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Merge pull request #1671 from erwincoumans/master

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don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA …
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erwincoumans 2018-05-03 14:52:09 -07:00 committed by GitHub
commit ab4b663800
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5 changed files with 51 additions and 6 deletions
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39
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@ -300,6 +300,45 @@ std::string BulletURDFImporter::getJointName(int linkIndex) const
return "";
}
void BulletURDFImporter::getMassAndInertia2(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame, int flags) const
{
if (flags & CUF_USE_URDF_INERTIA)
{
getMassAndInertia(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrame);
}
else
{
//the link->m_inertia is NOT necessarily aligned with the inertial frame
//so an additional transform might need to be computed
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdfLinkIndex);
btAssert(linkPtr);
if (linkPtr)
{
UrdfLink* link = *linkPtr;
btScalar linkMass;
if (link->m_parentJoint == 0 && m_data->m_urdfParser.getModel().m_overrideFixedBase)
{
linkMass = 0.f;
}
else
{
linkMass = link->m_inertia.m_mass;
}
mass = linkMass;
localInertiaDiagonal.setValue(0,0,0);
inertialFrame.setOrigin(link->m_inertia.m_linkLocalFrame.getOrigin());
inertialFrame.setBasis(link->m_inertia.m_linkLocalFrame.getBasis());
}
else
{
mass = 1.f;
localInertiaDiagonal.setValue(1, 1, 1);
inertialFrame.setIdentity();
}
}
}
void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
{

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@ -59,6 +59,8 @@ public:
virtual std::string getJointName(int linkIndex) const;
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;
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;

4
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@ -215,7 +215,7 @@ void ConvertURDF2BulletInternal(
//b3Printf("urdf parent index = %d\n",urdfParentIndex);
//b3Printf("mb parent index = %d\n",mbParentIndex);
parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
u2b.getMassAndInertia(urdfParentIndex, parentMass,parentLocalInertiaDiagonal,parentLocalInertialFrame);
u2b.getMassAndInertia2(urdfParentIndex, parentMass,parentLocalInertiaDiagonal,parentLocalInertialFrame, flags);
}
@ -223,7 +223,7 @@ void ConvertURDF2BulletInternal(
btTransform localInertialFrame;
localInertialFrame.setIdentity();
btVector3 localInertiaDiagonal(0,0,0);
u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame);
u2b.getMassAndInertia2(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame, flags);

8
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@ -48,8 +48,12 @@ public:
virtual std::string getJointName(int linkIndex) const = 0;
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
virtual void getMassAndInertia(int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const =0;
virtual void getMassAndInertia (int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const =0;
virtual void getMassAndInertia2(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame, int flags) const
{
getMassAndInertia(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrame);
}
///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const =0;

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -2602,7 +2602,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
bodyHandle->m_bodyName = u2b.getBodyName();
btVector3 localInertiaDiagonal(0,0,0);
int urdfLinkIndex = u2b.getRootLinkIndex();
u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame);
u2b.getMassAndInertia2(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame,flags);
}
@ -2664,7 +2664,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
btScalar mass;
btVector3 localInertiaDiagonal(0,0,0);
btTransform localInertialFrame;
u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame);
u2b.getMassAndInertia2(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame, flags);
bodyHandle->m_linkLocalInertialFrames.push_back(localInertialFrame);
std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str());