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https://github.com/bulletphysics/bullet3
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2fc0358750
See bullet3/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h Give the kuka_iiwa/model.urdf some blue color, not just orange, to mimick the original a bit better Preparation for the CMD_CAMERA_IMAGE_COMPLETED command, to expose a virtual camera to the robotics API
643 lines
19 KiB
C++
643 lines
19 KiB
C++
/* Copyright (C) 2015 Google
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "BulletUrdfImporter.h"
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#include "URDFImporterInterface.h"
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#include "btBulletCollisionCommon.h"
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#include "../ImportObjDemo/LoadMeshFromObj.h"
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#include "../ImportSTLDemo/LoadMeshFromSTL.h"
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#include "../ImportColladaDemo/LoadMeshFromCollada.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
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#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "Bullet3Common/b3FileUtils.h"
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#include <string>
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#include "../../Utils/b3ResourcePath.h"
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#include <iostream>
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#include <fstream>
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#include "UrdfParser.h"
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struct BulletURDFInternalData
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{
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UrdfParser m_urdfParser;
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struct GUIHelperInterface* m_guiHelper;
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char m_pathPrefix[1024];
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btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
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LinkVisualShapesConverter* m_customVisualShapesConverter;
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};
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void BulletURDFImporter::printTree()
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{
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// btAssert(0);
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}
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enum MyFileType
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{
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FILE_STL=1,
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FILE_COLLADA=2,
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FILE_OBJ=3,
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};
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BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter)
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{
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m_data = new BulletURDFInternalData;
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m_data->m_guiHelper = helper;
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m_data->m_pathPrefix[0]=0;
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m_data->m_customVisualShapesConverter = customConverter;
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}
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struct BulletErrorLogger : public ErrorLogger
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{
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int m_numErrors;
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int m_numWarnings;
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BulletErrorLogger()
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:m_numErrors(0),
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m_numWarnings(0)
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{
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}
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virtual void reportError(const char* error)
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{
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m_numErrors++;
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b3Error(error);
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}
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virtual void reportWarning(const char* warning)
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{
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m_numWarnings++;
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b3Warning(warning);
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}
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virtual void printMessage(const char* msg)
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{
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b3Printf(msg);
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}
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};
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bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
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{
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//int argc=0;
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char relativeFileName[1024];
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b3FileUtils fu;
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//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
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bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
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std::string xml_string;
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m_data->m_pathPrefix[0] = 0;
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if (!fileFound){
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std::cerr << "URDF file not found" << std::endl;
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return false;
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} else
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{
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int maxPathLen = 1024;
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fu.extractPath(relativeFileName,m_data->m_pathPrefix,maxPathLen);
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std::fstream xml_file(relativeFileName, std::fstream::in);
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while ( xml_file.good() )
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{
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std::string line;
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std::getline( xml_file, line);
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xml_string += (line + "\n");
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}
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xml_file.close();
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}
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BulletErrorLogger loggie;
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m_data->m_urdfParser.setParseSDF(false);
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bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase);
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return result;
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}
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int BulletURDFImporter::getNumModels() const
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{
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return m_data->m_urdfParser.getNumModels();
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}
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void BulletURDFImporter::activateModel(int modelIndex)
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{
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m_data->m_urdfParser.activateModel(modelIndex);
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}
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bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
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{
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//int argc=0;
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char relativeFileName[1024];
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b3FileUtils fu;
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//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
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bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
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std::string xml_string;
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m_data->m_pathPrefix[0] = 0;
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if (!fileFound){
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std::cerr << "URDF file not found" << std::endl;
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return false;
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} else
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{
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int maxPathLen = 1024;
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fu.extractPath(relativeFileName,m_data->m_pathPrefix,maxPathLen);
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std::fstream xml_file(relativeFileName, std::fstream::in);
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while ( xml_file.good() )
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{
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std::string line;
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std::getline( xml_file, line);
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xml_string += (line + "\n");
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}
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xml_file.close();
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}
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BulletErrorLogger loggie;
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//todo: quick test to see if we can re-use the URDF parser for SDF or not
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m_data->m_urdfParser.setParseSDF(true);
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bool result = m_data->m_urdfParser.loadSDF(xml_string.c_str(), &loggie);
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return result;
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}
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const char* BulletURDFImporter::getPathPrefix()
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{
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return m_data->m_pathPrefix;
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}
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BulletURDFImporter::~BulletURDFImporter()
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{
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delete m_data;
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}
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int BulletURDFImporter::getRootLinkIndex() const
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{
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if (m_data->m_urdfParser.getModel().m_rootLinks.size()==1)
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{
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return m_data->m_urdfParser.getModel().m_rootLinks[0]->m_linkIndex;
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}
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return -1;
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};
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void BulletURDFImporter::getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const
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{
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childLinkIndices.resize(0);
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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if (linkPtr)
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{
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const UrdfLink* link = *linkPtr;
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//int numChildren = m_data->m_urdfParser->getModel().m_links.getAtIndex(linkIndex)->
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for (int i=0;i<link->m_childLinks.size();i++)
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{
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int childIndex =link->m_childLinks[i]->m_linkIndex;
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childLinkIndices.push_back(childIndex);
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}
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}
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}
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bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
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{
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if (m_data->m_customVisualShapesConverter)
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{
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return m_data->m_customVisualShapesConverter->getLinkColor(linkIndex, colorRGBA);
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}
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return false;
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}
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std::string BulletURDFImporter::getLinkName(int linkIndex) const
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{
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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return link->m_name;
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}
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return "";
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}
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std::string BulletURDFImporter::getJointName(int linkIndex) const
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{
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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if (link->m_parentJoint)
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{
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return link->m_parentJoint->m_name;
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}
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}
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return "";
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}
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void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
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{
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//todo(erwincoumans)
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//the link->m_inertia is NOT necessarily aligned with the inertial frame
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//so an additional transform might need to be computed
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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mass = link->m_inertia.m_mass;
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inertialFrame = link->m_inertia.m_linkLocalFrame;
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localInertiaDiagonal.setValue(link->m_inertia.m_ixx,link->m_inertia.m_iyy,
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link->m_inertia.m_izz);
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}
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else
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{
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mass = 1.f;
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localInertiaDiagonal.setValue(1,1,1);
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inertialFrame.setIdentity();
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}
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}
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bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
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{
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jointLowerLimit = 0.f;
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jointUpperLimit = 0.f;
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jointDamping = 0.f;
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jointFriction = 0.f;
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdfLinkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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linkTransformInWorld = link->m_linkTransformInWorld;
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if (link->m_parentJoint)
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{
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UrdfJoint* pj = link->m_parentJoint;
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parent2joint = pj->m_parentLinkToJointTransform;
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jointType = pj->m_type;
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jointAxisInJointSpace = pj->m_localJointAxis;
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jointLowerLimit = pj->m_lowerLimit;
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jointUpperLimit = pj->m_upperLimit;
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jointDamping = pj->m_jointDamping;
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jointFriction = pj->m_jointFriction;
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return true;
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} else
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{
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parent2joint.setIdentity();
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return false;
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}
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}
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return false;
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}
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bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
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{
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rootTransformInWorld = m_data->m_urdfParser.getModel().m_rootTransformInWorld;
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return true;
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}
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btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
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{
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btCollisionShape* shape = 0;
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switch (collision->m_geometry.m_type)
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{
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case URDF_GEOM_CYLINDER:
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{
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btScalar cylRadius = collision->m_geometry.m_cylinderRadius;
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btScalar cylLength = collision->m_geometry.m_cylinderLength;
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btAlignedObjectArray<btVector3> vertices;
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//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
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int numSteps = 32;
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for (int i=0;i<numSteps;i++)
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{
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btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i)/numSteps)),cylRadius*btCos(SIMD_2_PI*(float(i)/numSteps)),cylLength/2.);
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vertices.push_back(vert);
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vert[2] = -cylLength/2.;
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vertices.push_back(vert);
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}
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btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
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cylZShape->setMargin(0.001);
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cylZShape->initializePolyhedralFeatures();
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//btConvexShape* cylZShape = new btConeShapeZ(cyl->radius,cyl->length);//(vexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
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//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
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//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
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shape = cylZShape;
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break;
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}
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case URDF_GEOM_BOX:
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{
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btVector3 extents = collision->m_geometry.m_boxSize;
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btBoxShape* boxShape = new btBoxShape(extents*0.5f);
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//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
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shape = boxShape;
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shape ->setMargin(0.001);
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break;
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}
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case URDF_GEOM_SPHERE:
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{
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btScalar radius = collision->m_geometry.m_sphereRadius;
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btSphereShape* sphereShape = new btSphereShape(radius);
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shape = sphereShape;
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shape ->setMargin(0.001);
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break;
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break;
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}
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case URDF_GEOM_MESH:
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{
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if (collision->m_name.length())
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{
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//b3Printf("collision->name=%s\n",collision->m_name.c_str());
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}
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if (1)
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{
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if (collision->m_geometry.m_meshFileName.length())
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{
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const char* filename = collision->m_geometry.m_meshFileName.c_str();
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//b3Printf("mesh->filename=%s\n",filename);
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char fullPath[1024];
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int fileType = 0;
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sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
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b3FileUtils::toLower(fullPath);
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char tmpPathPrefix[1024];
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int maxPathLen = 1024;
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b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
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char collisionPathPrefix[1024];
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sprintf(collisionPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
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if (strstr(fullPath,".dae"))
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{
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fileType = FILE_COLLADA;
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}
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if (strstr(fullPath,".stl"))
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{
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fileType = FILE_STL;
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}
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if (strstr(fullPath,".obj"))
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{
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fileType = FILE_OBJ;
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}
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sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
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FILE* f = fopen(fullPath,"rb");
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if (f)
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{
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fclose(f);
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GLInstanceGraphicsShape* glmesh = 0;
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switch (fileType)
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{
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case FILE_OBJ:
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{
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glmesh = LoadMeshFromObj(fullPath,collisionPathPrefix);
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break;
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}
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case FILE_STL:
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{
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glmesh = LoadMeshFromSTL(fullPath);
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break;
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}
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case FILE_COLLADA:
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{
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btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
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btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
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btTransform upAxisTrans;upAxisTrans.setIdentity();
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float unitMeterScaling=1;
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int upAxis = 2;
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LoadMeshFromCollada(fullPath,
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visualShapes,
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visualShapeInstances,
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upAxisTrans,
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unitMeterScaling,
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upAxis );
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glmesh = new GLInstanceGraphicsShape;
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// int index = 0;
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glmesh->m_indices = new b3AlignedObjectArray<int>();
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glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
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for (int i=0;i<visualShapeInstances.size();i++)
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{
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ColladaGraphicsInstance* instance = &visualShapeInstances[i];
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GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
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b3AlignedObjectArray<GLInstanceVertex> verts;
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verts.resize(gfxShape->m_vertices->size());
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int baseIndex = glmesh->m_vertices->size();
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for (int i=0;i<gfxShape->m_vertices->size();i++)
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{
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verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
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verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
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verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
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verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
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verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
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verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
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verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
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verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
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verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
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}
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int curNumIndices = glmesh->m_indices->size();
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int additionalIndices = gfxShape->m_indices->size();
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glmesh->m_indices->resize(curNumIndices+additionalIndices);
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for (int k=0;k<additionalIndices;k++)
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{
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glmesh->m_indices->at(curNumIndices+k)=gfxShape->m_indices->at(k)+baseIndex;
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}
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//compensate upAxisTrans and unitMeterScaling here
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btMatrix4x4 upAxisMat;
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upAxisMat.setIdentity();
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//upAxisMat.setPureRotation(upAxisTrans.getRotation());
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btMatrix4x4 unitMeterScalingMat;
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unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling,unitMeterScaling,unitMeterScaling));
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btMatrix4x4 worldMat = unitMeterScalingMat*instance->m_worldTransform*upAxisMat;
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//btMatrix4x4 worldMat = instance->m_worldTransform;
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int curNumVertices = glmesh->m_vertices->size();
|
|
int additionalVertices = verts.size();
|
|
glmesh->m_vertices->reserve(curNumVertices+additionalVertices);
|
|
|
|
for(int v=0;v<verts.size();v++)
|
|
{
|
|
btVector3 pos(verts[v].xyzw[0],verts[v].xyzw[1],verts[v].xyzw[2]);
|
|
pos = worldMat*pos;
|
|
verts[v].xyzw[0] = float(pos[0]);
|
|
verts[v].xyzw[1] = float(pos[1]);
|
|
verts[v].xyzw[2] = float(pos[2]);
|
|
glmesh->m_vertices->push_back(verts[v]);
|
|
}
|
|
}
|
|
glmesh->m_numIndices = glmesh->m_indices->size();
|
|
glmesh->m_numvertices = glmesh->m_vertices->size();
|
|
//glmesh = LoadMeshFromCollada(fullPath);
|
|
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
b3Warning("Unsupported file type in Collision: %s\n",fullPath);
|
|
btAssert(0);
|
|
}
|
|
}
|
|
|
|
|
|
if (glmesh && (glmesh->m_numvertices>0))
|
|
{
|
|
//b3Printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
|
|
//int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
|
|
//convex->setUserIndex(shapeId);
|
|
btAlignedObjectArray<btVector3> convertedVerts;
|
|
convertedVerts.reserve(glmesh->m_numvertices);
|
|
for (int i=0;i<glmesh->m_numvertices;i++)
|
|
{
|
|
convertedVerts.push_back(btVector3(
|
|
glmesh->m_vertices->at(i).xyzw[0]*collision->m_geometry.m_meshScale[0],
|
|
glmesh->m_vertices->at(i).xyzw[1]*collision->m_geometry.m_meshScale[1],
|
|
glmesh->m_vertices->at(i).xyzw[2]*collision->m_geometry.m_meshScale[2]));
|
|
}
|
|
//btConvexHullShape* cylZShape = new btConvexHullShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex));
|
|
btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
|
|
//cylZShape->initializePolyhedralFeatures();
|
|
//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
|
|
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
|
|
cylZShape->setMargin(0.001);
|
|
shape = cylZShape;
|
|
} else
|
|
{
|
|
b3Warning("issue extracting mesh from STL file %s\n", fullPath);
|
|
}
|
|
|
|
delete glmesh;
|
|
|
|
} else
|
|
{
|
|
b3Warning("mesh geometry not found %s\n",fullPath);
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
b3Warning("Error: unknown visual geometry type\n");
|
|
}
|
|
}
|
|
return shape;
|
|
}
|
|
|
|
int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionShape* colShape) const
|
|
{
|
|
int graphicsIndex = -1;
|
|
|
|
if (m_data->m_customVisualShapesConverter)
|
|
{
|
|
const UrdfModel& model = m_data->m_urdfParser.getModel();
|
|
graphicsIndex = m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colShape);
|
|
}
|
|
return graphicsIndex;
|
|
|
|
}
|
|
|
|
int BulletURDFImporter::getNumAllocatedCollisionShapes() const
|
|
{
|
|
return m_data->m_allocatedCollisionShapes.size();
|
|
}
|
|
|
|
|
|
btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
|
|
{
|
|
return m_data->m_allocatedCollisionShapes[index];
|
|
}
|
|
|
|
class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
|
|
{
|
|
|
|
btCompoundShape* compoundShape = new btCompoundShape();
|
|
m_data->m_allocatedCollisionShapes.push_back(compoundShape);
|
|
|
|
compoundShape->setMargin(0.001);
|
|
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
|
|
btAssert(linkPtr);
|
|
if (linkPtr)
|
|
{
|
|
|
|
UrdfLink* link = *linkPtr;
|
|
|
|
|
|
for (int v=0;v<link->m_collisionArray.size();v++)
|
|
{
|
|
const UrdfCollision& col = link->m_collisionArray[v];
|
|
btCollisionShape* childShape = convertURDFToCollisionShape(&col ,pathPrefix);
|
|
|
|
if (childShape)
|
|
{
|
|
btTransform childTrans = col.m_linkLocalFrame;
|
|
|
|
compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape);
|
|
}
|
|
}
|
|
}
|
|
|
|
return compoundShape;
|
|
}
|