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add option to merge fixed links in URDF file (improves performance, can handle URDF files with many fixed links)

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add option to ignore visual and collision shapes in URDF file
This commit is contained in:
Erwin Coumans
2020-02-21 15:04:26 -08:00
parent 6910fc9229
commit e29ba9fe5c
8 changed files with 302 additions and 2 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+12
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@@ -3484,6 +3484,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
if (loadOk)
{
btTransform rootTrans;
rootTrans.setOrigin(pos);
rootTrans.setRotation(orn);
@@ -12009,6 +12010,17 @@ int PhysicsServerCommandProcessor::extractCollisionShapes(const btCollisionShape
switch (colShape->getShapeType())
{
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
btCapsuleShapeZ* capsule = (btCapsuleShapeZ*)colShape;
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_CAPSULE;
collisionShapeBuffer[0].m_dimensions[0] = 2. * capsule->getHalfHeight();
collisionShapeBuffer[0].m_dimensions[1] = capsule->getRadius();
collisionShapeBuffer[0].m_dimensions[2] = 0;
numConverted++;
break;
break;
}
case STATIC_PLANE_PROXYTYPE:
{
btStaticPlaneShape* plane = (btStaticPlaneShape*)colShape;