mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
8f380b3fd2
use loadURDF(..., flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS) to get Googley colors when colors are undefined.
2582 lines
74 KiB
C++
2582 lines
74 KiB
C++
#include "BulletMJCFImporter.h"
|
|
#include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
|
|
#include "Bullet3Common/b3FileUtils.h"
|
|
#include "Bullet3Common/b3HashMap.h"
|
|
#include "LinearMath/btQuickprof.h"
|
|
#include "BulletCollision/CollisionShapes/btShapeHull.h"
|
|
#include "../../CommonInterfaces/CommonRenderInterface.h"
|
|
#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
|
|
#include "../../CommonInterfaces/CommonFileIOInterface.h"
|
|
#include "../ImportURDFDemo/UrdfFindMeshFile.h"
|
|
#include <string>
|
|
#include <iostream>
|
|
#include <fstream>
|
|
#include "../../Utils/b3ResourcePath.h"
|
|
#include "../ImportURDFDemo/URDF2Bullet.h"
|
|
#include "../ImportURDFDemo/UrdfParser.h"
|
|
#include "../ImportURDFDemo/urdfStringSplit.h"
|
|
#include "../ImportURDFDemo/urdfLexicalCast.h"
|
|
#include "../ImportObjDemo/LoadMeshFromObj.h"
|
|
#include "../ImportSTLDemo/LoadMeshFromSTL.h"
|
|
#include "../ImportColladaDemo/LoadMeshFromCollada.h"
|
|
#include "../OpenGLWindow/ShapeData.h"
|
|
|
|
#include "../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
|
|
#include "../ImportMeshUtility/b3ImportMeshUtility.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
|
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
|
|
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
|
|
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
|
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
|
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
|
|
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
|
|
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
|
|
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
|
|
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
|
|
#include "BulletCollision/CollisionShapes/btTriangleMesh.h"
|
|
|
|
using namespace tinyxml2;
|
|
|
|
#define mjcf_sphere_indiced textured_detailed_sphere_indices
|
|
#define mjcf_sphere_vertices textured_detailed_sphere_vertices
|
|
|
|
static btVector4 sGoogleColors[4] =
|
|
{
|
|
btVector4(60. / 256., 186. / 256., 84. / 256., 1),
|
|
btVector4(244. / 256., 194. / 256., 13. / 256., 1),
|
|
btVector4(219. / 256., 50. / 256., 54. / 256., 1),
|
|
btVector4(72. / 256., 133. / 256., 237. / 256., 1),
|
|
};
|
|
|
|
#include <vector>
|
|
|
|
enum ePARENT_LINK_ENUMS
|
|
{
|
|
BASE_LINK_INDEX = -1,
|
|
|
|
INVALID_LINK_INDEX = -2
|
|
};
|
|
|
|
static int gUid = 0;
|
|
|
|
static bool parseVector4(btVector4& vec4, const std::string& vector_str)
|
|
{
|
|
vec4.setZero();
|
|
btArray<std::string> pieces;
|
|
btArray<float> rgba;
|
|
btAlignedObjectArray<std::string> strArray;
|
|
urdfIsAnyOf(" ", strArray);
|
|
urdfStringSplit(pieces, vector_str, strArray);
|
|
for (int i = 0; i < pieces.size(); ++i)
|
|
{
|
|
if (!pieces[i].empty())
|
|
{
|
|
rgba.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
|
|
}
|
|
}
|
|
if (rgba.size() != 4)
|
|
{
|
|
return false;
|
|
}
|
|
vec4.setValue(rgba[0], rgba[1], rgba[2], rgba[3]);
|
|
return true;
|
|
}
|
|
|
|
static bool parseVector3(btVector3& vec3, const std::string& vector_str, MJCFErrorLogger* logger, bool lastThree = false)
|
|
{
|
|
vec3.setZero();
|
|
btArray<std::string> pieces;
|
|
btArray<float> rgba;
|
|
btAlignedObjectArray<std::string> strArray;
|
|
urdfIsAnyOf(" ", strArray);
|
|
urdfStringSplit(pieces, vector_str, strArray);
|
|
for (int i = 0; i < pieces.size(); ++i)
|
|
{
|
|
if (!pieces[i].empty())
|
|
{
|
|
rgba.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
|
|
}
|
|
}
|
|
if (rgba.size() < 3)
|
|
{
|
|
logger->reportWarning(("Couldn't parse vector3 '" + vector_str + "'").c_str());
|
|
return false;
|
|
}
|
|
if (lastThree)
|
|
{
|
|
vec3.setValue(rgba[rgba.size() - 3], rgba[rgba.size() - 2], rgba[rgba.size() - 1]);
|
|
}
|
|
else
|
|
{
|
|
vec3.setValue(rgba[0], rgba[1], rgba[2]);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
static bool parseVector6(btVector3& v0, btVector3& v1, const std::string& vector_str, MJCFErrorLogger* logger)
|
|
{
|
|
v0.setZero();
|
|
v1.setZero();
|
|
|
|
btArray<std::string> pieces;
|
|
btArray<float> values;
|
|
btAlignedObjectArray<std::string> strArray;
|
|
urdfIsAnyOf(" ", strArray);
|
|
urdfStringSplit(pieces, vector_str, strArray);
|
|
for (int i = 0; i < pieces.size(); ++i)
|
|
{
|
|
if (!pieces[i].empty())
|
|
{
|
|
values.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
|
|
}
|
|
}
|
|
if (values.size() < 6)
|
|
{
|
|
logger->reportWarning(("Couldn't parse 6 floats '" + vector_str + "'").c_str());
|
|
|
|
return false;
|
|
}
|
|
v0.setValue(values[0], values[1], values[2]);
|
|
v1.setValue(values[3], values[4], values[5]);
|
|
|
|
return true;
|
|
}
|
|
|
|
struct MyMJCFAsset
|
|
{
|
|
std::string m_fileName;
|
|
};
|
|
|
|
struct MyMJCFDefaults
|
|
{
|
|
int m_defaultCollisionGroup;
|
|
int m_defaultCollisionMask;
|
|
btScalar m_defaultCollisionMargin;
|
|
|
|
// joint defaults
|
|
std::string m_defaultJointLimited;
|
|
|
|
// geom defaults
|
|
std::string m_defaultGeomRgba;
|
|
int m_defaultConDim;
|
|
double m_defaultLateralFriction;
|
|
double m_defaultSpinningFriction;
|
|
double m_defaultRollingFriction;
|
|
|
|
MyMJCFDefaults()
|
|
: m_defaultCollisionGroup(1),
|
|
m_defaultCollisionMask(1),
|
|
m_defaultCollisionMargin(0.001), //assume unit meters, margin is 1mm
|
|
m_defaultConDim(3),
|
|
m_defaultLateralFriction(0.5),
|
|
m_defaultSpinningFriction(0),
|
|
m_defaultRollingFriction(0)
|
|
{
|
|
}
|
|
};
|
|
|
|
struct BulletMJCFImporterInternalData
|
|
{
|
|
GUIHelperInterface* m_guiHelper;
|
|
struct UrdfRenderingInterface* m_customVisualShapesConverter;
|
|
char m_pathPrefix[1024];
|
|
|
|
std::string m_sourceFileName; // with path
|
|
std::string m_fileModelName; // without path
|
|
btHashMap<btHashString, MyMJCFAsset> m_assets;
|
|
|
|
btAlignedObjectArray<UrdfModel*> m_models;
|
|
|
|
//<compiler angle="radian" meshdir="mesh/" texturedir="texture/" inertiafromgeom="true"/>
|
|
std::string m_meshDir;
|
|
std::string m_textureDir;
|
|
std::string m_angleUnits;
|
|
bool m_inertiaFromGeom;
|
|
|
|
int m_activeModel;
|
|
int m_activeBodyUniqueId;
|
|
|
|
//todo: for better MJCF compatibility, we would need a stack of default values
|
|
MyMJCFDefaults m_globalDefaults;
|
|
b3HashMap<b3HashString, MyMJCFDefaults> m_classDefaults;
|
|
|
|
//those collision shapes are deleted by caller (todo: make sure this happens!)
|
|
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
|
|
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
|
|
|
|
int m_flags;
|
|
int m_textureId;
|
|
|
|
CommonFileIOInterface* m_fileIO;
|
|
|
|
BulletMJCFImporterInternalData()
|
|
: m_inertiaFromGeom(true),
|
|
m_activeModel(-1),
|
|
m_activeBodyUniqueId(-1),
|
|
m_flags(0),
|
|
m_textureId(-1),
|
|
m_fileIO(0)
|
|
{
|
|
m_pathPrefix[0] = 0;
|
|
}
|
|
|
|
~BulletMJCFImporterInternalData()
|
|
{
|
|
for (int i = 0; i < m_models.size(); i++)
|
|
{
|
|
delete m_models[i];
|
|
}
|
|
}
|
|
|
|
std::string sourceFileLocation(XMLElement* e)
|
|
{
|
|
#if 0
|
|
//no C++11 snprintf etc
|
|
char buf[1024];
|
|
snprintf(buf, sizeof(buf), "%s:%i", m_sourceFileName.c_str(), e->Row());
|
|
return buf;
|
|
#else
|
|
char row[1024];
|
|
#ifdef G3_TINYXML2
|
|
sprintf(row, "unknown line, upgrade tinyxml2 version!");
|
|
#else
|
|
sprintf(row, "%d", e->GetLineNum());
|
|
#endif
|
|
std::string str = m_sourceFileName.c_str() + std::string(":") + std::string(row);
|
|
return str;
|
|
#endif
|
|
}
|
|
|
|
const UrdfLink* getLink(int modelIndex, int linkIndex) const
|
|
{
|
|
if (modelIndex >= 0 && modelIndex < m_models.size())
|
|
{
|
|
UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
|
|
if (linkPtrPtr && *linkPtrPtr)
|
|
{
|
|
UrdfLink* linkPtr = *linkPtrPtr;
|
|
return linkPtr;
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
void parseCompiler(XMLElement* root_xml, MJCFErrorLogger* logger)
|
|
{
|
|
const char* meshDirStr = root_xml->Attribute("meshdir");
|
|
if (meshDirStr)
|
|
{
|
|
m_meshDir = meshDirStr;
|
|
}
|
|
const char* textureDirStr = root_xml->Attribute("texturedir");
|
|
if (textureDirStr)
|
|
{
|
|
m_textureDir = textureDirStr;
|
|
}
|
|
const char* angle = root_xml->Attribute("angle");
|
|
m_angleUnits = angle ? angle : "degree"; // degrees by default, http://www.mujoco.org/book/modeling.html#compiler
|
|
const char* inertiaFromGeom = root_xml->Attribute("inertiafromgeom");
|
|
if (inertiaFromGeom && inertiaFromGeom[0] == 'f') // false, other values assumed `true`.
|
|
{
|
|
m_inertiaFromGeom = false;
|
|
}
|
|
}
|
|
|
|
void parseAssets(XMLElement* root_xml, MJCFErrorLogger* logger)
|
|
{
|
|
// <mesh name="index0" file="index0.stl"/>
|
|
for (XMLElement* child_xml = root_xml->FirstChildElement(); child_xml; child_xml = child_xml->NextSiblingElement())
|
|
{
|
|
std::string n = child_xml->Value();
|
|
if (n == "mesh")
|
|
{
|
|
const char* assetNameStr = child_xml->Attribute("name");
|
|
const char* fileNameStr = child_xml->Attribute("file");
|
|
if (assetNameStr && fileNameStr)
|
|
{
|
|
btHashString assetName = assetNameStr;
|
|
MyMJCFAsset asset;
|
|
asset.m_fileName = m_meshDir + fileNameStr;
|
|
m_assets.insert(assetName, asset);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
bool parseDefaults(MyMJCFDefaults& defaults, XMLElement* root_xml, MJCFErrorLogger* logger)
|
|
{
|
|
bool handled = false;
|
|
//rudimentary 'default' support, would need more work for better feature coverage
|
|
for (XMLElement* child_xml = root_xml->FirstChildElement(); child_xml; child_xml = child_xml->NextSiblingElement())
|
|
{
|
|
std::string n = child_xml->Value();
|
|
|
|
if (n.find("default") != std::string::npos)
|
|
{
|
|
const char* className = child_xml->Attribute("class");
|
|
|
|
if (className)
|
|
{
|
|
MyMJCFDefaults* curDefaultsPtr = m_classDefaults[className];
|
|
if (!curDefaultsPtr)
|
|
{
|
|
MyMJCFDefaults def;
|
|
m_classDefaults.insert(className, def);
|
|
curDefaultsPtr = m_classDefaults[className];
|
|
}
|
|
if (curDefaultsPtr)
|
|
{
|
|
MyMJCFDefaults& curDefaults = *curDefaultsPtr;
|
|
parseDefaults(curDefaults, child_xml, logger);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (n == "inertial")
|
|
{
|
|
}
|
|
if (n == "asset")
|
|
{
|
|
parseAssets(child_xml, logger);
|
|
}
|
|
if (n == "joint")
|
|
{
|
|
// Other attributes here:
|
|
// armature="1"
|
|
// damping="1"
|
|
// limited="true"
|
|
if (const char* conTypeStr = child_xml->Attribute("limited"))
|
|
{
|
|
defaults.m_defaultJointLimited = child_xml->Attribute("limited");
|
|
}
|
|
}
|
|
if (n == "geom")
|
|
{
|
|
//contype, conaffinity
|
|
const char* conTypeStr = child_xml->Attribute("contype");
|
|
if (conTypeStr)
|
|
{
|
|
defaults.m_defaultCollisionGroup = urdfLexicalCast<int>(conTypeStr);
|
|
}
|
|
const char* conAffinityStr = child_xml->Attribute("conaffinity");
|
|
if (conAffinityStr)
|
|
{
|
|
defaults.m_defaultCollisionMask = urdfLexicalCast<int>(conAffinityStr);
|
|
}
|
|
const char* rgba = child_xml->Attribute("rgba");
|
|
if (rgba)
|
|
{
|
|
defaults.m_defaultGeomRgba = rgba;
|
|
}
|
|
|
|
const char* conDimS = child_xml->Attribute("condim");
|
|
if (conDimS)
|
|
{
|
|
defaults.m_defaultConDim = urdfLexicalCast<int>(conDimS);
|
|
}
|
|
int conDim = defaults.m_defaultConDim;
|
|
|
|
const char* frictionS = child_xml->Attribute("friction");
|
|
if (frictionS)
|
|
{
|
|
btArray<std::string> pieces;
|
|
btArray<float> frictions;
|
|
btAlignedObjectArray<std::string> strArray;
|
|
urdfIsAnyOf(" ", strArray);
|
|
urdfStringSplit(pieces, frictionS, strArray);
|
|
for (int i = 0; i < pieces.size(); ++i)
|
|
{
|
|
if (!pieces[i].empty())
|
|
{
|
|
frictions.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
|
|
}
|
|
}
|
|
if (frictions.size() > 0)
|
|
{
|
|
defaults.m_defaultLateralFriction = frictions[0];
|
|
}
|
|
if (frictions.size() > 1)
|
|
{
|
|
defaults.m_defaultSpinningFriction = frictions[1];
|
|
}
|
|
if (frictions.size() > 2)
|
|
{
|
|
defaults.m_defaultRollingFriction = frictions[2];
|
|
}
|
|
}
|
|
}
|
|
}
|
|
handled = true;
|
|
return handled;
|
|
}
|
|
bool parseRootLevel(MyMJCFDefaults& defaults, XMLElement* root_xml, MJCFErrorLogger* logger)
|
|
{
|
|
for (XMLElement* rootxml = root_xml->FirstChildElement(); rootxml; rootxml = rootxml->NextSiblingElement())
|
|
{
|
|
bool handled = false;
|
|
std::string n = rootxml->Value();
|
|
|
|
if (n == "body")
|
|
{
|
|
int modelIndex = m_models.size();
|
|
UrdfModel* model = new UrdfModel();
|
|
m_models.push_back(model);
|
|
parseBody(defaults, rootxml, modelIndex, INVALID_LINK_INDEX, logger);
|
|
initTreeAndRoot(*model, logger);
|
|
handled = true;
|
|
}
|
|
|
|
if (n == "geom")
|
|
{
|
|
int modelIndex = m_models.size();
|
|
UrdfModel* modelPtr = new UrdfModel();
|
|
m_models.push_back(modelPtr);
|
|
|
|
UrdfLink* linkPtr = new UrdfLink();
|
|
linkPtr->m_name = "anonymous";
|
|
const char* namePtr = rootxml->Attribute("name");
|
|
if (namePtr)
|
|
{
|
|
linkPtr->m_name = namePtr;
|
|
}
|
|
int linkIndex = modelPtr->m_links.size();
|
|
linkPtr->m_linkIndex = linkIndex;
|
|
modelPtr->m_links.insert(linkPtr->m_name.c_str(), linkPtr);
|
|
|
|
//don't parse geom transform here, it will be inside 'parseGeom'
|
|
linkPtr->m_linkTransformInWorld.setIdentity();
|
|
|
|
// modelPtr->m_rootLinks.push_back(linkPtr);
|
|
|
|
btVector3 inertialShift(0, 0, 0);
|
|
parseGeom(defaults, rootxml, modelIndex, linkIndex, logger, inertialShift);
|
|
initTreeAndRoot(*modelPtr, logger);
|
|
|
|
handled = true;
|
|
}
|
|
|
|
if (n == "site")
|
|
{
|
|
handled = true;
|
|
}
|
|
if (!handled)
|
|
{
|
|
logger->reportWarning((sourceFileLocation(rootxml) + ": unhandled root element '" + n + "'").c_str());
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool parseJoint(MyMJCFDefaults& defaults, XMLElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, const btTransform& parentToLinkTrans, btTransform& jointTransOut)
|
|
{
|
|
bool jointHandled = false;
|
|
const char* jType = link_xml->Attribute("type");
|
|
const char* limitedStr = link_xml->Attribute("limited");
|
|
const char* axisStr = link_xml->Attribute("axis");
|
|
const char* posStr = link_xml->Attribute("pos");
|
|
const char* ornStr = link_xml->Attribute("quat");
|
|
const char* nameStr = link_xml->Attribute("name");
|
|
const char* rangeStr = link_xml->Attribute("range");
|
|
|
|
btTransform jointTrans;
|
|
jointTrans.setIdentity();
|
|
if (posStr)
|
|
{
|
|
btVector3 pos;
|
|
std::string p = posStr;
|
|
if (parseVector3(pos, p, logger))
|
|
{
|
|
jointTrans.setOrigin(pos);
|
|
}
|
|
}
|
|
if (ornStr)
|
|
{
|
|
std::string o = ornStr;
|
|
btVector4 o4;
|
|
if (parseVector4(o4, o))
|
|
{
|
|
btQuaternion orn(o4[3], o4[0], o4[1], o4[2]);
|
|
jointTrans.setRotation(orn);
|
|
}
|
|
}
|
|
|
|
btVector3 jointAxis(1, 0, 0);
|
|
if (axisStr)
|
|
{
|
|
std::string ax = axisStr;
|
|
parseVector3(jointAxis, ax, logger);
|
|
}
|
|
else
|
|
{
|
|
logger->reportWarning((sourceFileLocation(link_xml) + ": joint without axis attribute").c_str());
|
|
}
|
|
|
|
double range[2] = {1, 0};
|
|
std::string lim = m_globalDefaults.m_defaultJointLimited;
|
|
if (limitedStr)
|
|
{
|
|
lim = limitedStr;
|
|
}
|
|
bool isLimited = lim == "true";
|
|
|
|
UrdfJointTypes ejtype;
|
|
if (jType)
|
|
{
|
|
std::string jointType = jType;
|
|
if (jointType == "fixed")
|
|
{
|
|
ejtype = URDFFixedJoint;
|
|
jointHandled = true;
|
|
}
|
|
if (jointType == "slide")
|
|
{
|
|
ejtype = URDFPrismaticJoint;
|
|
jointHandled = true;
|
|
}
|
|
if (jointType == "hinge")
|
|
{
|
|
if (isLimited)
|
|
{
|
|
ejtype = URDFRevoluteJoint;
|
|
}
|
|
else
|
|
{
|
|
ejtype = URDFContinuousJoint;
|
|
}
|
|
jointHandled = true;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
logger->reportWarning((sourceFileLocation(link_xml) + ": expected 'type' attribute for joint").c_str());
|
|
}
|
|
|
|
if (isLimited)
|
|
{
|
|
//parse the 'range' field
|
|
btArray<std::string> pieces;
|
|
btArray<float> limits;
|
|
btAlignedObjectArray<std::string> strArray;
|
|
urdfIsAnyOf(" ", strArray);
|
|
urdfStringSplit(pieces, rangeStr, strArray);
|
|
for (int i = 0; i < pieces.size(); ++i)
|
|
{
|
|
if (!pieces[i].empty())
|
|
{
|
|
limits.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
|
|
}
|
|
}
|
|
if (limits.size() == 2)
|
|
{
|
|
range[0] = limits[0];
|
|
range[1] = limits[1];
|
|
if (m_angleUnits == "degree" && ejtype == URDFRevoluteJoint)
|
|
{
|
|
range[0] = limits[0] * B3_PI / 180;
|
|
range[1] = limits[1] * B3_PI / 180;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
logger->reportWarning((sourceFileLocation(link_xml) + ": cannot parse 'range' attribute (units='" + m_angleUnits + "'')").c_str());
|
|
}
|
|
}
|
|
|
|
// TODO armature : real, "0" Armature inertia (or rotor inertia) of all
|
|
// degrees of freedom created by this joint. These are constants added to the
|
|
// diagonal of the inertia matrix in generalized coordinates. They make the
|
|
// simulation more stable, and often increase physical realism. This is because
|
|
// when a motor is attached to the system with a transmission that amplifies
|
|
// the motor force by c, the inertia of the rotor (i.e. the moving part of the
|
|
// motor) is amplified by c*c. The same holds for gears in the early stages of
|
|
// planetary gear boxes. These extra inertias often dominate the inertias of
|
|
// the robot parts that are represented explicitly in the model, and the
|
|
// armature attribute is the way to model them.
|
|
|
|
// TODO damping : real, "0" Damping applied to all degrees of
|
|
// freedom created by this joint. Unlike friction loss
|
|
// which is computed by the constraint solver, damping is
|
|
// simply a force linear in velocity. It is included in
|
|
// the passive forces. Despite this simplicity, larger
|
|
// damping values can make numerical integrators unstable,
|
|
// which is why our Euler integrator handles damping
|
|
// implicitly. See Integration in the Computation chapter.
|
|
|
|
const UrdfLink* linkPtr = getLink(modelIndex, linkIndex);
|
|
|
|
btTransform parentLinkToJointTransform;
|
|
parentLinkToJointTransform.setIdentity();
|
|
parentLinkToJointTransform = parentToLinkTrans * jointTrans;
|
|
jointTransOut = jointTrans;
|
|
|
|
if (jointHandled)
|
|
{
|
|
UrdfJoint* jointPtr = new UrdfJoint();
|
|
jointPtr->m_childLinkName = linkPtr->m_name;
|
|
const UrdfLink* parentLink = getLink(modelIndex, parentLinkIndex);
|
|
jointPtr->m_parentLinkName = parentLink->m_name;
|
|
jointPtr->m_localJointAxis = jointAxis;
|
|
jointPtr->m_parentLinkToJointTransform = parentLinkToJointTransform;
|
|
jointPtr->m_type = ejtype;
|
|
int numJoints = m_models[modelIndex]->m_joints.size();
|
|
|
|
//range
|
|
jointPtr->m_lowerLimit = range[0];
|
|
jointPtr->m_upperLimit = range[1];
|
|
|
|
if (nameStr)
|
|
{
|
|
jointPtr->m_name = nameStr;
|
|
}
|
|
else
|
|
{
|
|
char jointName[1024];
|
|
sprintf(jointName, "joint%d_%d_%d", gUid++, linkIndex, numJoints);
|
|
jointPtr->m_name = jointName;
|
|
}
|
|
m_models[modelIndex]->m_joints.insert(jointPtr->m_name.c_str(), jointPtr);
|
|
return true;
|
|
}
|
|
/*
|
|
URDFRevoluteJoint=1,
|
|
URDFPrismaticJoint,
|
|
URDFContinuousJoint,
|
|
URDFFloatingJoint,
|
|
URDFPlanarJoint,
|
|
URDFFixedJoint,
|
|
*/
|
|
return false;
|
|
}
|
|
bool parseGeom(MyMJCFDefaults& defaults, XMLElement* link_xml, int modelIndex, int linkIndex, MJCFErrorLogger* logger, btVector3& inertialShift)
|
|
{
|
|
UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
|
|
if (linkPtrPtr == 0)
|
|
{
|
|
// XXX: should it be assert?
|
|
logger->reportWarning("Invalide linkindex");
|
|
return false;
|
|
}
|
|
UrdfLink* linkPtr = *linkPtrPtr;
|
|
|
|
btTransform linkLocalFrame;
|
|
linkLocalFrame.setIdentity();
|
|
|
|
bool handledGeomType = false;
|
|
UrdfGeometry geom;
|
|
|
|
const char* sz = link_xml->Attribute("size");
|
|
int conDim = defaults.m_defaultConDim;
|
|
|
|
const char* conDimS = link_xml->Attribute("condim");
|
|
{
|
|
if (conDimS)
|
|
{
|
|
conDim = urdfLexicalCast<int>(conDimS);
|
|
}
|
|
}
|
|
|
|
double lateralFriction = defaults.m_defaultLateralFriction;
|
|
double spinningFriction = defaults.m_defaultSpinningFriction;
|
|
double rollingFriction = defaults.m_defaultRollingFriction;
|
|
|
|
const char* frictionS = link_xml->Attribute("friction");
|
|
if (frictionS)
|
|
{
|
|
btArray<std::string> pieces;
|
|
btArray<float> frictions;
|
|
btAlignedObjectArray<std::string> strArray;
|
|
urdfIsAnyOf(" ", strArray);
|
|
urdfStringSplit(pieces, frictionS, strArray);
|
|
for (int i = 0; i < pieces.size(); ++i)
|
|
{
|
|
if (!pieces[i].empty())
|
|
{
|
|
frictions.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
|
|
}
|
|
}
|
|
if (frictions.size() > 0)
|
|
{
|
|
lateralFriction = frictions[0];
|
|
}
|
|
if (frictions.size() > 1 && conDim > 3)
|
|
{
|
|
spinningFriction = frictions[1];
|
|
}
|
|
if (frictions.size() > 2 && conDim > 4)
|
|
{
|
|
rollingFriction = frictions[2];
|
|
}
|
|
}
|
|
|
|
linkPtr->m_contactInfo.m_lateralFriction = lateralFriction;
|
|
linkPtr->m_contactInfo.m_spinningFriction = spinningFriction;
|
|
linkPtr->m_contactInfo.m_rollingFriction = rollingFriction;
|
|
|
|
if (conDim > 3)
|
|
{
|
|
linkPtr->m_contactInfo.m_spinningFriction = defaults.m_defaultSpinningFriction;
|
|
linkPtr->m_contactInfo.m_flags |= URDF_CONTACT_HAS_SPINNING_FRICTION;
|
|
}
|
|
if (conDim > 4)
|
|
{
|
|
linkPtr->m_contactInfo.m_rollingFriction = defaults.m_defaultRollingFriction;
|
|
linkPtr->m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
|
|
}
|
|
|
|
{
|
|
if (m_flags & CUF_GOOGLEY_UNDEFINED_COLORS)
|
|
{
|
|
geom.m_localMaterial.m_matColor.m_rgbaColor = sGoogleColors[linkIndex & 3];
|
|
}
|
|
else
|
|
{
|
|
geom.m_localMaterial.m_matColor.m_rgbaColor.setValue(1, 1, 1, 1);
|
|
}
|
|
geom.m_localMaterial.m_matColor.m_specularColor.setValue(1, 1, 1);
|
|
geom.m_hasLocalMaterial = true;
|
|
}
|
|
|
|
std::string rgba = defaults.m_defaultGeomRgba;
|
|
if (const char* rgbattr = link_xml->Attribute("rgba"))
|
|
{
|
|
rgba = rgbattr;
|
|
}
|
|
if (!rgba.empty())
|
|
{
|
|
// "0 0.7 0.7 1"
|
|
if ((m_flags & CUF_MJCF_COLORS_FROM_FILE))
|
|
{
|
|
parseVector4(geom.m_localMaterial.m_matColor.m_rgbaColor, rgba);
|
|
geom.m_hasLocalMaterial = true;
|
|
geom.m_localMaterial.m_name = rgba;
|
|
}
|
|
}
|
|
|
|
const char* posS = link_xml->Attribute("pos");
|
|
if (posS)
|
|
{
|
|
btVector3 pos(0, 0, 0);
|
|
std::string p = posS;
|
|
if (parseVector3(pos, p, logger))
|
|
{
|
|
linkLocalFrame.setOrigin(pos);
|
|
}
|
|
}
|
|
|
|
const char* ornS = link_xml->Attribute("quat");
|
|
if (ornS)
|
|
{
|
|
btQuaternion orn(0, 0, 0, 1);
|
|
btVector4 o4;
|
|
if (parseVector4(o4, ornS))
|
|
{
|
|
orn.setValue(o4[1], o4[2], o4[3], o4[0]);
|
|
linkLocalFrame.setRotation(orn);
|
|
}
|
|
}
|
|
|
|
const char* axis_and_angle = link_xml->Attribute("axisangle");
|
|
if (axis_and_angle)
|
|
{
|
|
btQuaternion orn(0, 0, 0, 1);
|
|
btVector4 o4;
|
|
if (parseVector4(o4, axis_and_angle))
|
|
{
|
|
orn.setRotation(btVector3(o4[0], o4[1], o4[2]), o4[3]);
|
|
linkLocalFrame.setRotation(orn);
|
|
}
|
|
}
|
|
|
|
const char* gType = link_xml->Attribute("type");
|
|
if (gType)
|
|
{
|
|
std::string geomType = gType;
|
|
|
|
if (geomType == "plane")
|
|
{
|
|
geom.m_type = URDF_GEOM_PLANE;
|
|
geom.m_planeNormal.setValue(0, 0, 1);
|
|
btVector3 size(1, 1, 1);
|
|
if (sz)
|
|
{
|
|
std::string sizeStr = sz;
|
|
bool lastThree = false;
|
|
parseVector3(size, sizeStr, logger, lastThree);
|
|
}
|
|
geom.m_boxSize = 2*size;
|
|
handledGeomType = true;
|
|
}
|
|
if (geomType == "box")
|
|
{
|
|
btVector3 size(1, 1, 1);
|
|
if (sz)
|
|
{
|
|
std::string sizeStr = sz;
|
|
bool lastThree = false;
|
|
parseVector3(size, sizeStr, logger, lastThree);
|
|
}
|
|
geom.m_type = URDF_GEOM_BOX;
|
|
geom.m_boxSize = 2*size;
|
|
handledGeomType = true;
|
|
}
|
|
|
|
if (geomType == "sphere")
|
|
{
|
|
geom.m_type = URDF_GEOM_SPHERE;
|
|
if (sz)
|
|
{
|
|
geom.m_sphereRadius = urdfLexicalCast<double>(sz);
|
|
}
|
|
else
|
|
{
|
|
logger->reportWarning((sourceFileLocation(link_xml) + ": no size field (scalar) in sphere geom").c_str());
|
|
}
|
|
handledGeomType = true;
|
|
}
|
|
|
|
if (geomType == "capsule" || geomType == "cylinder")
|
|
{
|
|
// <geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
|
|
geom.m_type = geomType == "cylinder" ? URDF_GEOM_CYLINDER : URDF_GEOM_CAPSULE;
|
|
|
|
btArray<std::string> pieces;
|
|
btArray<float> sizes;
|
|
btAlignedObjectArray<std::string> strArray;
|
|
urdfIsAnyOf(" ", strArray);
|
|
urdfStringSplit(pieces, sz, strArray);
|
|
for (int i = 0; i < pieces.size(); ++i)
|
|
{
|
|
if (!pieces[i].empty())
|
|
{
|
|
sizes.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
|
|
}
|
|
}
|
|
|
|
geom.m_capsuleRadius = 2.00f; // 2 to make it visible if something is wrong
|
|
geom.m_capsuleHeight = 2.00f;
|
|
|
|
if (sizes.size() > 0)
|
|
{
|
|
geom.m_capsuleRadius = sizes[0];
|
|
if (sizes.size() > 1)
|
|
{
|
|
geom.m_capsuleHeight = 2 * sizes[1];
|
|
}
|
|
}
|
|
else
|
|
{
|
|
logger->reportWarning((sourceFileLocation(link_xml) + ": couldn't convert 'size' attribute of capsule geom").c_str());
|
|
}
|
|
const char* fromtoStr = link_xml->Attribute("fromto");
|
|
geom.m_hasFromTo = false;
|
|
|
|
if (fromtoStr)
|
|
{
|
|
geom.m_hasFromTo = true;
|
|
std::string fromto = fromtoStr;
|
|
parseVector6(geom.m_capsuleFrom, geom.m_capsuleTo, fromto, logger);
|
|
inertialShift = 0.5 * (geom.m_capsuleFrom + geom.m_capsuleTo);
|
|
handledGeomType = true;
|
|
}
|
|
else
|
|
{
|
|
if (sizes.size() < 2)
|
|
{
|
|
logger->reportWarning((sourceFileLocation(link_xml) + ": capsule without fromto attribute requires 2 sizes (radius and halfheight)").c_str());
|
|
}
|
|
else
|
|
{
|
|
handledGeomType = true;
|
|
}
|
|
}
|
|
}
|
|
if (geomType == "mesh")
|
|
{
|
|
const char* meshStr = link_xml->Attribute("mesh");
|
|
if (meshStr)
|
|
{
|
|
MyMJCFAsset* assetPtr = m_assets[meshStr];
|
|
if (assetPtr)
|
|
{
|
|
geom.m_type = URDF_GEOM_MESH;
|
|
geom.m_meshFileName = assetPtr->m_fileName;
|
|
bool exists = UrdfFindMeshFile(m_fileIO,
|
|
m_sourceFileName, assetPtr->m_fileName, sourceFileLocation(link_xml),
|
|
&geom.m_meshFileName,
|
|
&geom.m_meshFileType);
|
|
handledGeomType = exists;
|
|
|
|
geom.m_meshScale.setValue(1, 1, 1);
|
|
//todo: parse mesh scale
|
|
if (sz)
|
|
{
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (handledGeomType)
|
|
{
|
|
{
|
|
UrdfCollision col;
|
|
col.m_flags |= URDF_HAS_COLLISION_GROUP;
|
|
col.m_collisionGroup = defaults.m_defaultCollisionGroup;
|
|
|
|
col.m_flags |= URDF_HAS_COLLISION_MASK;
|
|
col.m_collisionMask = defaults.m_defaultCollisionMask;
|
|
|
|
//contype, conaffinity
|
|
const char* conTypeStr = link_xml->Attribute("contype");
|
|
if (conTypeStr)
|
|
{
|
|
col.m_flags |= URDF_HAS_COLLISION_GROUP;
|
|
col.m_collisionGroup = urdfLexicalCast<int>(conTypeStr);
|
|
}
|
|
const char* conAffinityStr = link_xml->Attribute("conaffinity");
|
|
if (conAffinityStr)
|
|
{
|
|
col.m_flags |= URDF_HAS_COLLISION_MASK;
|
|
col.m_collisionMask = urdfLexicalCast<int>(conAffinityStr);
|
|
}
|
|
|
|
col.m_geometry = geom;
|
|
col.m_linkLocalFrame = linkLocalFrame;
|
|
col.m_sourceFileLocation = sourceFileLocation(link_xml);
|
|
linkPtr->m_collisionArray.push_back(col);
|
|
}
|
|
{
|
|
UrdfVisual vis;
|
|
vis.m_geometry = geom;
|
|
vis.m_linkLocalFrame = linkLocalFrame;
|
|
vis.m_sourceFileLocation = sourceFileLocation(link_xml);
|
|
linkPtr->m_visualArray.push_back(vis);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
logger->reportWarning((sourceFileLocation(link_xml) + ": unhandled geom type '" + geomType + "'").c_str());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
logger->reportWarning((sourceFileLocation(link_xml) + ": geom requires type").c_str());
|
|
}
|
|
|
|
return handledGeomType;
|
|
}
|
|
|
|
btTransform parseTransform(XMLElement* link_xml, MJCFErrorLogger* logger)
|
|
{
|
|
btTransform tr;
|
|
tr.setIdentity();
|
|
|
|
const char* p = link_xml->Attribute("pos");
|
|
if (p)
|
|
{
|
|
btVector3 pos(0, 0, 0);
|
|
std::string pstr = p;
|
|
if (parseVector3(pos, pstr, logger))
|
|
{
|
|
tr.setOrigin(pos);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// logger->reportWarning("body should have pos attribute");
|
|
}
|
|
const char* o = link_xml->Attribute("quat");
|
|
if (o)
|
|
{
|
|
std::string ornstr = o;
|
|
btVector4 o4;
|
|
btQuaternion orn(0, 0, 0, 1);
|
|
if (parseVector4(o4, ornstr))
|
|
{
|
|
orn.setValue(o4[1], o4[2], o4[3], o4[0]); //MuJoCo quats are [w,x,y,z], Bullet uses [x,y,z,w]
|
|
tr.setRotation(orn);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// logger->reportWarning("body doesn't have quat (orientation) attribute");
|
|
}
|
|
return tr;
|
|
}
|
|
|
|
double computeVolume(const UrdfLink* linkPtr, MJCFErrorLogger* logger) const
|
|
{
|
|
double totalVolume = 0;
|
|
|
|
for (int i = 0; i < linkPtr->m_collisionArray.size(); i++)
|
|
{
|
|
const UrdfCollision* col = &linkPtr->m_collisionArray[i];
|
|
switch (col->m_geometry.m_type)
|
|
{
|
|
case URDF_GEOM_SPHERE:
|
|
{
|
|
double r = col->m_geometry.m_sphereRadius;
|
|
totalVolume += 4. / 3. * SIMD_PI * r * r * r;
|
|
break;
|
|
}
|
|
case URDF_GEOM_BOX:
|
|
{
|
|
totalVolume += col->m_geometry.m_boxSize[0] *
|
|
col->m_geometry.m_boxSize[1] *
|
|
col->m_geometry.m_boxSize[2];
|
|
break;
|
|
}
|
|
case URDF_GEOM_MESH:
|
|
{
|
|
//todo (based on mesh bounding box?)
|
|
break;
|
|
}
|
|
case URDF_GEOM_PLANE:
|
|
{
|
|
//todo
|
|
break;
|
|
}
|
|
case URDF_GEOM_CDF:
|
|
{
|
|
//todo
|
|
break;
|
|
}
|
|
case URDF_GEOM_CYLINDER:
|
|
case URDF_GEOM_CAPSULE:
|
|
{
|
|
//one sphere
|
|
double r = col->m_geometry.m_capsuleRadius;
|
|
if (col->m_geometry.m_type == URDF_GEOM_CAPSULE)
|
|
{
|
|
totalVolume += 4. / 3. * SIMD_PI * r * r * r;
|
|
}
|
|
btScalar h(0);
|
|
if (col->m_geometry.m_hasFromTo)
|
|
{
|
|
//and one cylinder of 'height'
|
|
h = (col->m_geometry.m_capsuleFrom - col->m_geometry.m_capsuleTo).length();
|
|
}
|
|
else
|
|
{
|
|
h = col->m_geometry.m_capsuleHeight;
|
|
}
|
|
totalVolume += SIMD_PI * r * r * h;
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
}
|
|
}
|
|
}
|
|
|
|
return totalVolume;
|
|
}
|
|
UrdfLink* getLink(int modelIndex, int linkIndex)
|
|
{
|
|
UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
|
|
if (linkPtrPtr && *linkPtrPtr)
|
|
{
|
|
return *linkPtrPtr;
|
|
}
|
|
btAssert(0);
|
|
return 0;
|
|
}
|
|
|
|
int createBody(int modelIndex, const char* namePtr)
|
|
{
|
|
UrdfModel* modelPtr = m_models[modelIndex];
|
|
int orgChildLinkIndex = modelPtr->m_links.size();
|
|
UrdfLink* linkPtr = new UrdfLink();
|
|
char linkn[1024];
|
|
sprintf(linkn, "link%d_%d", modelIndex, orgChildLinkIndex);
|
|
linkPtr->m_name = linkn;
|
|
if (namePtr)
|
|
{
|
|
linkPtr->m_name = namePtr;
|
|
}
|
|
linkPtr->m_linkIndex = orgChildLinkIndex;
|
|
modelPtr->m_links.insert(linkPtr->m_name.c_str(), linkPtr);
|
|
|
|
return orgChildLinkIndex;
|
|
}
|
|
|
|
bool parseBody(MyMJCFDefaults& defaults, XMLElement* link_xml, int modelIndex, int orgParentLinkIndex, MJCFErrorLogger* logger)
|
|
{
|
|
MyMJCFDefaults curDefaults = defaults;
|
|
|
|
int newParentLinkIndex = orgParentLinkIndex;
|
|
|
|
const char* childClassName = link_xml->Attribute("childclass");
|
|
if (childClassName)
|
|
{
|
|
MyMJCFDefaults* classDefaults = m_classDefaults[childClassName];
|
|
if (classDefaults)
|
|
{
|
|
curDefaults = *classDefaults;
|
|
}
|
|
}
|
|
const char* bodyName = link_xml->Attribute("name");
|
|
int orgChildLinkIndex = createBody(modelIndex, bodyName);
|
|
btTransform localInertialFrame;
|
|
localInertialFrame.setIdentity();
|
|
|
|
// int curChildLinkIndex = orgChildLinkIndex;
|
|
std::string bodyN;
|
|
|
|
if (bodyName)
|
|
{
|
|
bodyN = bodyName;
|
|
}
|
|
else
|
|
{
|
|
char anon[1024];
|
|
sprintf(anon, "anon%d", gUid++);
|
|
bodyN = anon;
|
|
}
|
|
|
|
// btTransform orgLinkTransform = parseTransform(link_xml,logger);
|
|
|
|
btTransform linkTransform = parseTransform(link_xml, logger);
|
|
UrdfLink* linkPtr = getLink(modelIndex, orgChildLinkIndex);
|
|
|
|
bool massDefined = false;
|
|
|
|
btScalar mass = 0.f;
|
|
btVector3 localInertiaDiag(0, 0, 0);
|
|
// int thisLinkIndex = -2;
|
|
bool hasJoint = false;
|
|
btTransform jointTrans;
|
|
jointTrans.setIdentity();
|
|
bool skipFixedJoint = false;
|
|
|
|
for (XMLElement* xml = link_xml->FirstChildElement(); xml; xml = xml->NextSiblingElement())
|
|
{
|
|
bool handled = false;
|
|
std::string n = xml->Value();
|
|
if (n == "inertial")
|
|
{
|
|
// <inertial pos="0 0 0" quat="0.5 0.5 -0.5 0.5" mass="297.821" diaginertia="109.36 69.9714 69.9714" />
|
|
|
|
const char* p = xml->Attribute("pos");
|
|
if (p)
|
|
{
|
|
std::string posStr = p;
|
|
btVector3 inertialPos(0, 0, 0);
|
|
if (parseVector3(inertialPos, posStr, logger))
|
|
{
|
|
localInertialFrame.setOrigin(inertialPos);
|
|
}
|
|
}
|
|
const char* o = xml->Attribute("quat");
|
|
if (o)
|
|
{
|
|
std::string ornStr = o;
|
|
btQuaternion orn(0, 0, 0, 1);
|
|
btVector4 o4;
|
|
if (parseVector4(o4, ornStr))
|
|
{
|
|
orn.setValue(o4[1], o4[2], o4[3], o4[0]);
|
|
localInertialFrame.setRotation(orn);
|
|
}
|
|
}
|
|
const char* m = xml->Attribute("mass");
|
|
if (m)
|
|
{
|
|
mass = urdfLexicalCast<double>(m);
|
|
}
|
|
const char* i = xml->Attribute("diaginertia");
|
|
if (i)
|
|
{
|
|
std::string istr = i;
|
|
parseVector3(localInertiaDiag, istr, logger);
|
|
}
|
|
|
|
massDefined = true;
|
|
handled = true;
|
|
|
|
if (!m_inertiaFromGeom)
|
|
{
|
|
linkPtr->m_inertia.m_mass = mass;
|
|
linkPtr->m_inertia.m_linkLocalFrame = localInertialFrame;
|
|
linkPtr->m_inertia.m_ixx = localInertiaDiag[0];
|
|
linkPtr->m_inertia.m_iyy = localInertiaDiag[1];
|
|
linkPtr->m_inertia.m_izz = localInertiaDiag[2];
|
|
}
|
|
}
|
|
|
|
if (n == "joint")
|
|
{
|
|
if (!hasJoint)
|
|
{
|
|
const char* jType = xml->Attribute("type");
|
|
std::string jointType = jType ? jType : "";
|
|
|
|
if (newParentLinkIndex != INVALID_LINK_INDEX || jointType != "free")
|
|
{
|
|
if (newParentLinkIndex == INVALID_LINK_INDEX)
|
|
{
|
|
int newRootLinkIndex = createBody(modelIndex, 0);
|
|
UrdfLink* rootLink = getLink(modelIndex, newRootLinkIndex);
|
|
rootLink->m_inertia.m_mass = 0;
|
|
rootLink->m_linkTransformInWorld.setIdentity();
|
|
newParentLinkIndex = newRootLinkIndex;
|
|
}
|
|
|
|
int newLinkIndex = createBody(modelIndex, 0);
|
|
parseJoint(curDefaults, xml, modelIndex, newParentLinkIndex, newLinkIndex, logger, linkTransform, jointTrans);
|
|
|
|
//getLink(modelIndex,newLinkIndex)->m_linkTransformInWorld = jointTrans*linkTransform;
|
|
|
|
linkTransform = jointTrans.inverse();
|
|
newParentLinkIndex = newLinkIndex;
|
|
//newParentLinkIndex, curChildLinkIndex
|
|
hasJoint = true;
|
|
handled = true;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
int newLinkIndex = createBody(modelIndex, 0);
|
|
btTransform joint2nextjoint = jointTrans.inverse();
|
|
btTransform unused;
|
|
parseJoint(curDefaults, xml, modelIndex, newParentLinkIndex, newLinkIndex, logger, joint2nextjoint, unused);
|
|
newParentLinkIndex = newLinkIndex;
|
|
//todo: compute relative joint transforms (if any) and append to linkTransform
|
|
hasJoint = true;
|
|
handled = true;
|
|
}
|
|
}
|
|
if (n == "geom")
|
|
{
|
|
btVector3 inertialShift(0, 0, 0);
|
|
parseGeom(curDefaults, xml, modelIndex, orgChildLinkIndex, logger, inertialShift);
|
|
if (!massDefined)
|
|
{
|
|
localInertialFrame.setOrigin(inertialShift);
|
|
}
|
|
handled = true;
|
|
}
|
|
|
|
//recursive
|
|
if (n == "body")
|
|
{
|
|
parseBody(curDefaults, xml, modelIndex, orgChildLinkIndex, logger);
|
|
handled = true;
|
|
}
|
|
|
|
if (n == "light")
|
|
{
|
|
handled = true;
|
|
}
|
|
if (n == "site")
|
|
{
|
|
handled = true;
|
|
}
|
|
|
|
if (!handled)
|
|
{
|
|
logger->reportWarning((sourceFileLocation(xml) + ": unknown field '" + n + "'").c_str());
|
|
}
|
|
}
|
|
|
|
linkPtr->m_linkTransformInWorld = linkTransform;
|
|
|
|
if ((newParentLinkIndex != INVALID_LINK_INDEX) && !skipFixedJoint)
|
|
{
|
|
//linkPtr->m_linkTransformInWorld.setIdentity();
|
|
//default to 'fixed' joint
|
|
UrdfJoint* jointPtr = new UrdfJoint();
|
|
jointPtr->m_childLinkName = linkPtr->m_name;
|
|
const UrdfLink* parentLink = getLink(modelIndex, newParentLinkIndex);
|
|
jointPtr->m_parentLinkName = parentLink->m_name;
|
|
jointPtr->m_localJointAxis.setValue(1, 0, 0);
|
|
jointPtr->m_parentLinkToJointTransform = linkTransform;
|
|
jointPtr->m_type = URDFFixedJoint;
|
|
char jointName[1024];
|
|
sprintf(jointName, "jointfix_%d_%d", gUid++, newParentLinkIndex);
|
|
jointPtr->m_name = jointName;
|
|
m_models[modelIndex]->m_joints.insert(jointPtr->m_name.c_str(), jointPtr);
|
|
}
|
|
|
|
//check mass/inertia
|
|
if (!massDefined)
|
|
{
|
|
double density = 1000;
|
|
double volume = computeVolume(linkPtr, logger);
|
|
mass = density * volume;
|
|
}
|
|
linkPtr->m_inertia.m_linkLocalFrame = localInertialFrame; // = jointTrans.inverse();
|
|
linkPtr->m_inertia.m_mass = mass;
|
|
return true;
|
|
}
|
|
|
|
void recurseAddChildLinks(UrdfModel* model, UrdfLink* link)
|
|
{
|
|
for (int i = 0; i < link->m_childLinks.size(); i++)
|
|
{
|
|
int linkIndex = model->m_links.size();
|
|
link->m_childLinks[i]->m_linkIndex = linkIndex;
|
|
const char* linkName = link->m_childLinks[i]->m_name.c_str();
|
|
model->m_links.insert(linkName, link->m_childLinks[i]);
|
|
}
|
|
for (int i = 0; i < link->m_childLinks.size(); i++)
|
|
{
|
|
recurseAddChildLinks(model, link->m_childLinks[i]);
|
|
}
|
|
}
|
|
|
|
bool initTreeAndRoot(UrdfModel& model, MJCFErrorLogger* logger)
|
|
{
|
|
// every link has children links and joints, but no parents, so we create a
|
|
// local convenience data structure for keeping child->parent relations
|
|
btHashMap<btHashString, btHashString> parentLinkTree;
|
|
|
|
// loop through all joints, for every link, assign children links and children joints
|
|
for (int i = 0; i < model.m_joints.size(); i++)
|
|
{
|
|
UrdfJoint** jointPtr = model.m_joints.getAtIndex(i);
|
|
if (jointPtr)
|
|
{
|
|
UrdfJoint* joint = *jointPtr;
|
|
std::string parent_link_name = joint->m_parentLinkName;
|
|
std::string child_link_name = joint->m_childLinkName;
|
|
if (parent_link_name.empty() || child_link_name.empty())
|
|
{
|
|
logger->reportError("parent link or child link is empty for joint");
|
|
logger->reportError(joint->m_name.c_str());
|
|
return false;
|
|
}
|
|
|
|
UrdfLink** childLinkPtr = model.m_links.find(joint->m_childLinkName.c_str());
|
|
if (!childLinkPtr)
|
|
{
|
|
logger->reportError("Cannot find child link for joint ");
|
|
logger->reportError(joint->m_name.c_str());
|
|
|
|
return false;
|
|
}
|
|
UrdfLink* childLink = *childLinkPtr;
|
|
|
|
UrdfLink** parentLinkPtr = model.m_links.find(joint->m_parentLinkName.c_str());
|
|
if (!parentLinkPtr)
|
|
{
|
|
logger->reportError("Cannot find parent link for a joint");
|
|
logger->reportError(joint->m_name.c_str());
|
|
return false;
|
|
}
|
|
UrdfLink* parentLink = *parentLinkPtr;
|
|
|
|
childLink->m_parentLink = parentLink;
|
|
|
|
childLink->m_parentJoint = joint;
|
|
parentLink->m_childJoints.push_back(joint);
|
|
parentLink->m_childLinks.push_back(childLink);
|
|
parentLinkTree.insert(childLink->m_name.c_str(), parentLink->m_name.c_str());
|
|
}
|
|
}
|
|
|
|
//search for children that have no parent, those are 'root'
|
|
for (int i = 0; i < model.m_links.size(); i++)
|
|
{
|
|
UrdfLink** linkPtr = model.m_links.getAtIndex(i);
|
|
btAssert(linkPtr);
|
|
if (linkPtr)
|
|
{
|
|
UrdfLink* link = *linkPtr;
|
|
link->m_linkIndex = i;
|
|
|
|
if (!link->m_parentLink)
|
|
{
|
|
model.m_rootLinks.push_back(link);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (model.m_rootLinks.size() > 1)
|
|
{
|
|
logger->reportWarning("URDF file with multiple root links found");
|
|
}
|
|
|
|
if (model.m_rootLinks.size() == 0)
|
|
{
|
|
logger->reportError("URDF without root link found");
|
|
return false;
|
|
}
|
|
|
|
//re-index the link indices so parent indices are always smaller than child indices
|
|
btAlignedObjectArray<UrdfLink*> links;
|
|
links.resize(model.m_links.size());
|
|
for (int i = 0; i < model.m_links.size(); i++)
|
|
{
|
|
links[i] = *model.m_links.getAtIndex(i);
|
|
}
|
|
model.m_links.clear();
|
|
for (int i = 0; i < model.m_rootLinks.size(); i++)
|
|
{
|
|
UrdfLink* rootLink = model.m_rootLinks[i];
|
|
int linkIndex = model.m_links.size();
|
|
rootLink->m_linkIndex = linkIndex;
|
|
model.m_links.insert(rootLink->m_name.c_str(), rootLink);
|
|
recurseAddChildLinks(&model, rootLink);
|
|
}
|
|
return true;
|
|
}
|
|
};
|
|
|
|
BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, CommonFileIOInterface* fileIO, int flags)
|
|
{
|
|
m_data = new BulletMJCFImporterInternalData();
|
|
m_data->m_guiHelper = helper;
|
|
m_data->m_customVisualShapesConverter = customConverter;
|
|
m_data->m_flags = flags;
|
|
m_data->m_textureId = -1;
|
|
m_data->m_fileIO = fileIO;
|
|
}
|
|
|
|
BulletMJCFImporter::~BulletMJCFImporter()
|
|
{
|
|
delete m_data;
|
|
}
|
|
|
|
bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase)
|
|
{
|
|
if (strlen(fileName) == 0)
|
|
return false;
|
|
|
|
//int argc=0;
|
|
char relativeFileName[1024];
|
|
|
|
b3FileUtils fu;
|
|
|
|
//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
|
|
bool fileFound = (m_data->m_fileIO->findResourcePath(fileName, relativeFileName, 1024) > 0);
|
|
m_data->m_sourceFileName = relativeFileName;
|
|
|
|
std::string xml_string;
|
|
m_data->m_pathPrefix[0] = 0;
|
|
|
|
if (!fileFound)
|
|
{
|
|
std::cerr << "MJCF file not found" << std::endl;
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
//read file
|
|
int fileId = m_data->m_fileIO->fileOpen(relativeFileName,"r");
|
|
|
|
char destBuffer[8192];
|
|
while (m_data->m_fileIO->readLine(fileId, destBuffer, 8192))
|
|
{
|
|
xml_string += (std::string(destBuffer) + "\n");
|
|
}
|
|
m_data->m_fileIO->fileClose(fileId);
|
|
|
|
if (parseMJCFString(xml_string.c_str(), logger))
|
|
{
|
|
return true;
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* logger)
|
|
{
|
|
XMLDocument xml_doc;
|
|
xml_doc.Parse(xmlText);
|
|
if (xml_doc.Error())
|
|
{
|
|
#ifdef G3_TINYXML2
|
|
logger->reportError("xml reading error (upgrade tinyxml2 version!");
|
|
#else
|
|
logger->reportError(xml_doc.ErrorStr());
|
|
xml_doc.ClearError();
|
|
#endif
|
|
return false;
|
|
}
|
|
|
|
XMLElement* mujoco_xml = xml_doc.FirstChildElement("mujoco");
|
|
if (!mujoco_xml)
|
|
{
|
|
logger->reportWarning("Cannot find <mujoco> root element");
|
|
return false;
|
|
}
|
|
|
|
const char* modelName = mujoco_xml->Attribute("model");
|
|
if (modelName)
|
|
{
|
|
m_data->m_fileModelName = modelName;
|
|
}
|
|
|
|
//<compiler>,<option>,<size>,<default>,<body>,<keyframe>,<contactpair>,
|
|
//<light>, <camera>,<constraint>,<tendon>,<actuator>,<customfield>,<textfield>
|
|
|
|
for (XMLElement* link_xml = mujoco_xml->FirstChildElement("default"); link_xml; link_xml = link_xml->NextSiblingElement("default"))
|
|
{
|
|
m_data->parseDefaults(m_data->m_globalDefaults, link_xml, logger);
|
|
}
|
|
|
|
for (XMLElement* link_xml = mujoco_xml->FirstChildElement("compiler"); link_xml; link_xml = link_xml->NextSiblingElement("compiler"))
|
|
{
|
|
m_data->parseCompiler(link_xml, logger);
|
|
}
|
|
|
|
for (XMLElement* link_xml = mujoco_xml->FirstChildElement("asset"); link_xml; link_xml = link_xml->NextSiblingElement("asset"))
|
|
{
|
|
m_data->parseAssets(link_xml, logger);
|
|
}
|
|
|
|
for (XMLElement* link_xml = mujoco_xml->FirstChildElement("body"); link_xml; link_xml = link_xml->NextSiblingElement("body"))
|
|
{
|
|
m_data->parseRootLevel(m_data->m_globalDefaults, link_xml, logger);
|
|
}
|
|
|
|
for (XMLElement* link_xml = mujoco_xml->FirstChildElement("worldbody"); link_xml; link_xml = link_xml->NextSiblingElement("worldbody"))
|
|
{
|
|
m_data->parseRootLevel(m_data->m_globalDefaults, link_xml, logger);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
const char* BulletMJCFImporter::getPathPrefix()
|
|
{
|
|
return m_data->m_pathPrefix;
|
|
}
|
|
|
|
int BulletMJCFImporter::getRootLinkIndex() const
|
|
{
|
|
if (m_data->m_activeModel >= 0 && m_data->m_activeModel < m_data->m_models.size())
|
|
{
|
|
if (m_data->m_models[m_data->m_activeModel]->m_rootLinks.size())
|
|
{
|
|
return 0;
|
|
}
|
|
}
|
|
return -1;
|
|
}
|
|
|
|
std::string BulletMJCFImporter::getLinkName(int linkIndex) const
|
|
{
|
|
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, linkIndex);
|
|
if (link)
|
|
{
|
|
return link->m_name;
|
|
}
|
|
return "";
|
|
}
|
|
|
|
std::string BulletMJCFImporter::getBodyName() const
|
|
{
|
|
return m_data->m_fileModelName;
|
|
}
|
|
|
|
bool BulletMJCFImporter::getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const
|
|
{
|
|
bool hasLinkColor = false;
|
|
{
|
|
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, linkIndex);
|
|
if (link)
|
|
{
|
|
for (int i = 0; i < link->m_visualArray.size(); i++)
|
|
{
|
|
if (link->m_visualArray[i].m_geometry.m_hasLocalMaterial)
|
|
{
|
|
matCol = link->m_visualArray[i].m_geometry.m_localMaterial.m_matColor;
|
|
hasLinkColor = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (!hasLinkColor)
|
|
{
|
|
for (int i = 0; i < link->m_collisionArray.size(); i++)
|
|
{
|
|
if (link->m_collisionArray[i].m_geometry.m_hasLocalMaterial)
|
|
{
|
|
matCol = link->m_collisionArray[0].m_geometry.m_localMaterial.m_matColor;
|
|
hasLinkColor = true;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!hasLinkColor)
|
|
{
|
|
|
|
matCol.m_rgbaColor = (m_data->m_flags & CUF_GOOGLEY_UNDEFINED_COLORS) ? sGoogleColors[linkIndex & 3] : btVector4(1,1,1,1);
|
|
matCol.m_specularColor.setValue(1, 1, 1);
|
|
hasLinkColor = true;
|
|
}
|
|
return hasLinkColor;
|
|
}
|
|
|
|
bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
|
|
{
|
|
// UrdfLink* link = m_data->getLink(linkIndex);
|
|
return false;
|
|
}
|
|
|
|
//todo: placeholder implementation
|
|
//MuJoCo type/affinity is different from Bullet group/mask, so we should implement a custom collision filter instead
|
|
//(contype1 & conaffinity2) || (contype2 & conaffinity1)
|
|
int BulletMJCFImporter::getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const
|
|
{
|
|
int flags = 0;
|
|
|
|
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, linkIndex);
|
|
if (link)
|
|
{
|
|
for (int i = 0; i < link->m_collisionArray.size(); i++)
|
|
{
|
|
const UrdfCollision& col = link->m_collisionArray[i];
|
|
colGroup = col.m_collisionGroup;
|
|
flags |= URDF_HAS_COLLISION_GROUP;
|
|
colMask = col.m_collisionMask;
|
|
flags |= URDF_HAS_COLLISION_MASK;
|
|
}
|
|
}
|
|
|
|
return flags;
|
|
}
|
|
|
|
std::string BulletMJCFImporter::getJointName(int linkIndex) const
|
|
{
|
|
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, linkIndex);
|
|
if (link)
|
|
{
|
|
if (link->m_parentJoint)
|
|
{
|
|
return link->m_parentJoint->m_name;
|
|
}
|
|
return link->m_name;
|
|
}
|
|
return "";
|
|
}
|
|
|
|
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
|
|
void BulletMJCFImporter::getMassAndInertia(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
|
|
{
|
|
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, urdfLinkIndex);
|
|
if (link)
|
|
{
|
|
mass = link->m_inertia.m_mass;
|
|
localInertiaDiagonal.setValue(link->m_inertia.m_ixx,
|
|
link->m_inertia.m_iyy,
|
|
link->m_inertia.m_izz);
|
|
inertialFrame.setIdentity();
|
|
inertialFrame = link->m_inertia.m_linkLocalFrame;
|
|
}
|
|
else
|
|
{
|
|
mass = 0;
|
|
localInertiaDiagonal.setZero();
|
|
inertialFrame.setIdentity();
|
|
}
|
|
}
|
|
|
|
///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
|
|
void BulletMJCFImporter::getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const
|
|
{
|
|
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, urdfLinkIndex);
|
|
if (link)
|
|
{
|
|
for (int i = 0; i < link->m_childLinks.size(); i++)
|
|
{
|
|
int childIndex = link->m_childLinks[i]->m_linkIndex;
|
|
childLinkIndices.push_back(childIndex);
|
|
}
|
|
}
|
|
}
|
|
|
|
bool BulletMJCFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const
|
|
{
|
|
jointLowerLimit = 0.f;
|
|
jointUpperLimit = 0.f;
|
|
jointDamping = 0.f;
|
|
jointFriction = 0.f;
|
|
jointMaxForce = 0;
|
|
jointMaxVelocity = 0;
|
|
|
|
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, urdfLinkIndex);
|
|
if (link)
|
|
{
|
|
linkTransformInWorld = link->m_linkTransformInWorld;
|
|
|
|
if (link->m_parentJoint)
|
|
{
|
|
UrdfJoint* pj = link->m_parentJoint;
|
|
parent2joint = pj->m_parentLinkToJointTransform;
|
|
jointType = pj->m_type;
|
|
jointAxisInJointSpace = pj->m_localJointAxis;
|
|
jointLowerLimit = pj->m_lowerLimit;
|
|
jointUpperLimit = pj->m_upperLimit;
|
|
jointDamping = pj->m_jointDamping;
|
|
jointFriction = pj->m_jointFriction;
|
|
jointMaxForce = pj->m_effortLimit;
|
|
jointMaxVelocity = pj->m_velocityLimit;
|
|
|
|
return true;
|
|
}
|
|
else
|
|
{
|
|
parent2joint.setIdentity();
|
|
return false;
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
|
|
{
|
|
//backwards compatibility for custom file importers
|
|
btScalar jointMaxForce = 0;
|
|
btScalar jointMaxVelocity = 0;
|
|
return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity);
|
|
}
|
|
|
|
bool BulletMJCFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
|
|
{
|
|
rootTransformInWorld.setIdentity();
|
|
/*
|
|
const UrdfLink* link = m_data->getLink(m_data->m_activeModel,0);
|
|
if (link)
|
|
{
|
|
rootTransformInWorld = link->m_linkTransformInWorld;
|
|
}
|
|
*/
|
|
return true;
|
|
}
|
|
|
|
void BulletMJCFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const
|
|
{
|
|
GLInstanceGraphicsShape* glmesh = 0;
|
|
int strideInBytes = 9 * sizeof(float);
|
|
|
|
btConvexShape* convexColShape = 0;
|
|
|
|
switch (visual->m_geometry.m_type)
|
|
{
|
|
case URDF_GEOM_CAPSULE:
|
|
{
|
|
#if 1
|
|
|
|
btScalar height = visual->m_geometry.m_capsuleHeight;
|
|
|
|
btTransform capsuleTrans;
|
|
capsuleTrans.setIdentity();
|
|
if (visual->m_geometry.m_hasFromTo)
|
|
{
|
|
btVector3 f = visual->m_geometry.m_capsuleFrom;
|
|
btVector3 t = visual->m_geometry.m_capsuleTo;
|
|
|
|
//compute the local 'fromto' transform
|
|
btVector3 localPosition = btScalar(0.5) * (t + f);
|
|
btQuaternion localOrn;
|
|
localOrn = btQuaternion::getIdentity();
|
|
|
|
btVector3 diff = t - f;
|
|
btScalar lenSqr = diff.length2();
|
|
height = 0.f;
|
|
|
|
if (lenSqr > SIMD_EPSILON)
|
|
{
|
|
height = btSqrt(lenSqr);
|
|
btVector3 ax = diff / height;
|
|
|
|
btVector3 zAxis(0, 0, 1);
|
|
localOrn = shortestArcQuat(zAxis, ax);
|
|
}
|
|
capsuleTrans.setOrigin(localPosition);
|
|
capsuleTrans.setRotation(localOrn);
|
|
}
|
|
|
|
btScalar diam = 2. * visual->m_geometry.m_capsuleRadius;
|
|
b3AlignedObjectArray<GLInstanceVertex> transformedVertices;
|
|
int numVertices = sizeof(mjcf_sphere_vertices) / strideInBytes;
|
|
transformedVertices.resize(numVertices);
|
|
for (int i = 0; i < numVertices; i++)
|
|
{
|
|
btVector3 vert;
|
|
vert.setValue(mjcf_sphere_vertices[i * 9 + 0],
|
|
mjcf_sphere_vertices[i * 9 + 1],
|
|
mjcf_sphere_vertices[i * 9 + 2]);
|
|
|
|
btScalar halfHeight = 0.5 * height;
|
|
btVector3 trVer = (diam * vert);
|
|
int up = 2; //default to z axis up for capsule
|
|
if (trVer[up] > 0)
|
|
trVer[up] += halfHeight;
|
|
else
|
|
trVer[up] -= halfHeight;
|
|
|
|
trVer = capsuleTrans * trVer;
|
|
|
|
transformedVertices[i].xyzw[0] = trVer[0];
|
|
transformedVertices[i].xyzw[1] = trVer[1];
|
|
transformedVertices[i].xyzw[2] = trVer[2];
|
|
transformedVertices[i].xyzw[3] = 0;
|
|
transformedVertices[i].normal[0] = mjcf_sphere_vertices[i * 9 + 4];
|
|
transformedVertices[i].normal[1] = mjcf_sphere_vertices[i * 9 + 5];
|
|
transformedVertices[i].normal[2] = mjcf_sphere_vertices[i * 9 + 6];
|
|
//transformedVertices[i].uv[0] = mjcf_sphere_vertices[i * 9 + 7];
|
|
//transformedVertices[i].uv[1] = mjcf_sphere_vertices[i * 9 + 8];
|
|
|
|
btScalar u = btAtan2(transformedVertices[i].normal[0], transformedVertices[i].normal[2]) / (2 * SIMD_PI) + 0.5;
|
|
btScalar v = transformedVertices[i].normal[1] * 0.5 + 0.5;
|
|
transformedVertices[i].uv[0] = u;
|
|
transformedVertices[i].uv[1] = v;
|
|
}
|
|
|
|
glmesh = new GLInstanceGraphicsShape;
|
|
// int index = 0;
|
|
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
|
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
|
|
|
int numIndices = sizeof(mjcf_sphere_indiced) / sizeof(int);
|
|
for (int i = 0; i < numIndices; i++)
|
|
{
|
|
glmesh->m_indices->push_back(mjcf_sphere_indiced[i]);
|
|
}
|
|
for (int i = 0; i < transformedVertices.size(); i++)
|
|
{
|
|
glmesh->m_vertices->push_back(transformedVertices[i]);
|
|
}
|
|
glmesh->m_numIndices = numIndices;
|
|
glmesh->m_numvertices = transformedVertices.size();
|
|
glmesh->m_scaling[0] = 1;
|
|
glmesh->m_scaling[1] = 1;
|
|
glmesh->m_scaling[2] = 1;
|
|
glmesh->m_scaling[3] = 1;
|
|
#else
|
|
if (visual->m_geometry.m_hasFromTo)
|
|
{
|
|
btVector3 f = visual->m_geometry.m_capsuleFrom;
|
|
btVector3 t = visual->m_geometry.m_capsuleTo;
|
|
btVector3 fromto[2] = {f, t};
|
|
btScalar radii[2] = {btScalar(visual->m_geometry.m_capsuleRadius), btScalar(visual->m_geometry.m_capsuleRadius)};
|
|
|
|
btMultiSphereShape* ms = new btMultiSphereShape(fromto, radii, 2);
|
|
convexColShape = ms;
|
|
}
|
|
else
|
|
{
|
|
btCapsuleShapeZ* cap = new btCapsuleShapeZ(visual->m_geometry.m_capsuleRadius,
|
|
visual->m_geometry.m_capsuleHeight);
|
|
convexColShape = cap;
|
|
}
|
|
#endif
|
|
|
|
break;
|
|
}
|
|
|
|
case URDF_GEOM_CYLINDER:
|
|
{
|
|
btAlignedObjectArray<btVector3> vertices;
|
|
|
|
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
|
|
int numSteps = 32;
|
|
for (int i = 0; i < numSteps; i++)
|
|
{
|
|
btScalar cylRadius = visual->m_geometry.m_capsuleRadius;
|
|
btScalar cylLength = visual->m_geometry.m_capsuleHeight;
|
|
|
|
btVector3 vert(cylRadius * btSin(SIMD_2_PI * (float(i) / numSteps)), cylRadius * btCos(SIMD_2_PI * (float(i) / numSteps)), cylLength / 2.);
|
|
vertices.push_back(vert);
|
|
vert[2] = -cylLength / 2.;
|
|
vertices.push_back(vert);
|
|
}
|
|
|
|
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
|
|
cylZShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
|
|
cylZShape->recalcLocalAabb();
|
|
convexColShape = cylZShape;
|
|
break;
|
|
}
|
|
|
|
case URDF_GEOM_BOX:
|
|
{
|
|
btVector3 extents = 0.5*visual->m_geometry.m_boxSize;
|
|
btBoxShape* boxShape = new btBoxShape(extents * 0.5f);
|
|
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
|
|
convexColShape = boxShape;
|
|
convexColShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
|
|
break;
|
|
}
|
|
|
|
case URDF_GEOM_SPHERE:
|
|
{
|
|
#if 1
|
|
btScalar sphereSize = 2. * visual->m_geometry.m_sphereRadius;
|
|
b3AlignedObjectArray<GLInstanceVertex> transformedVertices;
|
|
int numVertices = sizeof(mjcf_sphere_vertices) / strideInBytes;
|
|
transformedVertices.resize(numVertices);
|
|
|
|
glmesh = new GLInstanceGraphicsShape;
|
|
// int index = 0;
|
|
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
|
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
|
printf("vertices:\n");
|
|
for (int i = 0; i < numVertices; i++)
|
|
{
|
|
btVector3 vert;
|
|
vert.setValue(mjcf_sphere_vertices[i * 9 + 0],
|
|
mjcf_sphere_vertices[i * 9 + 1],
|
|
mjcf_sphere_vertices[i * 9 + 2]);
|
|
|
|
btVector3 trVer = sphereSize * vert;
|
|
transformedVertices[i].xyzw[0] = trVer[0];
|
|
transformedVertices[i].xyzw[1] = trVer[1];
|
|
transformedVertices[i].xyzw[2] = trVer[2];
|
|
transformedVertices[i].xyzw[3] = 0;
|
|
transformedVertices[i].normal[0] = mjcf_sphere_vertices[i * 9 + 4];
|
|
transformedVertices[i].normal[1] = mjcf_sphere_vertices[i * 9 + 5];
|
|
transformedVertices[i].normal[2] = mjcf_sphere_vertices[i * 9 + 6];
|
|
//transformedVertices[i].uv[0] = mjcf_sphere_vertices[i * 9 + 7];
|
|
//transformedVertices[i].uv[1] = mjcf_sphere_vertices[i * 9 + 8];
|
|
|
|
btScalar u = btAtan2(transformedVertices[i].normal[0], transformedVertices[i].normal[2]) / (2 * SIMD_PI) + 0.5;
|
|
btScalar v = transformedVertices[i].normal[1] * 0.5 + 0.5;
|
|
transformedVertices[i].uv[0] = u;
|
|
transformedVertices[i].uv[1] = v;
|
|
}
|
|
int numIndices = sizeof(mjcf_sphere_indiced) / sizeof(int);
|
|
for (int i = 0; i < numIndices; i++)
|
|
{
|
|
glmesh->m_indices->push_back(mjcf_sphere_indiced[i]);
|
|
}
|
|
for (int i = 0; i < transformedVertices.size(); i++)
|
|
{
|
|
glmesh->m_vertices->push_back(transformedVertices[i]);
|
|
}
|
|
glmesh->m_numIndices = numIndices;
|
|
glmesh->m_numvertices = transformedVertices.size();
|
|
glmesh->m_scaling[0] = 1;
|
|
glmesh->m_scaling[1] = 1;
|
|
glmesh->m_scaling[2] = 1;
|
|
glmesh->m_scaling[3] = 1;
|
|
|
|
#else
|
|
|
|
btScalar radius = visual->m_geometry.m_sphereRadius;
|
|
btSphereShape* sphereShape = new btSphereShape(radius);
|
|
convexColShape = sphereShape;
|
|
convexColShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
|
|
#endif
|
|
break;
|
|
}
|
|
|
|
case URDF_GEOM_MESH:
|
|
{
|
|
switch (visual->m_geometry.m_meshFileType)
|
|
{
|
|
case UrdfGeometry::FILE_OBJ:
|
|
{
|
|
b3ImportMeshData meshData;
|
|
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, m_data->m_fileIO))
|
|
{
|
|
if (meshData.m_textureImage1)
|
|
{
|
|
MJCFURDFTexture texData;
|
|
texData.m_width = meshData.m_textureWidth;
|
|
texData.m_height = meshData.m_textureHeight;
|
|
texData.textureData1 = meshData.m_textureImage1;
|
|
texData.m_isCached = meshData.m_isCached;
|
|
texturesOut.push_back(texData);
|
|
}
|
|
glmesh = meshData.m_gfxShape;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case UrdfGeometry::FILE_STL:
|
|
{
|
|
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str(), m_data->m_fileIO);
|
|
break;
|
|
}
|
|
|
|
case UrdfGeometry::FILE_COLLADA:
|
|
{
|
|
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
|
|
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
|
|
btTransform upAxisTrans;
|
|
upAxisTrans.setIdentity();
|
|
float unitMeterScaling = 1;
|
|
int upAxis = 2;
|
|
|
|
LoadMeshFromCollada(visual->m_geometry.m_meshFileName.c_str(),
|
|
visualShapes,
|
|
visualShapeInstances,
|
|
upAxisTrans,
|
|
unitMeterScaling,
|
|
upAxis,
|
|
m_data->m_fileIO);
|
|
|
|
glmesh = new GLInstanceGraphicsShape;
|
|
// int index = 0;
|
|
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
|
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
|
|
|
for (int i = 0; i < visualShapeInstances.size(); i++)
|
|
{
|
|
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
|
|
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
|
|
|
|
b3AlignedObjectArray<GLInstanceVertex> verts;
|
|
verts.resize(gfxShape->m_vertices->size());
|
|
|
|
int baseIndex = glmesh->m_vertices->size();
|
|
|
|
for (int i = 0; i < gfxShape->m_vertices->size(); i++)
|
|
{
|
|
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
|
|
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
|
|
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
|
|
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
|
|
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
|
|
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
|
|
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
|
|
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
|
|
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
|
|
}
|
|
|
|
int curNumIndices = glmesh->m_indices->size();
|
|
int additionalIndices = gfxShape->m_indices->size();
|
|
glmesh->m_indices->resize(curNumIndices + additionalIndices);
|
|
for (int k = 0; k < additionalIndices; k++)
|
|
{
|
|
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
|
|
}
|
|
|
|
//compensate upAxisTrans and unitMeterScaling here
|
|
btMatrix4x4 upAxisMat;
|
|
upAxisMat.setIdentity();
|
|
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
|
|
btMatrix4x4 unitMeterScalingMat;
|
|
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
|
|
btMatrix4x4 worldMat = unitMeterScalingMat * upAxisMat * instance->m_worldTransform;
|
|
//btMatrix4x4 worldMat = instance->m_worldTransform;
|
|
int curNumVertices = glmesh->m_vertices->size();
|
|
int additionalVertices = verts.size();
|
|
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
|
|
|
|
for (int v = 0; v < verts.size(); v++)
|
|
{
|
|
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
|
|
pos = worldMat * pos;
|
|
verts[v].xyzw[0] = float(pos[0]);
|
|
verts[v].xyzw[1] = float(pos[1]);
|
|
verts[v].xyzw[2] = float(pos[2]);
|
|
glmesh->m_vertices->push_back(verts[v]);
|
|
}
|
|
}
|
|
glmesh->m_numIndices = glmesh->m_indices->size();
|
|
glmesh->m_numvertices = glmesh->m_vertices->size();
|
|
//glmesh = LoadMeshFromCollada(visual->m_geometry.m_meshFileName);
|
|
|
|
break;
|
|
}
|
|
} // switch file type
|
|
|
|
if (!glmesh || !glmesh->m_vertices || glmesh->m_numvertices <= 0)
|
|
{
|
|
b3Warning("%s: cannot extract anything useful from mesh '%s'\n", urdfPathPrefix, visual->m_geometry.m_meshFileName.c_str());
|
|
break;
|
|
}
|
|
|
|
//apply the geometry scaling
|
|
for (int i = 0; i < glmesh->m_vertices->size(); i++)
|
|
{
|
|
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
|
|
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
|
|
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
|
|
}
|
|
break;
|
|
}
|
|
case URDF_GEOM_PLANE:
|
|
{
|
|
b3Warning("No default visual for URDF_GEOM_PLANE");
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
b3Warning("Error: unknown visual geometry type %i\n", visual->m_geometry.m_type);
|
|
}
|
|
}
|
|
|
|
//if we have a convex, tesselate into localVertices/localIndices
|
|
if ((glmesh == 0) && convexColShape)
|
|
{
|
|
BT_PROFILE("convexColShape");
|
|
|
|
btShapeHull* hull = new btShapeHull(convexColShape);
|
|
hull->buildHull(0.0);
|
|
{
|
|
// int strideInBytes = 9*sizeof(float);
|
|
int numVertices = hull->numVertices();
|
|
int numIndices = hull->numIndices();
|
|
|
|
glmesh = new GLInstanceGraphicsShape;
|
|
// int index = 0;
|
|
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
|
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
|
|
|
for (int i = 0; i < numVertices; i++)
|
|
{
|
|
GLInstanceVertex vtx;
|
|
btVector3 pos = hull->getVertexPointer()[i];
|
|
vtx.xyzw[0] = pos.x();
|
|
vtx.xyzw[1] = pos.y();
|
|
vtx.xyzw[2] = pos.z();
|
|
vtx.xyzw[3] = 1.f;
|
|
btVector3 normal = pos.normalized();
|
|
vtx.normal[0] = normal.x();
|
|
vtx.normal[1] = normal.y();
|
|
vtx.normal[2] = normal.z();
|
|
btScalar u = btAtan2(normal[0], normal[2]) / (2 * SIMD_PI) + 0.5;
|
|
btScalar v = normal[1] * 0.5 + 0.5;
|
|
vtx.uv[0] = u;
|
|
vtx.uv[1] = v;
|
|
glmesh->m_vertices->push_back(vtx);
|
|
}
|
|
|
|
btAlignedObjectArray<int> indices;
|
|
for (int i = 0; i < numIndices; i++)
|
|
{
|
|
glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
|
|
}
|
|
|
|
glmesh->m_numvertices = glmesh->m_vertices->size();
|
|
glmesh->m_numIndices = glmesh->m_indices->size();
|
|
}
|
|
delete hull;
|
|
delete convexColShape;
|
|
convexColShape = 0;
|
|
}
|
|
|
|
if (glmesh && glmesh->m_numIndices > 0 && glmesh->m_numvertices > 0)
|
|
{
|
|
BT_PROFILE("glmesh");
|
|
int baseIndex = verticesOut.size();
|
|
|
|
for (int i = 0; i < glmesh->m_indices->size(); i++)
|
|
{
|
|
indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
|
|
}
|
|
|
|
for (int i = 0; i < glmesh->m_vertices->size(); i++)
|
|
{
|
|
GLInstanceVertex& v = glmesh->m_vertices->at(i);
|
|
btVector3 vert(v.xyzw[0], v.xyzw[1], v.xyzw[2]);
|
|
btVector3 vt = visualTransform * vert;
|
|
v.xyzw[0] = vt[0];
|
|
v.xyzw[1] = vt[1];
|
|
v.xyzw[2] = vt[2];
|
|
btVector3 triNormal(v.normal[0], v.normal[1], v.normal[2]);
|
|
triNormal = visualTransform.getBasis() * triNormal;
|
|
v.normal[0] = triNormal[0];
|
|
v.normal[1] = triNormal[1];
|
|
v.normal[2] = triNormal[2];
|
|
verticesOut.push_back(v);
|
|
}
|
|
}
|
|
delete glmesh;
|
|
}
|
|
|
|
int BulletMJCFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const
|
|
{
|
|
int graphicsIndex = -1;
|
|
if (m_data->m_flags & CUF_MJCF_COLORS_FROM_FILE)
|
|
{
|
|
btAlignedObjectArray<GLInstanceVertex> vertices;
|
|
btAlignedObjectArray<int> indices;
|
|
btTransform startTrans;
|
|
startTrans.setIdentity();
|
|
btAlignedObjectArray<MJCFURDFTexture> textures;
|
|
|
|
const UrdfModel& model = *m_data->m_models[m_data->m_activeModel];
|
|
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
|
|
if (linkPtr)
|
|
{
|
|
const UrdfLink* link = *linkPtr;
|
|
|
|
for (int v = 0; v < link->m_visualArray.size(); v++)
|
|
{
|
|
const UrdfVisual& vis = link->m_visualArray[v];
|
|
btTransform childTrans = vis.m_linkLocalFrame;
|
|
btHashString matName(vis.m_materialName.c_str());
|
|
UrdfMaterial* const* matPtr = model.m_materials[matName];
|
|
|
|
convertURDFToVisualShapeInternal(&vis, pathPrefix, inertialFrame.inverse() * childTrans, vertices, indices, textures);
|
|
}
|
|
}
|
|
if (vertices.size() && indices.size())
|
|
{
|
|
if (1)
|
|
{
|
|
int textureIndex = -2;
|
|
if (textures.size())
|
|
{
|
|
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1, textures[0].m_width, textures[0].m_height);
|
|
}
|
|
{
|
|
B3_PROFILE("registerGraphicsShape");
|
|
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex);
|
|
}
|
|
}
|
|
}
|
|
|
|
//delete textures
|
|
for (int i = 0; i < textures.size(); i++)
|
|
{
|
|
B3_PROFILE("free textureData");
|
|
if (!textures[i].m_isCached)
|
|
{
|
|
free(textures[i].textureData1);
|
|
}
|
|
}
|
|
}
|
|
return graphicsIndex;
|
|
}
|
|
|
|
bool BulletMJCFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo) const
|
|
{
|
|
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, linkIndex);
|
|
if (link)
|
|
{
|
|
contactInfo = link->m_contactInfo;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void BulletMJCFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const
|
|
{
|
|
if (m_data->m_customVisualShapesConverter)
|
|
{
|
|
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, urdfIndex);
|
|
int uid3 = m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex, pathPrefix, inertialFrame, link, 0, colObj->getBroadphaseHandle()->getUid(), objectIndex, m_data->m_fileIO);
|
|
colObj->setUserIndex3(uid3);
|
|
}
|
|
}
|
|
|
|
void BulletMJCFImporter::setBodyUniqueId(int bodyId)
|
|
{
|
|
m_data->m_activeBodyUniqueId = bodyId;
|
|
}
|
|
|
|
int BulletMJCFImporter::getBodyUniqueId() const
|
|
{
|
|
b3Assert(m_data->m_activeBodyUniqueId != -1);
|
|
return m_data->m_activeBodyUniqueId;
|
|
}
|
|
|
|
static btCollisionShape* MjcfCreateConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, btScalar collisionMargin)
|
|
{
|
|
btCompoundShape* compound = new btCompoundShape();
|
|
compound->setMargin(collisionMargin);
|
|
|
|
btTransform identity;
|
|
identity.setIdentity();
|
|
|
|
for (int s = 0; s < (int)shapes.size(); s++)
|
|
{
|
|
btConvexHullShape* convexHull = new btConvexHullShape();
|
|
convexHull->setMargin(collisionMargin);
|
|
tinyobj::shape_t& shape = shapes[s];
|
|
|
|
int faceCount = shape.mesh.indices.size();
|
|
|
|
for (int f = 0; f < faceCount; f += 3)
|
|
{
|
|
btVector3 pt;
|
|
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 0],
|
|
attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 1],
|
|
attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 2]);
|
|
|
|
convexHull->addPoint(pt * geomScale, false);
|
|
|
|
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0],
|
|
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
|
|
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
|
|
convexHull->addPoint(pt * geomScale, false);
|
|
|
|
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0],
|
|
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
|
|
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
|
|
convexHull->addPoint(pt * geomScale, false);
|
|
}
|
|
|
|
convexHull->recalcLocalAabb();
|
|
convexHull->optimizeConvexHull();
|
|
compound->addChildShape(identity, convexHull);
|
|
}
|
|
|
|
return compound;
|
|
}
|
|
|
|
class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
|
|
{
|
|
btCompoundShape* compound = new btCompoundShape();
|
|
m_data->m_allocatedCollisionShapes.push_back(compound);
|
|
|
|
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, linkIndex);
|
|
if (link)
|
|
{
|
|
for (int i = 0; i < link->m_collisionArray.size(); i++)
|
|
{
|
|
const UrdfCollision* col = &link->m_collisionArray[i];
|
|
btCollisionShape* childShape = 0;
|
|
|
|
switch (col->m_geometry.m_type)
|
|
{
|
|
case URDF_GEOM_PLANE:
|
|
{
|
|
childShape = new btStaticPlaneShape(col->m_geometry.m_planeNormal, 0);
|
|
break;
|
|
}
|
|
case URDF_GEOM_SPHERE:
|
|
{
|
|
childShape = new btSphereShape(col->m_geometry.m_sphereRadius);
|
|
break;
|
|
}
|
|
case URDF_GEOM_BOX:
|
|
{
|
|
childShape = new btBoxShape(0.5*col->m_geometry.m_boxSize);
|
|
break;
|
|
}
|
|
case URDF_GEOM_CYLINDER:
|
|
{
|
|
if (col->m_geometry.m_hasFromTo)
|
|
{
|
|
btVector3 f = col->m_geometry.m_capsuleFrom;
|
|
btVector3 t = col->m_geometry.m_capsuleTo;
|
|
|
|
//compute the local 'fromto' transform
|
|
btVector3 localPosition = btScalar(0.5) * (t + f);
|
|
btQuaternion localOrn;
|
|
localOrn = btQuaternion::getIdentity();
|
|
|
|
btVector3 diff = t - f;
|
|
btScalar lenSqr = diff.length2();
|
|
btScalar height = 0.f;
|
|
|
|
if (lenSqr > SIMD_EPSILON)
|
|
{
|
|
height = btSqrt(lenSqr);
|
|
btVector3 ax = diff / height;
|
|
|
|
btVector3 zAxis(0, 0, 1);
|
|
localOrn = shortestArcQuat(zAxis, ax);
|
|
}
|
|
btCylinderShapeZ* cyl = new btCylinderShapeZ(btVector3(col->m_geometry.m_capsuleRadius, col->m_geometry.m_capsuleRadius, btScalar(0.5) * height));
|
|
|
|
btCompoundShape* compound = new btCompoundShape();
|
|
btTransform localTransform(localOrn, localPosition);
|
|
compound->addChildShape(localTransform, cyl);
|
|
childShape = compound;
|
|
}
|
|
else
|
|
{
|
|
btCylinderShapeZ* cap = new btCylinderShapeZ(btVector3(col->m_geometry.m_capsuleRadius,
|
|
col->m_geometry.m_capsuleRadius, btScalar(0.5) * col->m_geometry.m_capsuleHeight));
|
|
childShape = cap;
|
|
}
|
|
break;
|
|
}
|
|
case URDF_GEOM_MESH:
|
|
{
|
|
GLInstanceGraphicsShape* glmesh = 0;
|
|
switch (col->m_geometry.m_meshFileType)
|
|
{
|
|
case UrdfGeometry::FILE_OBJ:
|
|
{
|
|
if (col->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
|
|
{
|
|
glmesh = LoadMeshFromObj(col->m_geometry.m_meshFileName.c_str(), 0,m_data->m_fileIO);
|
|
}
|
|
else
|
|
{
|
|
std::vector<tinyobj::shape_t> shapes;
|
|
tinyobj::attrib_t attribute;
|
|
std::string err = tinyobj::LoadObj(attribute, shapes, col->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
|
|
//create a convex hull for each shape, and store it in a btCompoundShape
|
|
|
|
childShape = MjcfCreateConvexHullFromShapes(attribute, shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin);
|
|
}
|
|
break;
|
|
}
|
|
case UrdfGeometry::FILE_STL:
|
|
{
|
|
glmesh = LoadMeshFromSTL(col->m_geometry.m_meshFileName.c_str(), m_data->m_fileIO);
|
|
break;
|
|
}
|
|
default:
|
|
b3Warning("%s: Unsupported file type in Collision: %s (maybe .dae?)\n", col->m_sourceFileLocation.c_str(), col->m_geometry.m_meshFileType);
|
|
}
|
|
|
|
if (childShape)
|
|
{
|
|
// okay!
|
|
}
|
|
else if (!glmesh || glmesh->m_numvertices <= 0)
|
|
{
|
|
b3Warning("%s: cannot extract anything useful from mesh '%s'\n", col->m_sourceFileLocation.c_str(), col->m_geometry.m_meshFileName.c_str());
|
|
}
|
|
else
|
|
{
|
|
//b3Printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
|
|
//int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
|
|
//convex->setUserIndex(shapeId);
|
|
btAlignedObjectArray<btVector3> convertedVerts;
|
|
convertedVerts.reserve(glmesh->m_numvertices);
|
|
for (int i = 0; i < glmesh->m_numvertices; i++)
|
|
{
|
|
convertedVerts.push_back(btVector3(
|
|
glmesh->m_vertices->at(i).xyzw[0] * col->m_geometry.m_meshScale[0],
|
|
glmesh->m_vertices->at(i).xyzw[1] * col->m_geometry.m_meshScale[1],
|
|
glmesh->m_vertices->at(i).xyzw[2] * col->m_geometry.m_meshScale[2]));
|
|
}
|
|
|
|
if (col->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
|
|
{
|
|
btTriangleMesh* meshInterface = new btTriangleMesh();
|
|
m_data->m_allocatedMeshInterfaces.push_back(meshInterface);
|
|
|
|
for (int i = 0; i < glmesh->m_numIndices / 3; i++)
|
|
{
|
|
float* v0 = glmesh->m_vertices->at(glmesh->m_indices->at(i * 3)).xyzw;
|
|
float* v1 = glmesh->m_vertices->at(glmesh->m_indices->at(i * 3 + 1)).xyzw;
|
|
float* v2 = glmesh->m_vertices->at(glmesh->m_indices->at(i * 3 + 2)).xyzw;
|
|
meshInterface->addTriangle(btVector3(v0[0], v0[1], v0[2]),
|
|
btVector3(v1[0], v1[1], v1[2]),
|
|
btVector3(v2[0], v2[1], v2[2]));
|
|
}
|
|
|
|
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface, true, true);
|
|
childShape = trimesh;
|
|
}
|
|
else
|
|
{
|
|
btConvexHullShape* convexHull = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
|
|
convexHull->optimizeConvexHull();
|
|
//convexHull->initializePolyhedralFeatures();
|
|
convexHull->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
|
|
childShape = convexHull;
|
|
}
|
|
}
|
|
|
|
delete glmesh;
|
|
break;
|
|
}
|
|
case URDF_GEOM_CAPSULE:
|
|
{
|
|
if (col->m_geometry.m_hasFromTo)
|
|
{
|
|
if (m_data->m_flags & CUF_USE_IMPLICIT_CYLINDER)
|
|
{
|
|
btVector3 f = col->m_geometry.m_capsuleFrom;
|
|
btVector3 t = col->m_geometry.m_capsuleTo;
|
|
|
|
//compute the local 'fromto' transform
|
|
btVector3 localPosition = btScalar(0.5) * (t + f);
|
|
btQuaternion localOrn;
|
|
localOrn = btQuaternion::getIdentity();
|
|
|
|
btVector3 diff = t - f;
|
|
btScalar lenSqr = diff.length2();
|
|
btScalar height = 0.f;
|
|
|
|
if (lenSqr > SIMD_EPSILON)
|
|
{
|
|
height = btSqrt(lenSqr);
|
|
btVector3 ax = diff / height;
|
|
|
|
btVector3 zAxis(0, 0, 1);
|
|
localOrn = shortestArcQuat(zAxis, ax);
|
|
}
|
|
btCapsuleShapeZ* capsule = new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius, height);
|
|
|
|
btCompoundShape* compound = new btCompoundShape();
|
|
btTransform localTransform(localOrn, localPosition);
|
|
compound->addChildShape(localTransform, capsule);
|
|
childShape = compound;
|
|
}
|
|
else
|
|
{
|
|
btVector3 f = col->m_geometry.m_capsuleFrom;
|
|
btVector3 t = col->m_geometry.m_capsuleTo;
|
|
btVector3 fromto[2] = {f, t};
|
|
btScalar radii[2] = {btScalar(col->m_geometry.m_capsuleRadius), btScalar(col->m_geometry.m_capsuleRadius)};
|
|
|
|
btMultiSphereShape* ms = new btMultiSphereShape(fromto, radii, 2);
|
|
childShape = ms;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
btCapsuleShapeZ* cap = new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,
|
|
col->m_geometry.m_capsuleHeight);
|
|
childShape = cap;
|
|
}
|
|
break;
|
|
}
|
|
case URDF_GEOM_CDF:
|
|
{
|
|
//todo
|
|
break;
|
|
}
|
|
case URDF_GEOM_UNKNOWN:
|
|
{
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
}
|
|
|
|
} // switch geom
|
|
|
|
if (childShape)
|
|
{
|
|
m_data->m_allocatedCollisionShapes.push_back(childShape);
|
|
compound->addChildShape(localInertiaFrame.inverse() * col->m_linkLocalFrame, childShape);
|
|
}
|
|
}
|
|
}
|
|
return compound;
|
|
}
|
|
|
|
int BulletMJCFImporter::getNumAllocatedCollisionShapes() const
|
|
{
|
|
return m_data->m_allocatedCollisionShapes.size();
|
|
}
|
|
class btCollisionShape* BulletMJCFImporter::getAllocatedCollisionShape(int index)
|
|
{
|
|
return m_data->m_allocatedCollisionShapes[index];
|
|
}
|
|
|
|
int BulletMJCFImporter::getNumAllocatedMeshInterfaces() const
|
|
{
|
|
return m_data->m_allocatedMeshInterfaces.size();
|
|
}
|
|
|
|
btStridingMeshInterface* BulletMJCFImporter::getAllocatedMeshInterface(int index)
|
|
{
|
|
return m_data->m_allocatedMeshInterfaces[index];
|
|
}
|
|
|
|
int BulletMJCFImporter::getNumModels() const
|
|
{
|
|
return m_data->m_models.size();
|
|
}
|
|
|
|
void BulletMJCFImporter::activateModel(int modelIndex)
|
|
{
|
|
if ((modelIndex >= 0) && (modelIndex < m_data->m_models.size()))
|
|
{
|
|
m_data->m_activeModel = modelIndex;
|
|
}
|
|
}
|