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feat: more urdf parser fixes + stl parser

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This commit is contained in:
Sébastien Crozet
2024-05-26 18:18:38 +02:00
committed by Sébastien Crozet
parent 9865d5836a
commit 02cade0440
49 changed files with 6703 additions and 250 deletions
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1
examples3d/Cargo.toml
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@@ -29,6 +29,7 @@ path = "../crates/rapier3d"
[dependencies.rapier-urdf]
path = "../crates/rapier-urdf"
features = ["stl"]
[[bin]]
name = "all_examples3"

22
examples3d/urdf3.rs
View File

@@ -1,6 +1,6 @@
use rapier3d::prelude::*;
use rapier_testbed3d::Testbed;
use rapier_urdf::{RapierRobot, UrdfLoaderOptions};
use rapier_urdf::{UrdfLoaderOptions, UrdfRobot};
pub fn init_world(testbed: &mut Testbed) {
/*
@@ -17,19 +17,29 @@ 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: true,
apply_imported_mass_props: false,
make_roots_fixed: true,
// rigid_body_blueprint: RigidBodyBuilder::dynamic().gravity_scale(0.0),
collider_blueprint: ColliderBuilder::ball(0.0)
.density(0.0)
// 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, _) = RapierRobot::from_file("assets/3d/sample.urdf", options).unwrap();
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());
}
});
/*
* Set up the testbed.
*/