cylinder*)visual->geometry.get();
btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length);
btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
shape = cylZShape;
break;
@ -186,13 +766,20 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
{
printf("processing a box\n");
urdf::Box* box = (urdf::Box*)visual->geometry.get();
btVector3 halfExtents(box->dim.x,box->dim.y,box->dim.z);
btBoxShape* boxShape = new btBoxShape(halfExtents);
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:
@ -205,6 +792,8 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
}
}
if (shape)
{
gfxBridge.createCollisionShapeGraphicsObject(shape);
@ -214,15 +803,27 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
{
color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
}
// btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
btScalar mass = 0.f;
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);
}
}
@ -232,7 +833,7 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
{
if (*child)
{
URDFvisual2BulletCollisionShape(*child,gfxBridge);
URDFvisual2BulletCollisionShape(*child,gfxBridge, linkTransformInWorldSpace, world);
}
else
@ -247,6 +848,27 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
}
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";
@ -288,9 +910,11 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
// print entire tree
printTree(root_link);
btTransform worldTrans;
worldTrans.setIdentity();
{
URDFvisual2BulletCollisionShape(root_link, gfxBridge);
URDFvisual2BulletCollisionShape(root_link, gfxBridge, worldTrans,m_dynamicsWorld);
}

21
Demos3/bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp
View File

@ -43,7 +43,11 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
box->setUserIndex(cubeShapeId);
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
break;
}
default:
{
if (collisionShape->isConvex())
@ -145,6 +149,11 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
{
return m_glApp->m_parameterInterface;
}
virtual void setUpAxis(int axis)
{
m_glApp->setUpAxis(axis);
}
};
Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(SimpleOpenGL3App* app, CommonPhysicsSetup* physicsSetup)
@ -221,8 +230,10 @@ btVector3 Bullet2RigidBodyDemo::getRayTo(int x,int y)
rayForward*= farPlane;
btVector3 rightOffset;
btVector3 m_cameraUp=btVector3(0,1,0);
btVector3 vertical = m_cameraUp;
btVector3 cameraUp=btVector3(0,0,0);
cameraUp[m_glApp->getUpAxis()]=1;
btVector3 vertical = cameraUp;
btVector3 hor;
hor = rayForward.cross(vertical);
@ -266,6 +277,7 @@ bool Bullet2RigidBodyDemo::mouseMoveCallback(float x,float y)
return false;
}
bool Bullet2RigidBodyDemo::mouseButtonCallback(int button, int state, float x, float y)
{
@ -278,8 +290,7 @@ bool Bullet2RigidBodyDemo::mouseButtonCallback(int button, int state, float x, f
btVector3 rayFrom = camPos;
btVector3 rayTo = getRayTo(x,y);
m_physicsSetup->pickBody(rayFrom, rayTo);

4
btgui/OpenGLWindow/GLInstancingRenderer.cpp
View File

@ -379,7 +379,8 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
m_textureenabled(true),
m_textureinitialized(false),
m_screenWidth(0),
m_screenHeight(0)
m_screenHeight(0),
m_upAxis(1)
{
m_data = new InternalDataRenderer;
@ -1068,6 +1069,7 @@ void GLInstancingRenderer::updateCamera(int upAxis)
b3Assert(glGetError() ==GL_NO_ERROR);
m_upAxis = upAxis;
int m_forwardAxis(-1);
switch (upAxis)
{

2
btgui/OpenGLWindow/GLInstancingRenderer.h
View File

@ -52,6 +52,8 @@ class GLInstancingRenderer
int m_screenWidth;
int m_screenHeight;
int m_upAxis;
void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE);

16
btgui/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@ -42,6 +42,7 @@ struct SimpleInternalData
FILE* m_ffmpegFile;
GLRenderToTexture* m_renderTexture;
void* m_userPointer;
int m_upAxis;//y=1 or z=2 is supported
};
@ -85,6 +86,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
m_data->m_renderTexture = 0;
m_data->m_ffmpegFile = 0;
m_data->m_userPointer = 0;
m_data->m_upAxis = 1;
m_window = new b3gDefaultOpenGLWindow();
b3gWindowConstructionInfo ci;
@ -123,7 +125,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer = new GLInstancingRenderer(128*1024,4*1024*1024);
m_instancingRenderer = new GLInstancingRenderer(128*1024,32*1024*1024);
m_instancingRenderer->init();
m_instancingRenderer->resize(width,height);
@ -562,3 +564,15 @@ void SimpleOpenGL3App::dumpNextFrameToPng(const char* filename)
bool result = m_data->m_renderTexture->enable();
*/
}
void SimpleOpenGL3App::setUpAxis(int axis)
{
b3Assert((axis == 1)||(axis==2));//only Y or Z is supported at the moment
m_data->m_upAxis = axis;
}
int SimpleOpenGL3App::getUpAxis() const
{
return m_data->m_upAxis;
}

3
btgui/OpenGLWindow/SimpleOpenGL3App.h
View File

@ -43,6 +43,9 @@ struct SimpleOpenGL3App
void dumpFramesToVideo(const char* mp4Filename);
void drawGrid(DrawGridData data=DrawGridData());
void setUpAxis(int axis);
int getUpAxis() const;
void swapBuffer();
void drawText( const char* txt, int posX, int posY);
struct sth_stash* getFontStash();

2
build3/premake4.lua
View File

@ -168,8 +168,6 @@ end
include "../test/enet/client"
end
include "../Demos"
include "../Extras"
if _OPTIONS["bullet2gpu"] then
end

BIN
data/l_finger.stl Normal file
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BIN
data/l_finger_tip.stl Normal file
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