void CBubbleRobDialog::OnLbnSelchangeBubblerobList()
{
simLockInterface(1);
int objectHandle=getSelectedObjectInList();
simRemoveObjectFromSelection(sim_handle_all,-1);
CBubbleRob* bubbleRob=CAccess::bubbleRobContainer->getFromID(objectHandle);
if (bubbleRob!=NULL)
{
int sceneObjHandle=bubbleRob->getAssociatedObject();
if (sceneObjHandle!=-1)
simAddObjectToSelection(sim_handle_single,sceneObjHandle);
}
simLockInterface(0);
}
void CMtbRobotDialog::on_qqRobotList_itemSelectionChanged()
{
if (!inRefreshRoutine)
{
simLockInterface(1);
int objectHandle=getSelectedObjectInList();
simRemoveObjectFromSelection(sim_handle_all,-1);
CMtbRobot* mtbRobot=CAccess::mtbRobotContainer->getFromID(objectHandle);
if (mtbRobot!=NULL)
{
int sceneObjHandle=mtbRobot->getAssociatedObject();
if (sceneObjHandle!=-1)
simAddObjectToSelection(sim_handle_single,sceneObjHandle); // select the associated scene object!
}
simLockInterface(0);
}
}
//Write
void urdfLink::createLink(bool hideCollisionLinks,bool convexDecomposeNonConvexCollidables,bool createVisualIfNone,bool& showConvexDecompositionDlg)
{
std::string txt("Creating link '"+name+"'...");
printToConsole(txt.c_str());
//visuals.clear();
// Visuals
for (int i=0; i<visuals.size(); i++) {
urdfElement &visual = visuals[i];
if(!visual.meshFilename.empty())
{
std::string fname(visual.meshFilename);
bool exists=true;
bool useAlt=false;
if (!simDoesFileExist(fname.c_str()))
{
fname=visual.meshFilename_alt;
exists=simDoesFileExist(fname.c_str());
useAlt=true;
}
if (!exists)
printToConsole("ERROR: the mesh file could not be found.");
else
visual.n = simImportShape(visual.meshExtension,fname.c_str(),0,0.0001f,1.0);
if (!visual.n)
{
if (!useAlt)
txt="ERROR: failed to create the mesh '"+visual.meshFilename+"' with extension type "+boost::lexical_cast<std::string>(visual.meshExtension);
else
txt="ERROR: failed to create the mesh '"+visual.meshFilename+"' or '"+visual.meshFilename_alt+"' with extension type "+boost::lexical_cast<std::string>(visual.meshExtension);
printToConsole(txt.c_str());
}
else
visual.n = scaleShapeIfRequired(visual.n,visual.mesh_scaling);
}
else if (!isArrayEmpty(visual.sphere_size))
visual.n = simCreatePureShape( 1,1+2+16, visual.sphere_size, mass, NULL);
else if (!isArrayEmpty(visual.cylinder_size))
visual.n = simCreatePureShape( 2,1+2+16, visual.cylinder_size, mass, NULL);
else if (!isArrayEmpty(visual.box_size))
visual.n = simCreatePureShape( 0,1+2+16, visual.box_size, mass, NULL);
}
//collisions.clear();
//mass=0.1;
//collision
for (int i=0; i<collisions.size(); i++) {
urdfElement &collision = collisions[i];
if(!collision.meshFilename.empty())
{
std::string fname(collision.meshFilename);
bool exists=true;
bool useAlt=false;
if (!simDoesFileExist(fname.c_str()))
{
fname=collision.meshFilename_alt;
exists=simDoesFileExist(fname.c_str());
useAlt=true;
}
if (!exists)
printToConsole("ERROR: the mesh file could not be found");
else
collision.n = simImportShape(collision.meshExtension,fname.c_str(),0,0.0001f,1.0);
if (collision.n == -1)
{
if (!useAlt)
txt="ERROR: failed to create the mesh '"+collision.meshFilename+"' with extension type "+boost::lexical_cast<std::string>(collision.meshExtension);
else
txt="ERROR: failed to create the mesh '"+collision.meshFilename+"' or '"+collision.meshFilename_alt+"' with extension type "+boost::lexical_cast<std::string>(collision.meshExtension);
printToConsole(txt.c_str());
}
else
{
collision.n=scaleShapeIfRequired(collision.n,collision.mesh_scaling);
if (createVisualIfNone&&(visuals.size()==0))
{ // We create a visual from the collision shape (before it gets morphed hereafter):
simRemoveObjectFromSelection(sim_handle_all,-1);
simAddObjectToSelection(sim_handle_single,collision.n);
simCopyPasteSelectedObjects();
addVisual();
currentVisual().n = simGetObjectLastSelection();
}
int p;
int convInts[5]={1,500,200,0,0}; // 3rd value from 100 to 500 on 5/2/2014
float convFloats[5]={100.0f,30.0f,0.25f,0.0f,0.0f};
if ( convexDecomposeNonConvexCollidables&&(simGetObjectIntParameter(collision.n,3017,&p)>0)&&(p==0) )
{
int aux=1+4+8+16+64;
if (showConvexDecompositionDlg)
aux=1+2+8+16+64;
showConvexDecompositionDlg=false;
simConvexDecompose(collision.n,aux,convInts,convFloats); // we generate convex shapes!
}
simSetObjectIntParameter(collision.n,3003,!inertiaPresent); // we make it non-static if there is an inertia
simSetObjectIntParameter(collision.n,3004,1); // we make it respondable since it is a collision object
}
}
else if (!isArrayEmpty(collision.sphere_size))
collision.n = simCreatePureShape( 1,1+2+4+8+16*(!inertiaPresent), collision.sphere_size, mass, NULL);
else if (!isArrayEmpty(collision.cylinder_size))
collision.n = simCreatePureShape( 2,1+2+4+8+16*(!inertiaPresent), collision.cylinder_size, mass, NULL);
else if (!isArrayEmpty(collision.box_size))
collision.n = simCreatePureShape( 0,1+2+4+8+16*(!inertiaPresent), collision.box_size, mass, NULL);
}
// Hack to draw COM in the collision layer
/*
addCollision();
currentCollision().xyz[0] = inertial_xyz[0];
currentCollision().xyz[1] = inertial_xyz[1];
currentCollision().xyz[0] = inertial_xyz[2];
currentCollision().rpy[0] = 1.5;
float dummySize[3]={0.01f,0.01f,0.01f};
currentCollision().n = simCreatePureShape( 1,1+2+16, dummySize, mass, NULL);
*/
// Grouping collisions shapes
nLinkCollision = groupShapes(collisions);
// Inertia
if (inertiaPresent)
{
C3Vector euler;
if (nLinkCollision==-1)
{ // we do not have a collision object. Let's create a dummy collision object, since inertias can't exist on their own in V-REP:
float dummySize[3]={0.01f,0.01f,0.01f};
//nLinkCollision = simCreatePureShape( 1,1+2+4, dummySize, mass, NULL); // we make it non-respondable!
nLinkCollision = simCreatePureShape( 1,1+2+16, dummySize, mass, NULL);
}
C7Vector inertiaFrame;
inertiaFrame.X.set(inertial_xyz);
inertiaFrame.Q=getQuaternionFromRpy(inertial_rpy);
//simSetObjectPosition(nLinkCollision,-1,inertiaFrame.X.data);
//C7Vector collisionFrame;
//collisionFrame.X.set(collision_xyz);
//collisionFrame.Q=getQuaternionFromRpy(collision_rpy);
C7Vector collisionFrame;
simGetObjectPosition(nLinkCollision,-1,collisionFrame.X.data);
simGetObjectOrientation(nLinkCollision,-1,euler.data);
collisionFrame.Q.setEulerAngles(euler);
//C4X4Matrix x((collisionFrame.getInverse()*inertiaFrame).getMatrix());
C4X4Matrix x(inertiaFrame.getMatrix());
float i[12]={x.M(0,0),x.M(0,1),x.M(0,2),x.X(0),x.M(1,0),x.M(1,1),x.M(1,2),x.X(1),x.M(2,0),x.M(2,1),x.M(2,2),x.X(2)};
simSetShapeMassAndInertia(nLinkCollision,mass,inertia,C3Vector::zeroVector.data,i);
//std::cout << "Mass: " << mass << std::endl;
}
else
{
if (nLinkCollision!=-1)
{
std::string txt("ERROR: found a collision object without inertia data for link '"+ name+"'. Is that link meant to be static?");
printToConsole(txt.c_str());
}
}
if (createVisualIfNone&&(visuals.size()==0)&&(nLinkCollision!=-1))
{ // We create a visual from the collision shape (meshes were handled earlier):
addVisual();
urdfElement &visual = currentVisual();
simRemoveObjectFromSelection(sim_handle_all,-1);
simAddObjectToSelection(sim_handle_single,nLinkCollision);
simCopyPasteSelectedObjects();
visual.n=simGetObjectLastSelection();
simSetObjectIntParameter(visual.n,3003,1); // we make it static since only visual
simSetObjectIntParameter(visual.n,3004,0); // we make it non-respondable since only visual
}
// Set the respondable mask:
if (nLinkCollision!=-1)
simSetObjectIntParameter(nLinkCollision,3019,0xff00); // colliding with everything except with other objects in that tree hierarchy
// Grouping shapes
nLinkVisual = groupShapes(visuals);
// Set the names, visibility, etc.:
if (nLinkVisual!=-1)
{
setVrepObjectName(nLinkVisual,std::string(name+"_visual").c_str());
const float specularDiffuse[3]={0.3f,0.3f,0.3f};
if (nLinkCollision!=-1)
{ // if we have a collision object, we attach the visual object to it, then forget the visual object
C7Vector collisionFrame;
C3Vector euler;
simGetObjectPosition(nLinkCollision,-1,collisionFrame.X.data);
simGetObjectOrientation(nLinkCollision,-1,euler.data);
collisionFrame.Q.setEulerAngles(euler);
C7Vector visualFrame;
simGetObjectPosition(nLinkVisual,-1,visualFrame.X.data);
simGetObjectOrientation(nLinkVisual,-1,euler.data);
visualFrame.Q.setEulerAngles(euler);
C7Vector x(collisionFrame.getInverse()*visualFrame);
simSetObjectPosition(nLinkVisual,-1,x.X.data);
simSetObjectOrientation(nLinkVisual,-1,x.Q.getEulerAngles().data);
simSetObjectParent(nLinkVisual,nLinkCollision,0);
}
}
if (nLinkCollision!=-1)
{
setVrepObjectName(nLinkCollision,std::string(name+"_respondable").c_str());
if (hideCollisionLinks)
simSetObjectIntParameter(nLinkCollision,10,256); // we "hide" that object in layer 9
}
}
robot::robot(std::string filename,bool hideCollisionLinks,bool hideJoints,bool convexDecomposeNonConvexCollidables,bool createVisualIfNone,bool showConvexDecompositionDlg,bool centerAboveGround,bool makeModel,bool noSelfCollision,bool positionCtrl): filenameAndPath(filename)
{
printToConsole("URDF import operation started.");
openFile();
readJoints();
readLinks();
readSensors();
createJoints(hideJoints,positionCtrl);
createLinks(hideCollisionLinks,convexDecomposeNonConvexCollidables,createVisualIfNone,showConvexDecompositionDlg);
createSensors();
std::vector<int> parentlessObjects;
std::vector<int> allShapes;
std::vector<int> allObjects;
std::vector<int> allSensors;
for (int i=0;i<int(vLinks.size());i++)
{
if (simGetObjectParent(vLinks[i]->nLinkVisual)==-1)
parentlessObjects.push_back(vLinks[i]->nLinkVisual);
allObjects.push_back(vLinks[i]->nLinkVisual);
allShapes.push_back(vLinks[i]->nLinkVisual);
if (vLinks[i]->nLinkCollision!=-1)
{
if (simGetObjectParent(vLinks[i]->nLinkCollision)==-1)
parentlessObjects.push_back(vLinks[i]->nLinkCollision);
allObjects.push_back(vLinks[i]->nLinkCollision);
allShapes.push_back(vLinks[i]->nLinkCollision);
}
}
for (int i=0;i<int(vJoints.size());i++)
{
if (vJoints[i]->nJoint!=-1)
{
if (simGetObjectParent(vJoints[i]->nJoint)==-1)
parentlessObjects.push_back(vJoints[i]->nJoint);
allObjects.push_back(vJoints[i]->nJoint);
}
}
for (int i=0;i<int(vSensors.size());i++)
{
if (vSensors[i]->nSensor!=-1)
{
if (simGetObjectParent(vSensors[i]->nSensor)==-1)
parentlessObjects.push_back(vSensors[i]->nSensor);
allObjects.push_back(vSensors[i]->nSensor);
allSensors.push_back(vSensors[i]->nSensor);
}
if (vSensors[i]->nSensorAux!=-1)
{
allObjects.push_back(vSensors[i]->nSensorAux);
allSensors.push_back(vSensors[i]->nSensorAux);
}
}
// If we want to alternate respondable mask:
if (!noSelfCollision)
{
for (int i=0;i<int(parentlessObjects.size());i++)
setLocalRespondableMaskCummulative_alternate(parentlessObjects[i],true);
}
// Now center the model:
if (centerAboveGround)
{
bool firstValSet=false;
C3Vector minV,maxV;
for (int shNb=0;shNb<int(allShapes.size());shNb++)
{
float* vertices;
int verticesSize;
int* indices;
int indicesSize;
if (simGetShapeMesh(allShapes[shNb],&vertices,&verticesSize,&indices,&indicesSize,NULL)!=-1)
{
C7Vector tr;
simGetObjectPosition(allShapes[shNb],-1,tr.X.data);
C3Vector euler;
simGetObjectOrientation(allShapes[shNb],-1,euler.data);
tr.Q.setEulerAngles(euler);
for (int i=0;i<verticesSize/3;i++)
{
C3Vector v(vertices+3*i);
v*=tr;
if (!firstValSet)
{
minV=v;
maxV=v;
firstValSet=true;
}
else
{
minV.keepMin(v);
maxV.keepMax(v);
}
}
simReleaseBuffer((char*)vertices);
simReleaseBuffer((char*)indices);
}
}
C3Vector shiftAmount((minV+maxV)*-0.5f);
shiftAmount(2)+=(maxV(2)-minV(2))*0.5f;
for (int i=0;i<int(parentlessObjects.size());i++)
{
C3Vector p;
simGetObjectPosition(parentlessObjects[i],-1,p.data);
p+=shiftAmount;
simSetObjectPosition(parentlessObjects[i],-1,p.data);
}
}
// Now create a model bounding box if that makes sense:
if ((makeModel)&&(parentlessObjects.size()==1))
{
int p=simGetModelProperty(parentlessObjects[0]);
p|=sim_modelproperty_not_model;
simSetModelProperty(parentlessObjects[0],p-sim_modelproperty_not_model);
for (int i=0;i<int(allObjects.size());i++)
{
if (allObjects[i]!=parentlessObjects[0])
{
int p=simGetObjectProperty(allObjects[i]);
simSetObjectProperty(allObjects[i],p|sim_objectproperty_selectmodelbaseinstead);
}
}
for (int i=0;i<int(allSensors.size());i++)
{
if (allSensors[i]!=parentlessObjects[0])
{
int p=simGetObjectProperty(allSensors[i]);
simSetObjectProperty(allSensors[i],p|sim_objectproperty_dontshowasinsidemodel); // sensors are usually large and it is ok if they do not appear as inside of the model bounding box!
}
}
}
// Now select all new objects:
simRemoveObjectFromSelection(sim_handle_all,-1);
for (int i=0;i<int(allObjects.size());i++)
simAddObjectToSelection(sim_handle_single,allObjects[i]);
printToConsole("URDF import operation finished.\n\n");
}
