本文整理汇总了C++中URDFImporterInterface::convertLinkVisualShapes方法的典型用法代码示例。如果您正苦于以下问题：C++ URDFImporterInterface::convertLinkVisualShapes方法的具体用法？C++ URDFImporterInterface::convertLinkVisualShapes怎么用？C++ URDFImporterInterface::convertLinkVisualShapes使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类URDFImporterInterface的用法示例。
在下文中一共展示了URDFImporterInterface::convertLinkVisualShapes方法的3个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: ConvertURDF2BulletInternal
btTransform ConvertURDF2BulletInternal(
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
URDF2BulletCachedData& cache, int urdfLinkIndex,
const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,
bool createMultiBody, const char* pathPrefix,
int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapesIn, UrdfVisualShapeCache* cachedLinkGraphicsShapesOut, bool recursive)
{
B3_PROFILE("ConvertURDF2BulletInternal2");
//b3Printf("start converting/extracting data from URDF interface\n");
btTransform linkTransformInWorldSpace;
linkTransformInWorldSpace.setIdentity();
int mbLinkIndex = cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
int urdfParentIndex = cache.getParentUrdfIndex(urdfLinkIndex);
int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
btRigidBody* parentRigidBody = 0;
//b3Printf("mb link index = %d\n",mbLinkIndex);
btTransform parentLocalInertialFrame;
parentLocalInertialFrame.setIdentity();
btScalar parentMass(1);
btVector3 parentLocalInertiaDiagonal(1, 1, 1);
if (urdfParentIndex == -2)
{
//b3Printf("root link has no parent\n");
}
else
{
//b3Printf("urdf parent index = %d\n",urdfParentIndex);
//b3Printf("mb parent index = %d\n",mbParentIndex);
parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
u2b.getMassAndInertia2(urdfParentIndex, parentMass, parentLocalInertiaDiagonal, parentLocalInertialFrame, flags);
}
btScalar mass = 0;
btTransform localInertialFrame;
localInertialFrame.setIdentity();
btVector3 localInertiaDiagonal(0, 0, 0);
u2b.getMassAndInertia2(urdfLinkIndex, mass, localInertiaDiagonal, localInertialFrame, flags);
btTransform parent2joint;
parent2joint.setIdentity();
int jointType;
btVector3 jointAxisInJointSpace;
btScalar jointLowerLimit;
btScalar jointUpperLimit;
btScalar jointDamping;
btScalar jointFriction;
btScalar jointMaxForce;
btScalar jointMaxVelocity;
bool hasParentJoint = u2b.getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity);
std::string linkName = u2b.getLinkName(urdfLinkIndex);
if (flags & CUF_USE_SDF)
{
parent2joint = parentTransformInWorldSpace.inverse() * linkTransformInWorldSpace;
}
else
{
if (flags & CUF_USE_MJCF)
{
linkTransformInWorldSpace = parentTransformInWorldSpace * linkTransformInWorldSpace;
}
else
{
linkTransformInWorldSpace = parentTransformInWorldSpace * parent2joint;
}
}
btCompoundShape* tmpShape = u2b.convertLinkCollisionShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
btCollisionShape* compoundShape = tmpShape;
if (tmpShape->getNumChildShapes() == 1 && tmpShape->getChildTransform(0) == btTransform::getIdentity())
{
compoundShape = tmpShape->getChildShape(0);
}
int graphicsIndex;
{
B3_PROFILE("convertLinkVisualShapes");
if (cachedLinkGraphicsShapesIn && cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices.size() > (mbLinkIndex + 1))
{
graphicsIndex = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices[mbLinkIndex + 1];
UrdfMaterialColor matColor = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkColors[mbLinkIndex + 1];
u2b.setLinkColor2(urdfLinkIndex, matColor);
}
else
{
graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
if (cachedLinkGraphicsShapesOut)
{
cachedLinkGraphicsShapesOut->m_cachedUrdfLinkVisualShapeIndices.push_back(graphicsIndex);
UrdfMaterialColor matColor;
u2b.getLinkColor2(urdfLinkIndex, matColor);
cachedLinkGraphicsShapesOut->m_cachedUrdfLinkColors.push_back(matColor);
//.........这里部分代码省略.........
示例2: ConvertURDF2BulletInternal
void ConvertURDF2BulletInternal(
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
URDF2BulletCachedData& cache, int urdfLinkIndex,
const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,
bool createMultiBody, const char* pathPrefix,
int flags = 0)
{
//b3Printf("start converting/extracting data from URDF interface\n");
btTransform linkTransformInWorldSpace;
linkTransformInWorldSpace.setIdentity();
int mbLinkIndex =cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
int urdfParentIndex = cache.getParentUrdfIndex(urdfLinkIndex);
int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
btRigidBody* parentRigidBody = 0;
//b3Printf("mb link index = %d\n",mbLinkIndex);
btTransform parentLocalInertialFrame;
parentLocalInertialFrame.setIdentity();
btScalar parentMass(1);
btVector3 parentLocalInertiaDiagonal(1,1,1);
if (urdfParentIndex==-2)
{
//b3Printf("root link has no parent\n");
} else
{
//b3Printf("urdf parent index = %d\n",urdfParentIndex);
//b3Printf("mb parent index = %d\n",mbParentIndex);
parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
u2b.getMassAndInertia(urdfParentIndex, parentMass,parentLocalInertiaDiagonal,parentLocalInertialFrame);
}
btScalar mass = 0;
btTransform localInertialFrame;
localInertialFrame.setIdentity();
btVector3 localInertiaDiagonal(0,0,0);
u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame);
btTransform parent2joint;
parent2joint.setIdentity();
int jointType;
btVector3 jointAxisInJointSpace;
btScalar jointLowerLimit;
btScalar jointUpperLimit;
btScalar jointDamping;
btScalar jointFriction;
bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction);
if (flags & CUF_USE_SDF)
{
parent2joint =parentTransformInWorldSpace.inverse()*linkTransformInWorldSpace;
}
else
{
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
}
btCompoundShape* compoundShape = u2b.convertLinkCollisionShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
if (compoundShape)
{
btVector3 color = selectColor2();
/*
if (visual->material.get())
{
color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
}
*/
if (mass)
{
if (!(flags & CUF_USE_URDF_INERTIA))
{
compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
}
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
//temporary inertia scaling until we load inertia from URDF
if (contactInfo.m_flags & URDF_CONTACT_HAS_INERTIA_SCALING)
{
//.........这里部分代码省略.........
示例3: ConvertURDF2BulletInternal
void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, URDF2BulletCachedData& cache, int urdfLinkIndex, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,bool createMultiBody, const char* pathPrefix)
{
printf("start converting/extracting data from URDF interface\n");
btTransform linkTransformInWorldSpace;
linkTransformInWorldSpace.setIdentity();
int mbLinkIndex =cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
int urdfParentIndex = cache.getParentUrdfIndex(urdfLinkIndex);
int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
btRigidBody* parentRigidBody = 0;
std::string name = u2b.getLinkName(urdfLinkIndex);
printf("link name=%s urdf link index=%d\n",name.c_str(),urdfLinkIndex);
printf("mb link index = %d\n",mbLinkIndex);
btTransform parentLocalInertialFrame;
parentLocalInertialFrame.setIdentity();
btScalar parentMass(1);
btVector3 parentLocalInertiaDiagonal(1,1,1);
if (urdfParentIndex==-2)
{
printf("root link has no parent\n");
} else
{
printf("urdf parent index = %d\n",urdfParentIndex);
printf("mb parent index = %d\n",mbParentIndex);
parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
u2b.getMassAndInertia(urdfParentIndex, parentMass,parentLocalInertiaDiagonal,parentLocalInertialFrame);
}
btScalar mass = 0;
btTransform localInertialFrame;
localInertialFrame.setIdentity();
btVector3 localInertiaDiagonal(0,0,0);
u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame);
btTransform parent2joint;
parent2joint.setIdentity();
int jointType;
btVector3 jointAxisInJointSpace;
btScalar jointLowerLimit;
btScalar jointUpperLimit;
bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit);
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
btCompoundShape* compoundShape = u2b.convertLinkCollisionShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
if (compoundShape)
{
btVector3 color = selectColor2();
/*
if (visual->material.get())
{
color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
}
*/
//btVector3 localInertiaDiagonal(0, 0, 0);
//if (mass)
//{
// shape->calculateLocalInertia(mass, localInertiaDiagonal);
//}
btRigidBody* linkRigidBody = 0;
btTransform inertialFrameInWorldSpace = linkTransformInWorldSpace*localInertialFrame;
if (!createMultiBody)
{
btRigidBody* body = creation.allocateRigidBody(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrameInWorldSpace, compoundShape);
linkRigidBody = body;
world1->addRigidBody(body, bodyCollisionFilterGroup, bodyCollisionFilterMask);
compoundShape->setUserIndex(graphicsIndex);
creation.createRigidBodyGraphicsInstance(urdfLinkIndex, body, color, graphicsIndex);
cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
} else
{
if (cache.m_bulletMultiBody==0)
{
bool multiDof = true;
bool canSleep = false;
//.........这里部分代码省略.........