本文整理汇总了C++中URDFImporterInterface::convertLinkVisualShapes2方法的典型用法代码示例。如果您正苦于以下问题：C++ URDFImporterInterface::convertLinkVisualShapes2方法的具体用法？C++ URDFImporterInterface::convertLinkVisualShapes2怎么用？C++ URDFImporterInterface::convertLinkVisualShapes2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::convertLinkVisualShapes2方法的2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
//.........这里部分代码省略.........
{
btGeneric6DofSpring2Constraint* dof6 = creation.createPrismaticJoint(urdfLinkIndex,*linkRigidBody, *parentRigidBody, offsetInB, offsetInA,jointAxisInJointSpace,jointLowerLimit,jointUpperLimit);
if (enableConstraints)
world1->addConstraint(dof6,true);
//b3Printf("Prismatic\n");
}
break;
}
default:
{
//b3Printf("Error: unsupported joint type in URDF (%d)\n", jointType);
btAssert(0);
}
}
}
if (createMultiBody)
{
//if (compoundShape->getNumChildShapes()>0)
{
btMultiBodyLinkCollider* col= creation.allocateMultiBodyLinkCollider(urdfLinkIndex, mbLinkIndex, cache.m_bulletMultiBody);
compoundShape->setUserIndex(graphicsIndex);
col->setCollisionShape(compoundShape);
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
col->setWorldTransform(tr);
//base and fixed? -> static, otherwise flag as dynamic
bool isDynamic = (mbLinkIndex<0 && cache.m_bulletMultiBody->hasFixedBase())? false : true;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector4 color = selectColor2();//(0.0,0.0,0.5);
u2b.getLinkColor(urdfLinkIndex,color);
creation.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,col, u2b.getBodyUniqueId());
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
if ((contactInfo.m_flags & URDF_CONTACT_HAS_LATERAL_FRICTION)!=0)
{
col->setFriction(contactInfo.m_lateralFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_ROLLING_FRICTION)!=0)
{
col->setRollingFriction(contactInfo.m_rollingFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_SPINNING_FRICTION)!=0)
{
col->setSpinningFriction(contactInfo.m_spinningFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_STIFFNESS_DAMPING)!=0)
{
col->setContactStiffnessAndDamping(contactInfo.m_contactStiffness,contactInfo.m_contactDamping);
}
if (mbLinkIndex>=0) //???? double-check +/- 1
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider=col;
} else
{
cache.m_bulletMultiBody->setBaseCollider(col);
}
}
} else
{
//u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,compoundShape);
}
}
btAlignedObjectArray<int> urdfChildIndices;
u2b.getLinkChildIndices(urdfLinkIndex,urdfChildIndices);
int numChildren = urdfChildIndices.size();
for (int i=0;i<numChildren;i++)
{
int urdfChildLinkIndex = urdfChildIndices[i];
ConvertURDF2BulletInternal(u2b,creation, cache,urdfChildLinkIndex,linkTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags);
}
}示例2: ConvertURDF2BulletInternal
//.........这里部分代码省略.........
}
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
col->setWorldTransform(tr);
//base and fixed? -> static, otherwise flag as dynamic
bool isDynamic = (mbLinkIndex < 0 && cache.m_bulletMultiBody->hasFixedBase()) ? false : true;
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int colGroup = 0, colMask = 0;
int collisionFlags = u2b.getCollisionGroupAndMask(urdfLinkIndex, colGroup, colMask);
if (collisionFlags & URDF_HAS_COLLISION_GROUP)
{
collisionFilterGroup = colGroup;
}
if (collisionFlags & URDF_HAS_COLLISION_MASK)
{
collisionFilterMask = colMask;
}
world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
btVector4 color2 = selectColor2(); //(0.0,0.0,0.5);
btVector3 specularColor(1, 1, 1);
UrdfMaterialColor matCol;
if (u2b.getLinkColor2(urdfLinkIndex, matCol))
{
color2 = matCol.m_rgbaColor;
specularColor = matCol.m_specularColor;
}
{
B3_PROFILE("createCollisionObjectGraphicsInstance2");
creation.createCollisionObjectGraphicsInstance2(urdfLinkIndex, col, color2, specularColor);
}
{
B3_PROFILE("convertLinkVisualShapes2");
u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
}
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
processContactParameters(contactInfo, col);
if (mbLinkIndex >= 0) //???? double-check +/- 1
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider = col;
if (flags & CUF_USE_SELF_COLLISION_INCLUDE_PARENT)
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags &= ~BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
}
if (flags & CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION;
}
}
else
{
// if (canSleep)
{
if (cache.m_bulletMultiBody->getBaseMass() == 0)
//&& cache.m_bulletMultiBody->getNumDofs()==0)
{
//col->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
}
}
cache.m_bulletMultiBody->setBaseCollider(col);
}
}
}
else
{
int mbLinkIndex = cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
//u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
u2b.convertLinkVisualShapes2(-1, urdfLinkIndex, pathPrefix, localInertialFrame, linkRigidBody, u2b.getBodyUniqueId());
}
}
btAlignedObjectArray<int> urdfChildIndices;
u2b.getLinkChildIndices(urdfLinkIndex, urdfChildIndices);
int numChildren = urdfChildIndices.size();
if (recursive)
{
for (int i = 0; i < numChildren; i++)
{
int urdfChildLinkIndex = urdfChildIndices[i];
ConvertURDF2BulletInternal(u2b, creation, cache, urdfChildLinkIndex, linkTransformInWorldSpace, world1, createMultiBody, pathPrefix, flags, cachedLinkGraphicsShapesIn, cachedLinkGraphicsShapesOut, recursive);
}
}
return linkTransformInWorldSpace;
}