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Code Issues Releases Wiki Activity

work-in-progress URDF refactor to make it easier to reuse (broken)

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This commit is contained in:
Erwin Coumans 2015-03-17 16:07:14 -07:00
parent ebd63d92c9
commit b35527ad5c
6 changed files with 2159 additions and 1372 deletions
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1
Demos3/AllBullet2Demos/CMakeLists.txt
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@ -46,6 +46,7 @@ SET(App_AllBullet2Demos_SRCS
# ../bullet2/RagdollDemo/RagdollDemo.h
../bullet2/LuaDemo/LuaPhysicsSetup.cpp
../bullet2/LuaDemo/LuaPhysicsSetup.h
../ImportURDFDemo/URDF2Bullet.cpp
../ImportURDFDemo/ImportURDFSetup.cpp
../ImportURDFDemo/ImportURDFSetup.h
../ImportObjDemo/ImportObjSetup.cpp

1
Demos3/AllBullet2Demos/premake4.lua
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@ -69,6 +69,7 @@
-- "../bullet2/SoftDemo/SoftDemo.cpp",
"../ImportColladaDemo/LoadMeshFromCollada.cpp",
"../ImportColladaDemo/ImportColladaSetup.cpp",
"../ImportURDFDemo/URDF2Bullet.cpp",
"../ImportURDFDemo/ImportURDFSetup.cpp",
"../ImportObjDemo/ImportObjSetup.cpp",
"../ImportObjDemo/LoadMeshFromObj.cpp",

2876
Demos3/ImportURDFDemo/ImportURDFSetup.cpp
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File diff suppressed because it is too large Load Diff

1
Demos3/ImportURDFDemo/ImportURDFSetup.h
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@ -7,7 +7,6 @@
class ImportUrdfSetup : public CommonMultiBodySetup
{
char m_fileName[1024];
struct ImportUrdfInternalData* m_data;
public:
ImportUrdfSetup();

497
Demos3/ImportURDFDemo/URDF2Bullet.cpp Normal file
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@ -0,0 +1,497 @@
#include "URDF2Bullet.h"
#include <stdio.h>
#include "LinearMath/btTransform.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
static bool enableConstraints = true;
static btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
static btVector3 selectColor2()
{
static int curColor = 0;
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
return color;
}
void URDF2Bullet::printTree(int linkIndex, int indentationLevel)
{
btAlignedObjectArray<int> childIndices;
getLinkChildIndices(linkIndex,childIndices);
int numChildren = childIndices.size();
indentationLevel+=2;
int count = 0;
for (int i=0;i<numChildren;i++)
{
int childLinkIndex = childIndices[i];
std::string name = getLinkName(childLinkIndex);
for(int j=0;j<indentationLevel;j++) printf(" "); //indent
printf("child(%d).name=%s with childIndex=%d\n",(count++)+1, name.c_str(),childLinkIndex);
// first grandchild
printTree(childLinkIndex,indentationLevel);
}
}
void ComputeTotalNumberOfJoints(const URDF2Bullet& u2b, URDF2BulletCachedData& cache, int linkIndex)
{
btAlignedObjectArray<int> childIndices;
u2b.getLinkChildIndices(linkIndex,childIndices);
printf("link %s has %d children\n", u2b.getLinkName(linkIndex).c_str(),childIndices.size());
for (int i=0;i<childIndices.size();i++)
{
printf("child %d has childIndex%d=%s\n",i,childIndices[i],u2b.getLinkName(childIndices[i]).c_str());
}
cache.m_totalNumJoints1 += childIndices.size();
for (int i=0;i<childIndices.size();i++)
{
int childIndex =childIndices[i];
ComputeTotalNumberOfJoints(u2b,cache,childIndex);
}
}
void ComputeParentIndices(const URDF2Bullet& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex, int urdfParentIndex)
{
cache.m_urdfLinkParentIndices[urdfLinkIndex]=urdfParentIndex;
cache.m_urdfLinkIndices2BulletLinkIndices[urdfLinkIndex]=cache.m_currentMultiBodyLinkIndex++;
btAlignedObjectArray<int> childIndices;
u2b.getLinkChildIndices(urdfLinkIndex,childIndices);
for (int i=0;i<childIndices.size();i++)
{
ComputeParentIndices(u2b,cache,childIndices[i],urdfLinkIndex);
}
}
void InitURDF2BulletCache(const URDF2Bullet& u2b, URDF2BulletCachedData& cache)
{
//compute the number of links, and compute parent indices array (and possibly other cached data?)
cache.m_totalNumJoints1 = 0;
int rootLinkIndex = u2b.getRootLinkIndex();
if (rootLinkIndex>=0)
{
ComputeTotalNumberOfJoints(u2b,cache,rootLinkIndex);
int numTotalLinksIncludingBase = 1+cache.m_totalNumJoints1;
cache.m_urdfLinkParentIndices.resize(numTotalLinksIncludingBase);
cache.m_urdfLinkIndices2BulletLinkIndices.resize(numTotalLinksIncludingBase);
cache.m_urdfLink2rigidBodies.resize(numTotalLinksIncludingBase);
cache.m_currentMultiBodyLinkIndex = -1;//multi body base has 'link' index -1
ComputeParentIndices(u2b,cache,rootLinkIndex,-2);
}
}
void ConvertURDF2Bullet(const URDF2Bullet& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,const URDF2BulletConfig& mappings, const char* pathPrefix)
{
printf("start converting/extracting data from URDF interface\n");
btTransform linkTransformInWorldSpace;
linkTransformInWorldSpace.setIdentity();
int mbLinkIndex =cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
int urdfParentIndex = cache.getParentUrdfIndex(urdfLinkIndex);
int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
btRigidBody* parentRigidBody = 0;
std::string name = u2b.getLinkName(urdfLinkIndex);
printf("link name=%s urdf link index=%d\n",name.c_str(),urdfLinkIndex);
printf("mb link index = %d\n",mbLinkIndex);
if (urdfParentIndex==-2)
{
printf("root link has no parent\n");
} else
{
printf("urdf parent index = %d\n",urdfParentIndex);
printf("mb parent index = %d\n",mbParentIndex);
parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
}
btScalar mass = 0;
btTransform localInertialFrame;
localInertialFrame.setIdentity();
btVector3 localInertiaDiagonal(0,0,0);
u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame);
btTransform parent2joint;
parent2joint.setIdentity();
int jointType;
btVector3 jointAxisInJointSpace;
btScalar jointLowerLimit;
btScalar jointUpperLimit;
bool hasParentJoint = u2b.getParent2JointInfo(urdfLinkIndex, parent2joint, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit);
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
int graphicsIndex = u2b.convertLinkVisuals(urdfLinkIndex,pathPrefix,localInertialFrame);
btCompoundShape* compoundShape = u2b.convertLinkCollisions(urdfLinkIndex,pathPrefix,localInertialFrame);
if (compoundShape)
{
btVector3 color = selectColor2();
/* if (visual->material.get())
{
color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
}
*/
//btVector3 localInertiaDiagonal(0, 0, 0);
//if (mass)
//{
// shape->calculateLocalInertia(mass, localInertiaDiagonal);
//}
btRigidBody* linkRigidBody = 0;
//btTransform visualFrameInWorldSpace = linkTransformInWorldSpace*visual_frame;
btTransform inertialFrameInWorldSpace = linkTransformInWorldSpace*localInertialFrame;
// URDF_LinkInformation* linkInfo = new URDF_LinkInformation;
if (!mappings.m_createMultiBody)
{
btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, compoundShape, localInertiaDiagonal);
rbci.m_startWorldTransform = inertialFrameInWorldSpace;
// linkInfo->m_bodyWorldTransform = inertialFrameInWorldSpace;//visualFrameInWorldSpace
//rbci.m_startWorldTransform = inertialFrameInWorldSpace;//linkCenterOfMass;
btRigidBody* body = new btRigidBody(rbci);
linkRigidBody = body;
world1->addRigidBody(body, bodyCollisionFilterGroup, bodyCollisionFilterMask);
compoundShape->setUserIndex(graphicsIndex);
u2b.createRigidBodyGraphicsInstance(urdfLinkIndex, body, color, graphicsIndex);
// gfxBridge.createRigidBodyGraphicsObject(body, color);
// linkInfo->m_bulletRigidBody = body;
cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
} else
{
if (cache.m_bulletMultiBody==0)
{
bool multiDof = true;
bool canSleep = false;
bool isFixedBase = (mass==0);//todo: figure out when base is fixed
int totalNumJoints = cache.m_totalNumJoints1;
cache.m_bulletMultiBody = new btMultiBody(totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep, multiDof);
cache.registerMultiBody(urdfLinkIndex, cache.m_bulletMultiBody, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
}
}
// linkInfo->m_collisionShape = compoundShape;
// linkInfo->m_localInertiaDiagonal = localInertiaDiagonal;
// linkInfo->m_mass = mass;
//linkInfo->m_localVisualFrame =visual_frame;
// linkInfo->m_localInertialFrame =inertialFrame;
// linkInfo->m_thisLink = link.get();
// const Link* p = link.get();
// mappings.m_link2rigidbody.insert(p, linkInfo);
//create a joint if necessary
if (hasParentJoint)//(*link).parent_joint && pp)
{
// const Joint* pj = (*link).parent_joint.get();
btTransform offsetInA,offsetInB;
static bool once = true;
offsetInA.setIdentity();
static bool toggle=false;
//offsetInA = pp->m_localVisualFrame.inverse()*parent2joint;
offsetInA = localInertialFrame.inverse()*parent2joint;
offsetInB.setIdentity();
//offsetInB = visual_frame.inverse();
offsetInB = localInertialFrame.inverse();
bool disableParentCollision = true;
switch (jointType)
{
case URDF2Bullet::FixedJoint:
{
if (mappings.m_createMultiBody)
{
//todo: adjust the center of mass transform and pivot axis properly
printf("Fixed joint (btMultiBody)\n");
//btVector3 dVec = quatRotate(parentComToThisCom.getRotation(),offsetInB.inverse().getOrigin());
btQuaternion rot = offsetInA.inverse().getRotation();//parent2joint.inverse().getRotation();
//toggle=!toggle;
//mappings.m_bulletMultiBody->setupFixed(linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1,
// rot, parent2joint.getOrigin(), btVector3(0,0,0),disableParentCollision);
cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
rot*offsetInB.getRotation(), offsetInA.getOrigin(),-offsetInB.getOrigin(),disableParentCollision);
btMatrix3x3 rm(rot);
btScalar y,p,r;
rm.getEulerZYX(y,p,r);
//parent2joint.inverse().getRotation(), offsetInA.getOrigin(), -offsetInB.getOrigin(), disableParentCollision);
//linkInfo->m_localVisualFrame.setIdentity();
printf("y=%f,p=%f,r=%f\n", y,p,r);
} else
{
printf("Fixed joint\n");
btMatrix3x3 rm(offsetInA.getBasis());
btScalar y,p,r;
rm.getEulerZYX(y,p,r);
//parent2joint.inverse().getRotation(), offsetInA.getOrigin(), -offsetInB.getOrigin(), disableParentCollision);
//linkInfo->m_localVisualFrame.setIdentity();
printf("y=%f,p=%f,r=%f\n", y,p,r);
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
// btVector3 bulletAxis(pj->axis.x,pj->axis.y,pj->axis.z);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
if (enableConstraints)
world1->addConstraint(dof6,true);
// btFixedConstraint* fixed = new btFixedConstraint(*parentBody, *body,offsetInA,offsetInB);
// world->addConstraint(fixed,true);
}
break;
}
case URDF2Bullet::ContinuousJoint:
case URDF2Bullet::RevoluteJoint:
{
if (mappings.m_createMultiBody)
{
//todo: adjust the center of mass transform and pivot axis properly
/*mappings.m_bulletMultiBody->setupRevolute(
linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1,
parent2joint.inverse().getRotation(), jointAxis, parent2joint.getOrigin(),
btVector3(0,0,0),//offsetInB.getOrigin(),
disableParentCollision);
*/
cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
//parent2joint.inverse().getRotation(), jointAxis, offsetInA.getOrigin(),//parent2joint.getOrigin(),
offsetInA.inverse().getRotation()*offsetInB.getRotation(), quatRotate(offsetInB.inverse().getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
-offsetInB.getOrigin(),
disableParentCollision);
//linkInfo->m_localVisualFrame.setIdentity();
} else
{
//only handle principle axis at the moment,
//@todo(erwincoumans) orient the constraint for non-principal axis
int principleAxis = jointAxisInJointSpace.closestAxis();
switch (principleAxis)
{
case 0:
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentRigidBody, *linkRigidBody, offsetInA, offsetInB,RO_ZYX);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(-1,0,0));
dof6->setAngularLowerLimit(btVector3(1,0,0));
if (enableConstraints)
world1->addConstraint(dof6,true);
break;
}
case 1:
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentRigidBody, *linkRigidBody, offsetInA, offsetInB,RO_XZY);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,-1,0));
dof6->setAngularLowerLimit(btVector3(0,1,0));
if (enableConstraints)
world1->addConstraint(dof6,true);
break;
}
case 2:
default:
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentRigidBody, *linkRigidBody, offsetInA, offsetInB,RO_XYZ);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,-1));
dof6->setAngularLowerLimit(btVector3(0,0,0));
if (enableConstraints)
world1->addConstraint(dof6,true);
}
};
printf("Revolute/Continuous joint\n");
}
break;
}
case URDF2Bullet::PrismaticJoint:
{
if (mappings.m_createMultiBody)
{
cache.m_bulletMultiBody->setupPrismatic(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
offsetInA.inverse().getRotation()*offsetInB.getRotation(), quatRotate(offsetInB.inverse().getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
-offsetInB.getOrigin(),
disableParentCollision);
} else
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
//todo(erwincoumans) for now, we only support principle axis along X, Y or Z
int principleAxis = jointAxisInJointSpace.closestAxis();
switch (principleAxis)
{
case 0:
{
dof6->setLinearLowerLimit(btVector3(jointLowerLimit,0,0));
dof6->setLinearUpperLimit(btVector3(jointUpperLimit,0,0));
break;
}
case 1:
{
dof6->setLinearLowerLimit(btVector3(0,jointLowerLimit,0));
dof6->setLinearUpperLimit(btVector3(0,jointUpperLimit,0));
break;
}
case 2:
default:
{
dof6->setLinearLowerLimit(btVector3(0,0,jointLowerLimit));
dof6->setLinearUpperLimit(btVector3(0,0,jointUpperLimit));
}
};
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
if (enableConstraints)
world1->addConstraint(dof6,true);
printf("Prismatic\n");
}
break;
}
default:
{
printf("Error: unsupported joint type in URDF (%d)\n", jointType);
}
}
}
if (mappings.m_createMultiBody)
{
if (compoundShape->getNumChildShapes()>0)
{
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(cache.m_bulletMultiBody, mbLinkIndex); //or mbLinkIndex-1??? double-check
//btCompoundShape* comp = new btCompoundShape();
//comp->addChildShape(linkInfo->m_localVisualFrame,shape);
compoundShape->setUserIndex(graphicsIndex);
col->setCollisionShape(compoundShape);
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
//tr.setOrigin(local_origin[0]);
//tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
bool isDynamic = true;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector3 color = selectColor2();//(0.0,0.0,0.5);
u2b.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
btScalar friction = 0.5f;
col->setFriction(friction);
if (mbParentIndex>=0) //???? double-check +/- 1
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider=col;
} else
{
cache.m_bulletMultiBody->setBaseCollider(col);
}
}
}
}
btAlignedObjectArray<int> urdfChildIndices;
u2b.getLinkChildIndices(urdfLinkIndex,urdfChildIndices);
int numChildren = urdfChildIndices.size();
for (int i=0;i<numChildren;i++)
{
int urdfChildLinkIndex = urdfChildIndices[i];
ConvertURDF2Bullet(u2b,cache,urdfChildLinkIndex,linkTransformInWorldSpace,world1,mappings,pathPrefix);
}
}

155
Demos3/ImportURDFDemo/URDF2Bullet.h Normal file
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@ -0,0 +1,155 @@
#ifndef _URDF2BULLET_H
#define _URDF2BULLET_H
#include "LinearMath/btAlignedObjectArray.h"
#include <string>
class btVector3;
class btTransform;
struct URDF2BulletConfig
{
URDF2BulletConfig()
:m_createMultiBody(true)
{
}
//true to create a btMultiBody, false to use btRigidBody
bool m_createMultiBody;
};
struct URDF2BulletCachedData
{
URDF2BulletCachedData()
:m_totalNumJoints1(0),
m_currentMultiBodyLinkIndex(-1),
m_bulletMultiBody(0)
{
}
//these arrays will be initialized in the 'InitURDF2BulletCache'
btAlignedObjectArray<int> m_urdfLinkParentIndices;
btAlignedObjectArray<int> m_urdfLinkIndices2BulletLinkIndices;
btAlignedObjectArray<class btRigidBody*> m_urdfLink2rigidBodies;
int m_currentMultiBodyLinkIndex;
class btMultiBody* m_bulletMultiBody;
//this will be initialized in the constructor
int m_totalNumJoints1;
int getParentUrdfIndex(int linkIndex) const
{
return m_urdfLinkParentIndices[linkIndex];
}
int getMbIndexFromUrdfIndex(int urdfIndex) const
{
if (urdfIndex==-2)
return -2;
return m_urdfLinkIndices2BulletLinkIndices[urdfIndex];
}
void registerMultiBody( int urdfLinkIndex, class btMultiBody* body, const btTransform& worldTransform, btScalar mass, const btVector3& localInertiaDiagonal, const class btCompoundShape* compound, const btTransform& localInertialFrame)
{
}
class btRigidBody* getRigidBodyFromLink(int urdfLinkIndex)
{
return m_urdfLink2rigidBodies[urdfLinkIndex];
}
void registerRigidBody( int urdfLinkIndex, class btRigidBody* body, const btTransform& worldTransform, btScalar mass, const btVector3& localInertiaDiagonal, const class btCompoundShape* compound, const btTransform& localInertialFrame)
{
btAssert(m_urdfLink2rigidBodies[urdfLinkIndex]==0);
m_urdfLink2rigidBodies[urdfLinkIndex] = body;
/*
struct URDF_LinkInformation
{
const Link* m_thisLink;
int m_linkIndex;
//int m_parentIndex;
btTransform m_localInertialFrame;
//btTransform m_localVisualFrame;
btTransform m_bodyWorldTransform;
btVector3 m_localInertiaDiagonal;
btScalar m_mass;
btCollisionShape* m_collisionShape;
btRigidBody* m_bulletRigidBody;
URDF_LinkInformation()
:m_thisLink(0),
m_linkIndex(-2),
//m_parentIndex(-2),
m_collisionShape(0),
m_bulletRigidBody(0)
{
}
virtual ~URDF_LinkInformation()
{
printf("~\n");
}
};
*/
}
};
class btMultiBodyDynamicsWorld;
class btTransform;
class URDF2Bullet
{
public:
enum {
RevoluteJoint=1,
PrismaticJoint,
ContinuousJoint,
FloatingJoint,
PlanarJoint,
FixedJoint,
};
void printTree(int linkIndex, int indentationLevel=0);
///return >=0 for the root link index, -1 if there is no root link
virtual int getRootLinkIndex() const = 0;
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(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;
///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;
virtual bool getParent2JointInfo(int urdfLinkIndex, btTransform& parent2joint, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit) const =0;
virtual int convertLinkVisuals(int linkIndex, const char* pathPrefix, const btTransform& localInertialFrame) const=0;
virtual class btCompoundShape* convertLinkCollisions(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
virtual void createRigidBodyGraphicsInstance(int linkIndex, btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) const = 0;
///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba) const = 0;
};
void InitURDF2BulletCache(const URDF2Bullet& u2b, URDF2BulletCachedData& cache);
void ConvertURDF2Bullet(const URDF2Bullet& u2b, URDF2BulletCachedData& cache, int linkIndex, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,const URDF2BulletConfig& mappings, const char* pathPrefix);
#endif //_URDF2BULLET_H