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Code Issues Releases Wiki Activity

Allow choosing loaded as btRigidBody with RobotSimAPI.

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This commit is contained in:
yunfeibai 2016-08-16 16:57:48 -07:00
parent 9c4cfde3d6
commit 4bc31394a0
6 changed files with 56 additions and 6 deletions
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35
data/cube_small.sdf Normal file
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@ -0,0 +1,35 @@
<sdf version='1.6'>
<world name='default'>
<model name='unit_box_0'>
<pose frame=''>0 0 0.107 0 0 0</pose>
<link name='unit_box_0::link'>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>1.0</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.0</iyy>
<iyz>0</iyz>
<izz>1.0</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.05 0.05 0.05</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>0.05 0.05 0.05</scale>
<uri>cube.obj</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</world>
</sdf>

6
examples/RoboticsLearning/GripperGraspExample.cpp
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@ -82,7 +82,6 @@ public:
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
} }
{ {
b3RobotSimLoadFileArgs args(""); b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf"; args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf";
@ -132,9 +131,11 @@ public:
{ {
b3RobotSimLoadFileArgs args(""); b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results; b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf"; args.m_fileName = "cube_small.sdf";
args.m_startPosition.setValue(0,0,.107); args.m_startPosition.setValue(0,0,.107);
args.m_startOrientation.setEulerZYX(0,0,0); args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = false;
args.m_fileType = 2;
m_robotSim.loadFile(args,results); m_robotSim.loadFile(args,results);
} }
if (1) if (1)
@ -144,6 +145,7 @@ public:
args.m_startPosition.setValue(0,0,0); args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0,0); args.m_startOrientation.setEulerZYX(0,0,0);
args.m_forceOverrideFixedBase = true; args.m_forceOverrideFixedBase = true;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results; b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results); m_robotSim.loadFile(args,results);

6
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@ -211,7 +211,10 @@ public:
return m_cs; return m_cs;
} }
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){} virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
{
createCollisionObjectGraphicsObject((btCollisionObject*)body, color);
}
btCollisionObject* m_obj; btCollisionObject* m_obj;
btVector3 m_color2; btVector3 m_color2;
@ -685,6 +688,7 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
{ {
b3LoadUrdfCommandSetUseFixedBase(command,true); b3LoadUrdfCommandSetUseFixedBase(command,true);
} }
b3LoadUrdfCommandSetUseMultiBody(command, args.m_useMultiBody);
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command); statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
statusType = b3GetStatusType(statusHandle); statusType = b3GetStatusType(statusHandle);

1
examples/RoboticsLearning/b3RobotSimAPI.h
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@ -23,6 +23,7 @@ struct b3RobotSimLoadFileArgs
b3Vector3 m_startPosition; b3Vector3 m_startPosition;
b3Quaternion m_startOrientation; b3Quaternion m_startOrientation;
bool m_forceOverrideFixedBase; bool m_forceOverrideFixedBase;
bool m_useMultiBody;
int m_fileType; int m_fileType;

12
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -55,6 +55,16 @@ b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClie
return (b3SharedMemoryCommandHandle) command; return (b3SharedMemoryCommandHandle) command;
} }
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_URDF);
command->m_updateFlags |=URDF_ARGS_USE_MULTIBODY;
command->m_urdfArguments.m_useMultiBody = useMultiBody;
return 0;
}
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase) int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase)
{ {
@ -67,8 +77,6 @@ int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
return 0; return 0;
} }
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ) int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -877,6 +877,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
} }
btMultiBody* mb = creation.getBulletMultiBody(); btMultiBody* mb = creation.getBulletMultiBody();
if (useMultiBody) if (useMultiBody)
{ {
@ -944,7 +945,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
} else } else
{ {
btAssert(0);
return true; return true;
} }