void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhysicsBridge& gfxBridge, const btTransform& parentTransformInWorldSpace, btDiscreteDynamicsWorld* world, URDF2BulletMappings& mappings)
{
btCollisionShape* shape = 0;
btTransform linkTransformInWorldSpace;
linkTransformInWorldSpace.setIdentity();
btScalar mass = 1;
btTransform inertialFrame;
inertialFrame.setIdentity();
const Link* parentLink = (*link).getParent();
URDF_LinkInformation* pp = 0;
{
URDF_LinkInformation** ppRigidBody = mappings.m_link2rigidbody.find(parentLink);
if (ppRigidBody)
{
pp = (*ppRigidBody);
btRigidBody* parentRigidBody = pp->m_bulletRigidBody;
btTransform tr = parentRigidBody->getWorldTransform();
printf("rigidbody origin (COM) of link(%s) parent(%s): %f,%f,%f\n",(*link).name.c_str(), parentLink->name.c_str(), tr.getOrigin().x(), tr.getOrigin().y(), tr.getOrigin().z());
}
}
if ((*link).inertial)
{
mass = (*link).inertial->mass;
inertialFrame.setOrigin(btVector3((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z));
inertialFrame.setRotation(btQuaternion((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w));
}
btTransform parent2joint;
if ((*link).parent_joint)
{
btTransform p2j;
const urdf::Vector3 pos = (*link).parent_joint->parent_to_joint_origin_transform.position;
const urdf::Rotation orn = (*link).parent_joint->parent_to_joint_origin_transform.rotation;
parent2joint.setOrigin(btVector3(pos.x,pos.y,pos.z));
parent2joint.setRotation(btQuaternion(orn.x,orn.y,orn.z,orn.w));
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
} else
{
linkTransformInWorldSpace = parentTransformInWorldSpace;
}
{
printf("converting link %s",link->name.c_str());
for (int v=0;v<(int)link->visual_array.size();v++)
{
const Visual* visual = link->visual_array[v].get();
switch (visual->geometry->type)
{
case Geometry::CYLINDER:
{
printf("processing a cylinder\n");
urdf::Cylinder* cyl = (urdf::Cylinder*)visual->geometry.get();
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i=0;i<numSteps;i++)
{
btVector3 vert(cyl->radius*btSin(SIMD_2_PI*(float(i)/numSteps)),cyl->radius*btCos(SIMD_2_PI*(float(i)/numSteps)),cyl->length/2.);
vertices.push_back(vert);
vert[2] = -cyl->length/2.;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->initializePolyhedralFeatures();
//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
cylZShape->setMargin(0.001);
shape = cylZShape;
break;
}
case Geometry::BOX:
{
printf("processing a box\n");
urdf::Box* box = (urdf::Box*)visual->geometry.get();
btVector3 extents(box->dim.x,box->dim.y,box->dim.z);
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
shape = boxShape;
break;
}
case Geometry::SPHERE:
{
printf("processing a sphere\n");
urdf::Sphere* sphere = (urdf::Sphere*)visual->geometry.get();
btScalar radius = sphere->radius*0.8;
btSphereShape* sphereShape = new btSphereShape(radius);
shape = sphereShape;
break;
break;
}
case Geometry::MESH:
{
break;
}
default:
{
printf("Error: unknown visual geometry type\n");
}
}
if (shape)
{
gfxBridge.createCollisionShapeGraphicsObject(shape);
btVector3 color(0,0,1);
if (visual->material.get())
{
color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
}
btVector3 localInertia(0,0,0);
if (mass)
{
shape->calculateLocalInertia(mass,localInertia);
}
btRigidBody::btRigidBodyConstructionInfo rbci(mass,0,shape,localInertia);
btVector3 visual_pos(visual->origin.position.x,visual->origin.position.y,visual->origin.position.z);
btQuaternion visual_orn(visual->origin.rotation.x,visual->origin.rotation.y,visual->origin.rotation.z,visual->origin.rotation.w);
btTransform visual_frame;
visual_frame.setOrigin(visual_pos);
visual_frame.setRotation(visual_orn);
btTransform visualFrameInWorldSpace =linkTransformInWorldSpace*visual_frame;
rbci.m_startWorldTransform = visualFrameInWorldSpace;//linkCenterOfMass;
btRigidBody* body = new btRigidBody(rbci);
world->addRigidBody(body,bodyCollisionFilterGroup,bodyCollisionFilterMask);
// body->setFriction(0);
gfxBridge.createRigidBodyGraphicsObject(body,color);
URDF_LinkInformation* linkInfo = new URDF_LinkInformation;
linkInfo->m_bulletRigidBody = body;
linkInfo->m_localVisualFrame =visual_frame;
linkInfo->m_localInertialFrame =inertialFrame;
linkInfo->m_thisLink = link.get();
const Link* p = link.get();
mappings.m_link2rigidbody.insert(p, linkInfo);
//create a joint if necessary
if ((*link).parent_joint)
{
btRigidBody* parentBody =pp->m_bulletRigidBody;
const Joint* pj = (*link).parent_joint.get();
btTransform offsetInA,offsetInB;
btTransform p2j; p2j.setIdentity();
btVector3 p2jPos; p2jPos.setValue(pj->parent_to_joint_origin_transform.position.x,
pj->parent_to_joint_origin_transform.position.y,
pj->parent_to_joint_origin_transform.position.z);
btQuaternion p2jOrn;p2jOrn.setValue(pj->parent_to_joint_origin_transform.rotation.x,
pj->parent_to_joint_origin_transform.rotation.y,
pj->parent_to_joint_origin_transform.rotation.z,
pj->parent_to_joint_origin_transform.rotation.w);
p2j.setOrigin(p2jPos);
p2j.setRotation(p2jOrn);
offsetInA.setIdentity();
offsetInA = pp->m_localVisualFrame.inverse()*p2j;
offsetInB.setIdentity();
offsetInB = visual_frame.inverse();
switch (pj->type)
{
case Joint::FIXED:
{
printf("Fixed joint\n");
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentBody, *body,offsetInA,offsetInB);
// btVector3 bulletAxis(pj->axis.x,pj->axis.y,pj->axis.z);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
if (enableConstraints)
world->addConstraint(dof6,true);
// btFixedConstraint* fixed = new btFixedConstraint(*parentBody, *body,offsetInA,offsetInB);
// world->addConstraint(fixed,true);
break;
}
case Joint::CONTINUOUS:
case Joint::REVOLUTE:
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentBody, *body,offsetInA,offsetInB);
// btVector3 bulletAxis(pj->axis.x,pj->axis.y,pj->axis.z);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,1000));
dof6->setAngularUpperLimit(btVector3(0,0,-1000));
if (enableConstraints)
world->addConstraint(dof6,true);
printf("Revolute/Continuous joint\n");
break;
}
case Joint::PRISMATIC:
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentBody, *body,offsetInA,offsetInB);
dof6->setLinearLowerLimit(btVector3(pj->limits->lower,0,0));
dof6->setLinearUpperLimit(btVector3(pj->limits->upper,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
if (enableConstraints)
world->addConstraint(dof6,true);
printf("Prismatic\n");
break;
}
default:
{
printf("Error: unsupported joint type in URDF (%d)\n", pj->type);
}
}
}
}
}
}
for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
{
if (*child)
{
URDFvisual2BulletCollisionShape(*child,gfxBridge, linkTransformInWorldSpace, world,mappings);
}
else
{
std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
}
}
}
my_shared_ptr(const my_shared_ptr<T>& pPtr)
{
m_pRawPtr = pPtr.get();
m_refCount = pPtr.getRef();
(*m_refCount)++;
}