mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-16 06:30:05 +00:00
670 lines
25 KiB
C++
670 lines
25 KiB
C++
#include <stdio.h>
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#include "LinearMath/btTransform.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/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 colors[4] =
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{
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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btVector4(1,1,0,1),
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};
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static btVector4 selectColor2()
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{
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static int curColor = 0;
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btVector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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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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:
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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)
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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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ComputeParentIndices(u2b,cache,rootLinkIndex,-2);
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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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void 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, btMultiBodyDynamicsWorld* world1,
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bool createMultiBody, const char* pathPrefix,
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int flags = 0, UrdfVisualShapeCache* cachedLinkGraphicsShapesIn=0, UrdfVisualShapeCache* cachedLinkGraphicsShapesOut=0)
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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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} 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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bool hasParentJoint = u2b.getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction,jointMaxForce,jointMaxVelocity);
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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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} 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 = selectColor2();
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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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if (!createMultiBody)
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{
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btRigidBody* body = creation.allocateRigidBody(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrameInWorldSpace, compoundShape);
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bool canSleep = (flags & CUF_ENABLE_SLEEPING)!=0;
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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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} else
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{
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if (cache.m_bulletMultiBody==0)
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{
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bool canSleep = (flags & CUF_ENABLE_SLEEPING)!=0;
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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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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 URDFFloatingJoint:
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case URDFPlanarJoint:
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case URDFFixedJoint:
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{
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if ((jointType==URDFFloatingJoint)||(jointType==URDFPlanarJoint))
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{
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printf("Warning: joint unsupported, creating a fixed joint instead.");
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}
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creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
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if (createMultiBody)
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{
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//todo: adjust the center of mass transform and pivot axis properly
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cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
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parentRotToThis, offsetInA.getOrigin(),-offsetInB.getOrigin());
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} else
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{
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//b3Printf("Fixed joint\n");
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btGeneric6DofSpring2Constraint* dof6 = 0;
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//backward compatibility
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if (flags & CUF_RESERVED )
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{
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dof6 = creation.createFixedJoint(urdfLinkIndex,*parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
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} else
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{
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dof6 = creation.createFixedJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA);
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}
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if (enableConstraints)
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world1->addConstraint(dof6,true);
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}
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break;
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}
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case URDFContinuousJoint:
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case URDFRevoluteJoint:
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{
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creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
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if (createMultiBody)
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{
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cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
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parentRotToThis, quatRotate(offsetInB.getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
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-offsetInB.getOrigin(),
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disableParentCollision);
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if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) {
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//std::string name = u2b.getLinkName(urdfLinkIndex);
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//printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit);
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btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
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world1->addMultiBodyConstraint(con);
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}
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} else
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{
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btGeneric6DofSpring2Constraint* dof6 = 0;
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|
//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);
|
|
}
|
|
if (enableConstraints)
|
|
world1->addConstraint(dof6,true);
|
|
//b3Printf("Revolute/Continuous joint\n");
|
|
}
|
|
break;
|
|
}
|
|
case URDFPrismaticJoint:
|
|
{
|
|
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
|
|
|
|
if (createMultiBody)
|
|
{
|
|
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);
|
|
|
|
} 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);
|
|
}
|
|
}
|
|
|
|
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 = selectColor2();//(0.0,0.0,0.5);
|
|
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
|
|
{
|
|
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider=col;
|
|
if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_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
|
|
{
|
|
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();
|
|
|
|
for (int i=0;i<numChildren;i++)
|
|
{
|
|
int urdfChildLinkIndex = urdfChildIndices[i];
|
|
|
|
ConvertURDF2BulletInternal(u2b,creation, cache,urdfChildLinkIndex,linkTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags, cachedLinkGraphicsShapesIn, cachedLinkGraphicsShapesOut);
|
|
}
|
|
|
|
}
|
|
void ConvertURDF2Bullet(
|
|
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
|
|
const btTransform& rootTransformInWorldSpace,
|
|
btMultiBodyDynamicsWorld* world1,
|
|
bool createMultiBody, const char* pathPrefix, int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapes)
|
|
{
|
|
|
|
URDF2BulletCachedData cache;
|
|
InitURDF2BulletCache(u2b,cache);
|
|
int urdfLinkIndex = u2b.getRootLinkIndex();
|
|
B3_PROFILE("ConvertURDF2Bullet");
|
|
|
|
UrdfVisualShapeCache cachedLinkGraphicsShapesOut;
|
|
|
|
ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags, cachedLinkGraphicsShapes, &cachedLinkGraphicsShapesOut);
|
|
if (cachedLinkGraphicsShapes && cachedLinkGraphicsShapesOut.m_cachedUrdfLinkVisualShapeIndices.size() > cachedLinkGraphicsShapes->m_cachedUrdfLinkVisualShapeIndices.size())
|
|
{
|
|
*cachedLinkGraphicsShapes = cachedLinkGraphicsShapesOut;
|
|
}
|
|
|
|
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);
|
|
}
|
|
}
|
|
|
|
|