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Code Issues Releases Wiki Activity

Fix some inconsistencies in URDF file handling between btRigidBody and btMultiBody

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(rotation order and application of root-inertial-frame offset)
This commit is contained in:
erwin coumans 2016-08-18 09:44:33 -07:00
parent 8a780fa0a4
commit 6005e54aa1
3 changed files with 29 additions and 16 deletions
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29
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@ -36,7 +36,8 @@ class ImportUrdfSetup : public CommonMultiBodyBase
struct ImportUrdfInternalData* m_data;
bool m_useMultiBody;
btAlignedObjectArray<std::string* > m_nameMemory;
btScalar m_grav;
int m_upAxis;
public:
ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName);
virtual ~ImportUrdfSetup();
@ -87,7 +88,9 @@ struct ImportUrdfInternalData
ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
:CommonMultiBodyBase(helper)
:CommonMultiBodyBase(helper),
m_grav(0),
m_upAxis(2)
{
m_data = new ImportUrdfInternalData;
@ -186,8 +189,8 @@ void ImportUrdfSetup::setFileName(const char* urdfFileName)
void ImportUrdfSetup::initPhysics()
{
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
m_guiHelper->setUpAxis(m_upAxis);
this->createEmptyDynamicsWorld();
//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
@ -199,10 +202,14 @@ void ImportUrdfSetup::initPhysics()
);//+btIDebugDraw::DBG_DrawConstraintLimits);
btVector3 gravity(0,0,0);
gravity[upAxis]=-9.8;
if (m_guiHelper->getParameterInterface())
{
SliderParams slider("Gravity", &m_grav);
slider.m_minVal = -10;
slider.m_maxVal = 10;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
m_dynamicsWorld->setGravity(gravity);
BulletURDFImporter u2b(m_guiHelper, 0);
@ -350,7 +357,7 @@ void ImportUrdfSetup::initPhysics()
if (createGround)
{
btVector3 groundHalfExtents(20,20,20);
groundHalfExtents[upAxis]=1.f;
groundHalfExtents[m_upAxis]=1.f;
btBoxShape* box = new btBoxShape(groundHalfExtents);
m_collisionShapes.push_back(box);
box->initializePolyhedralFeatures();
@ -358,7 +365,7 @@ void ImportUrdfSetup::initPhysics()
m_guiHelper->createCollisionShapeGraphicsObject(box);
btTransform start; start.setIdentity();
btVector3 groundOrigin(0,0,0);
groundOrigin[upAxis]=-2.5;
groundOrigin[m_upAxis]=-2.5;
start.setOrigin(groundOrigin);
btRigidBody* body = createRigidBody(0,start,box);
//m_dynamicsWorld->removeRigidBody(body);
@ -388,6 +395,10 @@ void ImportUrdfSetup::stepSimulation(float deltaTime)
{
if (m_dynamicsWorld)
{
btVector3 gravity(0, 0, 0);
gravity[m_upAxis] = m_grav;
m_dynamicsWorld->setGravity(gravity);
for (int i=0;i<m_data->m_numMotors;i++)
{
if (m_data->m_jointMotors[i])

10
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@ -299,7 +299,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
{
//b3Printf("Fixed joint\n");
btGeneric6DofSpring2Constraint* dof6 = creation.createFixedJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
btGeneric6DofSpring2Constraint* dof6 = creation.createFixedJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA);
if (enableConstraints)
world1->addConstraint(dof6,true);
@ -324,7 +324,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
} else
{
btGeneric6DofSpring2Constraint* dof6 = creation.createRevoluteJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
btGeneric6DofSpring2Constraint* dof6 = creation.createRevoluteJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,jointLowerLimit, jointUpperLimit);
if (enableConstraints)
world1->addConstraint(dof6,true);
@ -350,7 +350,7 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
} else
{
btGeneric6DofSpring2Constraint* dof6 = creation.createPrismaticJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB,jointAxisInJointSpace,jointLowerLimit,jointUpperLimit);
btGeneric6DofSpring2Constraint* dof6 = creation.createPrismaticJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,jointLowerLimit,jointUpperLimit);
if (enableConstraints)
@ -455,7 +455,9 @@ void ConvertURDF2Bullet(const URDFImporterInterface& u2b, MultiBodyCreationInter
mb->setHasSelfCollision(false);
mb->finalizeMultiDof();
mb->setBaseWorldTransform(rootTransformInWorldSpace);
btTransform localInertialFrameRoot = cache.m_urdfLinkLocalInertialFrames[urdfLinkIndex];
mb->setBaseWorldTransform(rootTransformInWorldSpace*localInertialFrameRoot);
btAlignedObjectArray<btQuaternion> scratch_q;
btAlignedObjectArray<btVector3> scratch_m;
mb->forwardKinematics(scratch_q,scratch_m);

2
examples/SharedMemory/PhysicsClientExample.cpp
View File

@ -239,7 +239,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf");
//setting the initial position, orientation and other arguments are optional
double startPosX = 0;
static double startPosY = 1;
static double startPosY = 0;
double startPosZ = 0;
b3LoadUrdfCommandSetStartPosition(commandHandle, startPosX,startPosY,startPosZ);
startPosY += 2.f;