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feat: more urdf loader improvements

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This commit is contained in:
Sébastien Crozet
2024-06-02 19:26:09 +02:00
committed by Sébastien Crozet
parent 98e32b7f3c
commit cfddaa3c46
4 changed files with 60 additions and 18 deletions
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1
examples3d/inverse_kinematics3.rs
View File

@@ -89,6 +89,7 @@ pub fn init_world(testbed: &mut Testbed) {
link_id,
&options,
&Isometry::from(target_point),
|_| true,
&mut displacements,
);
multibody.apply_displacements(displacements.as_slice());

31
examples3d/urdf3.rs
View File

@@ -1,6 +1,7 @@
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
use rapier_urdf::{UrdfLoaderOptions, UrdfRobot};
use rapier_urdf::{UrdfLoaderOptions, UrdfMultibodyOptions, UrdfRobot};
use std::path::Path;
pub fn init_world(testbed: &mut Testbed) {
/*
@@ -17,28 +18,28 @@ pub fn init_world(testbed: &mut Testbed) {
let options = UrdfLoaderOptions {
create_colliders_from_visual_shapes: true,
create_colliders_from_collision_shapes: false,
apply_imported_mass_props: false,
make_roots_fixed: true,
// Z-up to Y-up.
shift: Isometry::rotation(Vector::x() * std::f32::consts::FRAC_PI_2),
rigid_body_blueprint: RigidBodyBuilder::default().gravity_scale(1.0),
collider_blueprint: ColliderBuilder::default()
.density(1.0)
.active_collision_types(ActiveCollisionTypes::empty()),
..Default::default()
};
let (mut robot, _) =
UrdfRobot::from_file("assets/3d/T12/urdf/T12.URDF", options, None).unwrap();
// let (mut robot, _) = UrdfRobot::from_file("assets/3d/sample.urdf", options).unwrap();
// robot.insert_using_impulse_joints(&mut bodies, &mut colliders, &mut impulse_joints);
robot.insert_using_multibody_joints(&mut bodies, &mut colliders, &mut multibody_joints);
testbed.add_callback(move |mut graphics, physics, _, state| {
for (_, body) in physics.bodies.iter() {
println!("pose: {:?}", body.position());
}
});
// The robot can be inserted using impulse joints.
// (We clone because we want to insert the same robot once more afterward.)
robot
.clone()
.insert_using_impulse_joints(&mut bodies, &mut colliders, &mut impulse_joints);
// Insert the robot a second time, but using multibody joints this time.
robot.append_transform(&Isometry::translation(10.0, 0.0, 0.0));
robot.insert_using_multibody_joints(
&mut bodies,
&mut colliders,
&mut multibody_joints,
UrdfMultibodyOptions::DISABLE_SELF_CONTACTS,
);
/*
* Set up the testbed.