mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
b602045665
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created
See examples/pybullet/examples/spherical_joint_limit.py and
examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
898 lines
30 KiB
C++
898 lines
30 KiB
C++
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#include <stdio.h>
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btThreads.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
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#include "BulletDynamics/Featherstone/btMultiBodySphericalJointLimit.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
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#include "URDF2Bullet.h"
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#include "URDFImporterInterface.h"
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#include "MultiBodyCreationInterface.h"
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#include <string>
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#include "Bullet3Common/b3Logging.h"
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//static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
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//static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
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static bool enableConstraints = true;
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static btVector4 gGoogleyColors[4] =
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{
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btVector4(60. / 256., 186. / 256., 84. / 256., 1),
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btVector4(244. / 256., 194. / 256., 13. / 256., 1),
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btVector4(219. / 256., 50. / 256., 54. / 256., 1),
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btVector4(72. / 256., 133. / 256., 237. / 256., 1),
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};
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static btVector4 selectColor2()
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{
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#ifdef BT_THREADSAFE
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static btSpinMutex sMutex;
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sMutex.lock();
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#endif
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static int curColor = 0;
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btVector4 color = gGoogleyColors[curColor];
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curColor++;
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curColor &= 3;
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#ifdef BT_THREADSAFE
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sMutex.unlock();
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#endif
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return color;
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}
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struct URDF2BulletCachedData
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{
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URDF2BulletCachedData()
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: m_currentMultiBodyLinkIndex(-1),
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m_bulletMultiBody(0),
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m_totalNumJoints1(0)
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{
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}
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//these arrays will be initialized in the 'InitURDF2BulletCache'
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btAlignedObjectArray<int> m_urdfLinkParentIndices;
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btAlignedObjectArray<int> m_urdfLinkIndices2BulletLinkIndices;
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btAlignedObjectArray<class btRigidBody*> m_urdfLink2rigidBodies;
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btAlignedObjectArray<btTransform> m_urdfLinkLocalInertialFrames;
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int m_currentMultiBodyLinkIndex;
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class btMultiBody* m_bulletMultiBody;
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//this will be initialized in the constructor
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int m_totalNumJoints1;
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int getParentUrdfIndex(int linkIndex) const
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{
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return m_urdfLinkParentIndices[linkIndex];
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}
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int getMbIndexFromUrdfIndex(int urdfIndex) const
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{
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if (urdfIndex == -2)
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return -2;
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return m_urdfLinkIndices2BulletLinkIndices[urdfIndex];
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}
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void registerMultiBody(int urdfLinkIndex, class btMultiBody* body, const btTransform& worldTransform, btScalar mass, const btVector3& localInertiaDiagonal, const class btCollisionShape* compound, const btTransform& localInertialFrame)
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{
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m_urdfLinkLocalInertialFrames[urdfLinkIndex] = localInertialFrame;
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}
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class btRigidBody* getRigidBodyFromLink(int urdfLinkIndex)
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{
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return m_urdfLink2rigidBodies[urdfLinkIndex];
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}
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void registerRigidBody(int urdfLinkIndex, class btRigidBody* body, const btTransform& worldTransform, btScalar mass, const btVector3& localInertiaDiagonal, const class btCollisionShape* compound, const btTransform& localInertialFrame)
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{
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btAssert(m_urdfLink2rigidBodies[urdfLinkIndex] == 0);
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m_urdfLink2rigidBodies[urdfLinkIndex] = body;
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m_urdfLinkLocalInertialFrames[urdfLinkIndex] = localInertialFrame;
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}
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};
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void ComputeTotalNumberOfJoints(const URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int linkIndex)
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{
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btAlignedObjectArray<int> childIndices;
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u2b.getLinkChildIndices(linkIndex, childIndices);
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//b3Printf("link %s has %d children\n", u2b.getLinkName(linkIndex).c_str(),childIndices.size());
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//for (int i=0;i<childIndices.size();i++)
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//{
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// b3Printf("child %d has childIndex%d=%s\n",i,childIndices[i],u2b.getLinkName(childIndices[i]).c_str());
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//}
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cache.m_totalNumJoints1 += childIndices.size();
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for (int i = 0; i < childIndices.size(); i++)
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{
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int childIndex = childIndices[i];
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ComputeTotalNumberOfJoints(u2b, cache, childIndex);
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}
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}
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void ComputeParentIndices(const URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex, int urdfParentIndex)
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{
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cache.m_urdfLinkParentIndices[urdfLinkIndex] = urdfParentIndex;
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cache.m_urdfLinkIndices2BulletLinkIndices[urdfLinkIndex] = cache.m_currentMultiBodyLinkIndex++;
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btAlignedObjectArray<int> childIndices;
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u2b.getLinkChildIndices(urdfLinkIndex, childIndices);
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for (int i = 0; i < childIndices.size(); i++)
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{
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ComputeParentIndices(u2b, cache, childIndices[i], urdfLinkIndex);
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}
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}
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void InitURDF2BulletCache(const URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int flags)
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{
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//compute the number of links, and compute parent indices array (and possibly other cached data?)
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cache.m_totalNumJoints1 = 0;
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int rootLinkIndex = u2b.getRootLinkIndex();
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if (rootLinkIndex >= 0)
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{
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ComputeTotalNumberOfJoints(u2b, cache, rootLinkIndex);
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int numTotalLinksIncludingBase = 1 + cache.m_totalNumJoints1;
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cache.m_urdfLinkParentIndices.resize(numTotalLinksIncludingBase);
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cache.m_urdfLinkIndices2BulletLinkIndices.resize(numTotalLinksIncludingBase);
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cache.m_urdfLink2rigidBodies.resize(numTotalLinksIncludingBase);
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cache.m_urdfLinkLocalInertialFrames.resize(numTotalLinksIncludingBase);
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cache.m_currentMultiBodyLinkIndex = -1; //multi body base has 'link' index -1
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bool maintainLinkOrder = (flags & CUF_MAINTAIN_LINK_ORDER)!=0;
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if (maintainLinkOrder)
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{
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URDF2BulletCachedData cache2 = cache;
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ComputeParentIndices(u2b, cache2, rootLinkIndex, -2);
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for (int j=0;j<numTotalLinksIncludingBase;j++)
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{
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cache.m_urdfLinkParentIndices[j] = cache2.m_urdfLinkParentIndices[j];
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cache.m_urdfLinkIndices2BulletLinkIndices[j] = j - 1;
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}
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}else
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{
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ComputeParentIndices(u2b, cache, rootLinkIndex, -2);
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}
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}
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}
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void processContactParameters(const URDFLinkContactInfo& contactInfo, btCollisionObject* col)
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{
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if ((contactInfo.m_flags & URDF_CONTACT_HAS_LATERAL_FRICTION) != 0)
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{
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col->setFriction(contactInfo.m_lateralFriction);
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}
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if ((contactInfo.m_flags & URDF_CONTACT_HAS_RESTITUTION) != 0)
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{
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col->setRestitution(contactInfo.m_restitution);
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}
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if ((contactInfo.m_flags & URDF_CONTACT_HAS_ROLLING_FRICTION) != 0)
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{
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col->setRollingFriction(contactInfo.m_rollingFriction);
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}
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if ((contactInfo.m_flags & URDF_CONTACT_HAS_SPINNING_FRICTION) != 0)
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{
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col->setSpinningFriction(contactInfo.m_spinningFriction);
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}
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if ((contactInfo.m_flags & URDF_CONTACT_HAS_STIFFNESS_DAMPING) != 0)
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{
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col->setContactStiffnessAndDamping(contactInfo.m_contactStiffness, contactInfo.m_contactDamping);
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}
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if ((contactInfo.m_flags & URDF_CONTACT_HAS_FRICTION_ANCHOR) != 0)
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{
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col->setCollisionFlags(col->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
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}
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}
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btScalar tmpUrdfScaling = 2;
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btTransform ConvertURDF2BulletInternal(
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const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
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URDF2BulletCachedData& cache, int urdfLinkIndex,
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const btTransform& parentTransformInWorldSpace,
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#ifdef USE_DISCRETE_DYNAMICS_WORLD
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btDiscreteDynamicsWorld* world1,
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#else
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btMultiBodyDynamicsWorld* world1,
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#endif
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bool createMultiBody, const char* pathPrefix,
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int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapesIn, UrdfVisualShapeCache* cachedLinkGraphicsShapesOut, bool recursive)
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{
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B3_PROFILE("ConvertURDF2BulletInternal2");
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//b3Printf("start converting/extracting data from URDF interface\n");
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btTransform linkTransformInWorldSpace;
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linkTransformInWorldSpace.setIdentity();
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int mbLinkIndex = cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
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int urdfParentIndex = cache.getParentUrdfIndex(urdfLinkIndex);
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int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
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btRigidBody* parentRigidBody = 0;
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//b3Printf("mb link index = %d\n",mbLinkIndex);
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btTransform parentLocalInertialFrame;
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parentLocalInertialFrame.setIdentity();
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btScalar parentMass(1);
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btVector3 parentLocalInertiaDiagonal(1, 1, 1);
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if (urdfParentIndex == -2)
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{
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//b3Printf("root link has no parent\n");
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}
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else
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{
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//b3Printf("urdf parent index = %d\n",urdfParentIndex);
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//b3Printf("mb parent index = %d\n",mbParentIndex);
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parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
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u2b.getMassAndInertia2(urdfParentIndex, parentMass, parentLocalInertiaDiagonal, parentLocalInertialFrame, flags);
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}
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btScalar mass = 0;
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btTransform localInertialFrame;
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localInertialFrame.setIdentity();
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btVector3 localInertiaDiagonal(0, 0, 0);
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u2b.getMassAndInertia2(urdfLinkIndex, mass, localInertiaDiagonal, localInertialFrame, flags);
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btTransform parent2joint;
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parent2joint.setIdentity();
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int jointType;
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btVector3 jointAxisInJointSpace;
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btScalar jointLowerLimit;
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btScalar jointUpperLimit;
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btScalar jointDamping;
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btScalar jointFriction;
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btScalar jointMaxForce;
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btScalar jointMaxVelocity;
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btScalar twistLimit;
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bool hasParentJoint = u2b.getJointInfo3(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity, twistLimit);
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std::string linkName = u2b.getLinkName(urdfLinkIndex);
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if (flags & CUF_USE_SDF)
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{
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parent2joint = parentTransformInWorldSpace.inverse() * linkTransformInWorldSpace;
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}
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else
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{
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if (flags & CUF_USE_MJCF)
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{
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linkTransformInWorldSpace = parentTransformInWorldSpace * linkTransformInWorldSpace;
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}
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else
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{
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linkTransformInWorldSpace = parentTransformInWorldSpace * parent2joint;
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}
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}
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btCompoundShape* tmpShape = u2b.convertLinkCollisionShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
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btCollisionShape* compoundShape = tmpShape;
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if (tmpShape->getNumChildShapes() == 1 && tmpShape->getChildTransform(0) == btTransform::getIdentity())
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{
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compoundShape = tmpShape->getChildShape(0);
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}
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int graphicsIndex;
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{
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B3_PROFILE("convertLinkVisualShapes");
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if (cachedLinkGraphicsShapesIn && cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices.size() > (mbLinkIndex + 1))
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{
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graphicsIndex = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices[mbLinkIndex + 1];
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UrdfMaterialColor matColor = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkColors[mbLinkIndex + 1];
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u2b.setLinkColor2(urdfLinkIndex, matColor);
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}
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else
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{
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graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
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if (cachedLinkGraphicsShapesOut)
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{
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cachedLinkGraphicsShapesOut->m_cachedUrdfLinkVisualShapeIndices.push_back(graphicsIndex);
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UrdfMaterialColor matColor;
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u2b.getLinkColor2(urdfLinkIndex, matColor);
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cachedLinkGraphicsShapesOut->m_cachedUrdfLinkColors.push_back(matColor);
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}
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}
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}
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if (compoundShape)
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{
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UrdfMaterialColor matColor;
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btVector4 color2 = (flags & CUF_GOOGLEY_UNDEFINED_COLORS) ? selectColor2() : btVector4(1, 1, 1, 1);
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btVector3 specular(0.5, 0.5, 0.5);
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if (u2b.getLinkColor2(urdfLinkIndex, matColor))
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{
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color2 = matColor.m_rgbaColor;
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specular = matColor.m_specularColor;
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}
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/*
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if (visual->material.get())
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{
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color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
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}
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*/
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if (mass)
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{
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if (!(flags & CUF_USE_URDF_INERTIA))
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{
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compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
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btAssert(localInertiaDiagonal[0] < 1e10);
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btAssert(localInertiaDiagonal[1] < 1e10);
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btAssert(localInertiaDiagonal[2] < 1e10);
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}
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URDFLinkContactInfo contactInfo;
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u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
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//temporary inertia scaling until we load inertia from URDF
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if (contactInfo.m_flags & URDF_CONTACT_HAS_INERTIA_SCALING)
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{
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localInertiaDiagonal *= contactInfo.m_inertiaScaling;
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}
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}
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btRigidBody* linkRigidBody = 0;
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btTransform inertialFrameInWorldSpace = linkTransformInWorldSpace * localInertialFrame;
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bool canSleep = (flags & CUF_ENABLE_SLEEPING) != 0;
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if (!createMultiBody)
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{
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btRigidBody* body = creation.allocateRigidBody(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrameInWorldSpace, compoundShape);
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if (!canSleep)
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{
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body->forceActivationState(DISABLE_DEACTIVATION);
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}
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linkRigidBody = body;
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world1->addRigidBody(body);
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compoundShape->setUserIndex(graphicsIndex);
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URDFLinkContactInfo contactInfo;
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u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
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processContactParameters(contactInfo, body);
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creation.createRigidBodyGraphicsInstance2(urdfLinkIndex, body, color2, specular, graphicsIndex);
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cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
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//untested: u2b.convertLinkVisualShapes2(linkIndex,urdfLinkIndex,pathPrefix,localInertialFrame,body);
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}
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else
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{
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if (cache.m_bulletMultiBody == 0)
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{
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bool isFixedBase = (mass == 0); //todo: figure out when base is fixed
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int totalNumJoints = cache.m_totalNumJoints1;
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cache.m_bulletMultiBody = creation.allocateMultiBody(urdfLinkIndex, totalNumJoints, mass, localInertiaDiagonal, isFixedBase, canSleep);
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if (flags & CUF_GLOBAL_VELOCITIES_MB)
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{
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cache.m_bulletMultiBody->useGlobalVelocities(true);
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}
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if (flags & CUF_USE_MJCF)
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{
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cache.m_bulletMultiBody->setBaseWorldTransform(linkTransformInWorldSpace);
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}
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cache.registerMultiBody(urdfLinkIndex, cache.m_bulletMultiBody, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
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}
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}
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//create a joint if necessary
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if (hasParentJoint)
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{
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btTransform offsetInA, offsetInB;
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offsetInA = parentLocalInertialFrame.inverse() * parent2joint;
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offsetInB = localInertialFrame.inverse();
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btQuaternion parentRotToThis = offsetInB.getRotation() * offsetInA.inverse().getRotation();
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bool disableParentCollision = true;
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if (createMultiBody && cache.m_bulletMultiBody)
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{
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cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
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cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction = jointFriction;
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cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointLowerLimit = jointLowerLimit;
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cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointUpperLimit = jointUpperLimit;
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cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointMaxForce = jointMaxForce;
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cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointMaxVelocity = jointMaxVelocity;
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}
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switch (jointType)
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{
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case URDFSphericalJoint:
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{
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if (createMultiBody)
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{
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creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
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cache.m_bulletMultiBody->setupSpherical(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
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parentRotToThis, offsetInA.getOrigin(), -offsetInB.getOrigin(),
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disableParentCollision);
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//create a spherical joint limit, swing_x,. swing_y and twist
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//jointLowerLimit <= jointUpperLimit)
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if (jointUpperLimit > 0 && jointLowerLimit> 0 && twistLimit > 0 && jointMaxForce>0)
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{
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btMultiBodySphericalJointLimit* con = new btMultiBodySphericalJointLimit(cache.m_bulletMultiBody, mbLinkIndex,
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jointLowerLimit,
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jointUpperLimit,
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twistLimit,
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jointMaxForce);
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world1->addMultiBodyConstraint(con);
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}
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}
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else
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{
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btAssert(0);
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}
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|
break;
|
|
}
|
|
case URDFPlanarJoint:
|
|
{
|
|
|
|
if (createMultiBody)
|
|
{
|
|
#if 0
|
|
void setupPlanar(int i, // 0 to num_links-1
|
|
btScalar mass,
|
|
const btVector3 &inertia,
|
|
int parent,
|
|
const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0
|
|
const btVector3 &rotationAxis,
|
|
const btVector3 &parentComToThisComOffset, // vector from parent COM to this COM, in PARENT frame
|
|
bool disableParentCollision = false);
|
|
#endif
|
|
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
|
|
cache.m_bulletMultiBody->setupPlanar(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
|
|
parentRotToThis, quatRotate(offsetInB.getRotation(), jointAxisInJointSpace), offsetInA.getOrigin(),
|
|
disableParentCollision);
|
|
}
|
|
else
|
|
{
|
|
#if 0
|
|
//b3Printf("Fixed joint\n");
|
|
|
|
btGeneric6DofSpring2Constraint* dof6 = 0;
|
|
|
|
//backward compatibility
|
|
if (flags & CUF_RESERVED)
|
|
{
|
|
dof6 = creation.createFixedJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
|
|
}
|
|
else
|
|
{
|
|
dof6 = creation.createFixedJoint(urdfLinkIndex, *linkRigidBody, *parentRigidBody, offsetInB, offsetInA);
|
|
}
|
|
if (enableConstraints)
|
|
world1->addConstraint(dof6, true);
|
|
#endif
|
|
}
|
|
break;
|
|
}
|
|
case URDFFloatingJoint:
|
|
|
|
case URDFFixedJoint:
|
|
{
|
|
if ((jointType == URDFFloatingJoint) || (jointType == URDFPlanarJoint))
|
|
{
|
|
printf("Warning: joint unsupported, creating a fixed joint instead.");
|
|
}
|
|
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
|
|
|
|
if (createMultiBody)
|
|
{
|
|
//todo: adjust the center of mass transform and pivot axis properly
|
|
cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
|
|
parentRotToThis, offsetInA.getOrigin(), -offsetInB.getOrigin());
|
|
}
|
|
else
|
|
{
|
|
//b3Printf("Fixed joint\n");
|
|
|
|
btGeneric6DofSpring2Constraint* dof6 = 0;
|
|
|
|
//backward compatibility
|
|
if (flags & CUF_RESERVED)
|
|
{
|
|
dof6 = creation.createFixedJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
|
|
}
|
|
else
|
|
{
|
|
dof6 = creation.createFixedJoint(urdfLinkIndex, *linkRigidBody, *parentRigidBody, offsetInB, offsetInA);
|
|
}
|
|
if (enableConstraints)
|
|
world1->addConstraint(dof6, true);
|
|
}
|
|
break;
|
|
}
|
|
case URDFContinuousJoint:
|
|
case URDFRevoluteJoint:
|
|
{
|
|
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
|
|
if (createMultiBody)
|
|
{
|
|
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
|
cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
|
|
parentRotToThis, quatRotate(offsetInB.getRotation(),
|
|
jointAxisInJointSpace),
|
|
offsetInA.getOrigin(),
|
|
-offsetInB.getOrigin(),
|
|
disableParentCollision);
|
|
|
|
if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit)
|
|
{
|
|
//std::string name = u2b.getLinkName(urdfLinkIndex);
|
|
//printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit);
|
|
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
|
|
world1->addMultiBodyConstraint(con);
|
|
}
|
|
#endif
|
|
}
|
|
else
|
|
|
|
{
|
|
btGeneric6DofSpring2Constraint* dof6 = 0;
|
|
if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit)
|
|
{
|
|
//backwards compatibility
|
|
if (flags & CUF_RESERVED)
|
|
{
|
|
dof6 = creation.createRevoluteJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB, jointAxisInJointSpace, jointLowerLimit, jointUpperLimit);
|
|
}
|
|
else
|
|
{
|
|
dof6 = creation.createRevoluteJoint(urdfLinkIndex, *linkRigidBody, *parentRigidBody, offsetInB, offsetInA, jointAxisInJointSpace, jointLowerLimit, jointUpperLimit);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//disable joint limits
|
|
if (flags & CUF_RESERVED)
|
|
{
|
|
dof6 = creation.createRevoluteJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB, jointAxisInJointSpace, 1, -1);
|
|
}
|
|
else
|
|
{
|
|
dof6 = creation.createRevoluteJoint(urdfLinkIndex, *linkRigidBody, *parentRigidBody, offsetInB, offsetInA, jointAxisInJointSpace, 1, -1);
|
|
}
|
|
}
|
|
|
|
if (enableConstraints)
|
|
world1->addConstraint(dof6, true);
|
|
//b3Printf("Revolute/Continuous joint\n");
|
|
}
|
|
break;
|
|
}
|
|
case URDFPrismaticJoint:
|
|
{
|
|
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
|
|
|
|
if (createMultiBody)
|
|
{
|
|
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
|
cache.m_bulletMultiBody->setupPrismatic(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
|
|
parentRotToThis, quatRotate(offsetInB.getRotation(), jointAxisInJointSpace), offsetInA.getOrigin(), //parent2joint.getOrigin(),
|
|
-offsetInB.getOrigin(),
|
|
disableParentCollision);
|
|
|
|
if (jointLowerLimit <= jointUpperLimit)
|
|
{
|
|
//std::string name = u2b.getLinkName(urdfLinkIndex);
|
|
//printf("create btMultiBodyJointLimitConstraint for prismatic link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit,jointUpperLimit);
|
|
|
|
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
|
|
world1->addMultiBodyConstraint(con);
|
|
}
|
|
//printf("joint lower limit=%d, upper limit = %f\n", jointLowerLimit, jointUpperLimit);
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
btGeneric6DofSpring2Constraint* dof6 = creation.createPrismaticJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB, jointAxisInJointSpace, jointLowerLimit, jointUpperLimit);
|
|
|
|
if (enableConstraints)
|
|
world1->addConstraint(dof6, true);
|
|
|
|
//b3Printf("Prismatic\n");
|
|
}
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
//b3Printf("Error: unsupported joint type in URDF (%d)\n", jointType);
|
|
btAssert(0);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (createMultiBody)
|
|
{
|
|
//if (compoundShape->getNumChildShapes()>0)
|
|
{
|
|
btMultiBodyLinkCollider* col = creation.allocateMultiBodyLinkCollider(urdfLinkIndex, mbLinkIndex, cache.m_bulletMultiBody);
|
|
|
|
compoundShape->setUserIndex(graphicsIndex);
|
|
|
|
col->setCollisionShape(compoundShape);
|
|
|
|
if (compoundShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
|
|
{
|
|
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)compoundShape;
|
|
if (trimeshShape->getTriangleInfoMap())
|
|
{
|
|
col->setCollisionFlags(col->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
|
}
|
|
}
|
|
|
|
if (compoundShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
|
|
{
|
|
col->setCollisionFlags(col->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
|
}
|
|
|
|
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
|
|
|
|
col->setWorldTransform(tr);
|
|
|
|
//base and fixed? -> static, otherwise flag as dynamic
|
|
bool isDynamic = (mbLinkIndex < 0 && cache.m_bulletMultiBody->hasFixedBase()) ? false : true;
|
|
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
|
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
|
|
|
int colGroup = 0, colMask = 0;
|
|
int collisionFlags = u2b.getCollisionGroupAndMask(urdfLinkIndex, colGroup, colMask);
|
|
if (collisionFlags & URDF_HAS_COLLISION_GROUP)
|
|
{
|
|
collisionFilterGroup = colGroup;
|
|
}
|
|
if (collisionFlags & URDF_HAS_COLLISION_MASK)
|
|
{
|
|
collisionFilterMask = colMask;
|
|
}
|
|
world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
|
|
|
|
btVector4 color2 = (flags & CUF_GOOGLEY_UNDEFINED_COLORS) ? selectColor2() : btVector4(1, 1, 1, 1);
|
|
btVector3 specularColor(1, 1, 1);
|
|
UrdfMaterialColor matCol;
|
|
if (u2b.getLinkColor2(urdfLinkIndex, matCol))
|
|
{
|
|
color2 = matCol.m_rgbaColor;
|
|
specularColor = matCol.m_specularColor;
|
|
}
|
|
{
|
|
B3_PROFILE("createCollisionObjectGraphicsInstance2");
|
|
creation.createCollisionObjectGraphicsInstance2(urdfLinkIndex, col, color2, specularColor);
|
|
}
|
|
{
|
|
B3_PROFILE("convertLinkVisualShapes2");
|
|
u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
|
|
}
|
|
URDFLinkContactInfo contactInfo;
|
|
u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
|
|
|
|
processContactParameters(contactInfo, col);
|
|
|
|
if (mbLinkIndex >= 0) //???? double-check +/- 1
|
|
{
|
|
//if the base is static and all joints in the chain between this link and the base are fixed,
|
|
//then this link is static too (doesn't merge islands)
|
|
if (cache.m_bulletMultiBody->getBaseMass() == 0)
|
|
{
|
|
bool allJointsFixed = true;
|
|
int testLinkIndex = mbLinkIndex;
|
|
do
|
|
{
|
|
if (cache.m_bulletMultiBody->getLink(testLinkIndex).m_jointType != btMultibodyLink::eFixed)
|
|
{
|
|
allJointsFixed = false;
|
|
break;
|
|
}
|
|
testLinkIndex = cache.m_bulletMultiBody->getLink(testLinkIndex).m_parent;
|
|
} while (testLinkIndex> 0);
|
|
if (allJointsFixed)
|
|
{
|
|
col->setCollisionFlags(col->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
|
|
}
|
|
|
|
}
|
|
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider = col;
|
|
if (flags & CUF_USE_SELF_COLLISION_INCLUDE_PARENT)
|
|
{
|
|
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags &= ~BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
|
|
}
|
|
if (flags & CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
|
|
{
|
|
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// if (canSleep)
|
|
{
|
|
if (cache.m_bulletMultiBody->getBaseMass() == 0)
|
|
//&& cache.m_bulletMultiBody->getNumDofs()==0)
|
|
{
|
|
//col->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
|
|
col->setCollisionFlags(col->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
|
|
}
|
|
}
|
|
|
|
cache.m_bulletMultiBody->setBaseCollider(col);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
int mbLinkIndex = cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
|
|
//u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
|
|
u2b.convertLinkVisualShapes2(-1, urdfLinkIndex, pathPrefix, localInertialFrame, linkRigidBody, u2b.getBodyUniqueId());
|
|
}
|
|
}
|
|
|
|
btAlignedObjectArray<int> urdfChildIndices;
|
|
u2b.getLinkChildIndices(urdfLinkIndex, urdfChildIndices);
|
|
|
|
int numChildren = urdfChildIndices.size();
|
|
|
|
if (recursive)
|
|
{
|
|
for (int i = 0; i < numChildren; i++)
|
|
{
|
|
int urdfChildLinkIndex = urdfChildIndices[i];
|
|
|
|
ConvertURDF2BulletInternal(u2b, creation, cache, urdfChildLinkIndex, linkTransformInWorldSpace, world1, createMultiBody, pathPrefix, flags, cachedLinkGraphicsShapesIn, cachedLinkGraphicsShapesOut, recursive);
|
|
}
|
|
}
|
|
return linkTransformInWorldSpace;
|
|
}
|
|
|
|
struct childParentIndex
|
|
{
|
|
int m_index;
|
|
int m_mbIndex;
|
|
int m_parentIndex;
|
|
int m_parentMBIndex;
|
|
|
|
};
|
|
|
|
void GetAllIndices(const URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex, int parentIndex, btAlignedObjectArray<childParentIndex>& allIndices)
|
|
{
|
|
childParentIndex cp;
|
|
cp.m_index = urdfLinkIndex;
|
|
int mbIndex = cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
|
|
cp.m_mbIndex = mbIndex;
|
|
cp.m_parentIndex = parentIndex;
|
|
int parentMbIndex = parentIndex>=0? cache.getMbIndexFromUrdfIndex(parentIndex) : -1;
|
|
cp.m_parentMBIndex = parentMbIndex;
|
|
|
|
allIndices.push_back(cp);
|
|
btAlignedObjectArray<int> urdfChildIndices;
|
|
u2b.getLinkChildIndices(urdfLinkIndex, urdfChildIndices);
|
|
int numChildren = urdfChildIndices.size();
|
|
for (int i = 0; i < numChildren; i++)
|
|
{
|
|
int urdfChildLinkIndex = urdfChildIndices[i];
|
|
GetAllIndices(u2b, cache, urdfChildLinkIndex, urdfLinkIndex, allIndices);
|
|
}
|
|
}
|
|
|
|
|
|
bool MyIntCompareFunc(childParentIndex a, childParentIndex b)
|
|
{
|
|
return (a.m_index < b.m_index);
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void ConvertURDF2Bullet(
|
|
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
|
|
const btTransform& rootTransformInWorldSpace,
|
|
|
|
#ifdef USE_DISCRETE_DYNAMICS_WORLD
|
|
btDiscreteDynamicsWorld* world1,
|
|
#else
|
|
btMultiBodyDynamicsWorld* world1,
|
|
#endif
|
|
bool createMultiBody, const char* pathPrefix, int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapes)
|
|
{
|
|
URDF2BulletCachedData cache;
|
|
InitURDF2BulletCache(u2b, cache, flags);
|
|
int urdfLinkIndex = u2b.getRootLinkIndex();
|
|
int rootIndex = u2b.getRootLinkIndex();
|
|
B3_PROFILE("ConvertURDF2Bullet");
|
|
|
|
UrdfVisualShapeCache cachedLinkGraphicsShapesOut;
|
|
|
|
|
|
bool recursive = (flags & CUF_MAINTAIN_LINK_ORDER)==0;
|
|
if (recursive)
|
|
{
|
|
ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex, rootTransformInWorldSpace, world1, createMultiBody, pathPrefix, flags, cachedLinkGraphicsShapes, &cachedLinkGraphicsShapesOut, recursive);
|
|
}
|
|
else
|
|
{
|
|
|
|
btAlignedObjectArray<btTransform> parentTransforms;
|
|
if (urdfLinkIndex >= parentTransforms.size())
|
|
{
|
|
parentTransforms.resize(urdfLinkIndex + 1);
|
|
}
|
|
parentTransforms[urdfLinkIndex] = rootTransformInWorldSpace;
|
|
btAlignedObjectArray<childParentIndex> allIndices;
|
|
|
|
GetAllIndices(u2b, cache, urdfLinkIndex, -1, allIndices);
|
|
allIndices.quickSort(MyIntCompareFunc);
|
|
|
|
for (int i = 0; i < allIndices.size(); i++)
|
|
{
|
|
int urdfLinkIndex = allIndices[i].m_index;
|
|
int parentIndex = allIndices[i].m_parentIndex;
|
|
btTransform parentTr = parentIndex >= 0 ? parentTransforms[parentIndex] : rootTransformInWorldSpace;
|
|
btTransform tr = ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex, parentTr , world1, createMultiBody, pathPrefix, flags, cachedLinkGraphicsShapes, &cachedLinkGraphicsShapesOut, recursive);
|
|
if ((urdfLinkIndex+1) >= parentTransforms.size())
|
|
{
|
|
parentTransforms.resize(urdfLinkIndex + 1);
|
|
}
|
|
parentTransforms[urdfLinkIndex] = tr;
|
|
}
|
|
|
|
|
|
|
|
}
|
|
if (cachedLinkGraphicsShapes && cachedLinkGraphicsShapesOut.m_cachedUrdfLinkVisualShapeIndices.size() > cachedLinkGraphicsShapes->m_cachedUrdfLinkVisualShapeIndices.size())
|
|
{
|
|
*cachedLinkGraphicsShapes = cachedLinkGraphicsShapesOut;
|
|
}
|
|
#ifndef USE_DISCRETE_DYNAMICS_WORLD
|
|
if (world1 && cache.m_bulletMultiBody)
|
|
{
|
|
B3_PROFILE("Post process");
|
|
btMultiBody* mb = cache.m_bulletMultiBody;
|
|
|
|
mb->setHasSelfCollision((flags & CUF_USE_SELF_COLLISION) != 0);
|
|
|
|
mb->finalizeMultiDof();
|
|
|
|
btTransform localInertialFrameRoot = cache.m_urdfLinkLocalInertialFrames[urdfLinkIndex];
|
|
|
|
if (flags & CUF_USE_MJCF)
|
|
{
|
|
}
|
|
else
|
|
{
|
|
mb->setBaseWorldTransform(rootTransformInWorldSpace * localInertialFrameRoot);
|
|
}
|
|
btAlignedObjectArray<btQuaternion> scratch_q;
|
|
btAlignedObjectArray<btVector3> scratch_m;
|
|
mb->forwardKinematics(scratch_q, scratch_m);
|
|
mb->updateCollisionObjectWorldTransforms(scratch_q, scratch_m);
|
|
|
|
world1->addMultiBody(mb);
|
|
}
|
|
#endif
|
|
}
|