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Merge pull request #927 from erwincoumans/master

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Fix TinyRenderer light rendering, fix btCapsuleShape collision margin, add capsule support for URDF parser
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erwincoumans 2017-01-23 17:15:23 -08:00 committed by GitHub
commit 8125b2610b
6 changed files with 87 additions and 22 deletions
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23
data/capsule.urdf Normal file
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@ -0,0 +1,23 @@
<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="base_link">
<contact>
<rolling_friction value="0.001"/>
<spinning_friction value="0.001"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<capsule length="0.1" radius="0.02"/>
</geometry>
</collision>
</link>
</robot>

10
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@ -455,6 +455,16 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
switch (collision->m_geometry.m_type)
{
case URDF_GEOM_CAPSULE:
{
btScalar radius = collision->m_geometry.m_capsuleRadius;
btScalar height = btScalar(2.f)*collision->m_geometry.m_capsuleHalfHeight;
btCapsuleShapeZ* capsuleShape = new btCapsuleShapeZ(radius,height);
shape = capsuleShape;
shape ->setMargin(gUrdfDefaultCollisionMargin);
break;
}
case URDF_GEOM_CYLINDER:
{
btScalar cylRadius = collision->m_geometry.m_cylinderRadius;

15
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@ -380,7 +380,20 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
geom.m_cylinderLength = urdfLexicalCast<double>(shape->Attribute("length"));
}
else if (type_name == "capsule")
{
geom.m_type = URDF_GEOM_CAPSULE;
if (!shape->Attribute("length") ||
!shape->Attribute("radius"))
{
logger->reportError("Capsule shape must have both length and radius attributes");
return false;
}
geom.m_hasFromTo = false;
geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHalfHeight = btScalar(0.5)*urdfLexicalCast<double>(shape->Attribute("length"));
}
else if (type_name == "mesh")
{
geom.m_type = URDF_GEOM_MESH;

35
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -3358,25 +3358,28 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1)
{
b3ContactPointData pt;
pt.m_bodyUniqueIdA = m_bodyUniqueIdA;
pt.m_bodyUniqueIdB = m_bodyUniqueIdB;
const btManifoldPoint& srcPt = cp;
pt.m_contactDistance = srcPt.getDistance();
pt.m_contactFlags = 0;
pt.m_linkIndexA = m_linkIndexA;
pt.m_linkIndexB = m_linkIndexB;
for (int j = 0; j < 3; j++)
if (cp.m_distance1<=m_closestDistanceThreshold)
{
pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j];
pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j];
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
b3ContactPointData pt;
pt.m_bodyUniqueIdA = m_bodyUniqueIdA;
pt.m_bodyUniqueIdB = m_bodyUniqueIdB;
const btManifoldPoint& srcPt = cp;
pt.m_contactDistance = srcPt.getDistance();
pt.m_contactFlags = 0;
pt.m_linkIndexA = m_linkIndexA;
pt.m_linkIndexB = m_linkIndexB;
for (int j = 0; j < 3; j++)
{
pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j];
pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j];
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
}
pt.m_normalForce = srcPt.getAppliedImpulse() / m_deltaTime;
// pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1;
m_cachedContactPoints.push_back(pt);
}
pt.m_normalForce = srcPt.getAppliedImpulse() / m_deltaTime;
// pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1;
m_cachedContactPoints.push_back(pt);
return 1;
}
};

12
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@ -94,9 +94,19 @@ struct TinyRendererVisualShapeConverterInternalData
m_swWidth(START_WIDTH),
m_swHeight(START_HEIGHT),
m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB),
m_lightDirection(btVector3(-5,200,-40)),
m_hasLightDirection(false),
m_lightColor(btVector3(1.0,1.0,1.0)),
m_hasLightColor(false),
m_hasShadow(false)
m_lightDistance(2.0),
m_hasLightDistance(false),
m_lightAmbientCoeff(0.6),
m_hasLightAmbientCoeff(false),
m_lightDiffuseCoeff(0.35),
m_hasLightDiffuseCoeff(false),
m_lightSpecularCoeff(0.05),
m_hasLightSpecularCoeff(false),
m_hasShadow(false)
{
m_depthBuffer.resize(m_swWidth*m_swHeight);
m_shadowBuffer.resize(m_swWidth*m_swHeight);

14
src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
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@ -19,8 +19,10 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
btCapsuleShape::btCapsuleShape(btScalar orgRadius, btScalar height) : btConvexInternalShape ()
{
m_collisionMargin = orgRadius;
btScalar radius = 0.f;
m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
m_upAxis = 1;
m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
@ -133,7 +135,7 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) con
btVector3 halfExtents(radius,radius,radius);
halfExtents[getUpAxis()]+=getHalfHeight();
btScalar margin = CONVEX_DISTANCE_MARGIN;
btScalar margin = m_collisionMargin;
btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
@ -149,8 +151,10 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) con
}
btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
btCapsuleShapeX::btCapsuleShapeX(btScalar orgRadius,btScalar height)
{
m_collisionMargin = orgRadius;
btScalar radius = 0.f;
m_upAxis = 0;
m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
}
@ -160,8 +164,10 @@ btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
btCapsuleShapeZ::btCapsuleShapeZ(btScalar orgRadius,btScalar height)
{
m_collisionMargin = orgRadius;
btScalar radius = 0.f;
m_upAxis = 2;
m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
}