本文整理汇总了C++中URDFImporterInterface::getLinkContactInfo方法的典型用法代码示例。如果您正苦于以下问题：C++ URDFImporterInterface::getLinkContactInfo方法的具体用法？C++ URDFImporterInterface::getLinkContactInfo怎么用？C++ URDFImporterInterface::getLinkContactInfo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::getLinkContactInfo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
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2: ConvertURDF2BulletInternal
//.........这里部分代码省略.........
u2b.getLinkColor2(urdfLinkIndex, matColor);
cachedLinkGraphicsShapesOut->m_cachedUrdfLinkColors.push_back(matColor);
}
}
}
if (compoundShape)
{
UrdfMaterialColor matColor;
btVector4 color2 = selectColor2();
btVector3 specular(0.5, 0.5, 0.5);
if (u2b.getLinkColor2(urdfLinkIndex, matColor))
{
color2 = matColor.m_rgbaColor;
specular = matColor.m_specularColor;
}
/*
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);
btAssert(localInertiaDiagonal[0] < 1e10);
btAssert(localInertiaDiagonal[1] < 1e10);
btAssert(localInertiaDiagonal[2] < 1e10);
}
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
//temporary inertia scaling until we load inertia from URDF
if (contactInfo.m_flags & URDF_CONTACT_HAS_INERTIA_SCALING)
{
localInertiaDiagonal *= contactInfo.m_inertiaScaling;
}
}
btRigidBody* linkRigidBody = 0;
btTransform inertialFrameInWorldSpace = linkTransformInWorldSpace * localInertialFrame;
bool canSleep = (flags & CUF_ENABLE_SLEEPING) != 0;
if (!createMultiBody)
{
btRigidBody* body = creation.allocateRigidBody(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrameInWorldSpace, compoundShape);
if (!canSleep)
{
body->forceActivationState(DISABLE_DEACTIVATION);
}
linkRigidBody = body;
world1->addRigidBody(body);
compoundShape->setUserIndex(graphicsIndex);
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
processContactParameters(contactInfo, body);
creation.createRigidBodyGraphicsInstance2(urdfLinkIndex, body, color2, specular, graphicsIndex);
cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);