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Sébastien Crozet
2024-06-09 10:57:37 +02:00
committed by Sébastien Crozet
parent cfddaa3c46
commit edaa36ac7e
41 changed files with 897 additions and 202 deletions
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10
crates/rapier-stl/Cargo.toml
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[package]
name = "rapier-stl"
version = "0.1.0"
edition = "2021"
[dependencies]
thiserror = "1.0.61"
stl_io = "0.7"
rapier3d = { versions = "0.19", path = "../rapier3d" }

72
crates/rapier-stl/src/lib.rs
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use rapier3d::geometry::{
Collider, ColliderBuilder, Cuboid, MeshConverter, MeshConverterError, SharedShape, TriMesh,
};
use rapier3d::math::{Isometry, Point, Real, Vector};
use rapier3d::parry::bounding_volume;
use std::fs::File;
use std::io::{BufReader, Read, Seek};
use std::path::Path;
use stl_io::IndexedMesh;
#[derive(thiserror::Error, Debug)]
pub enum StlLoaderError {
#[error(transparent)]
MeshConverter(#[from] MeshConverterError),
#[error(transparent)]
Io(#[from] std::io::Error),
}
/// The result of loading a shape from an stl mesh.
pub struct StlShape {
/// The shape loaded from the file and converted by the [`MeshConverter`].
pub shape: SharedShape,
/// The shape’s pose.
pub pose: Isometry<Real>,
/// The raw mesh read from the stl file.
pub raw_mesh: IndexedMesh,
}
pub fn load_from_path(
file_path: impl AsRef<Path>,
converter: MeshConverter,
scale: Vector<Real>,
) -> Result<StlShape, StlLoaderError> {
let mut reader = BufReader::new(File::open(file_path)?);
load_from_reader(&mut reader, converter, scale)
}
pub fn load_from_reader<R: Read + Seek>(
read: &mut R,
converter: MeshConverter,
scale: Vector<Real>,
) -> Result<StlShape, StlLoaderError> {
let stl_mesh = stl_io::read_stl(read)?;
Ok(load_from_raw_mesh(stl_mesh, converter, scale)?)
}
pub fn load_from_raw_mesh(
raw_mesh: IndexedMesh,
converter: MeshConverter,
scale: Vector<Real>,
) -> Result<StlShape, MeshConverterError> {
let mut vertices: Vec<_> = raw_mesh
.vertices
.iter()
.map(|xyz| Point::new(xyz[0] as Real, xyz[1] as Real, xyz[2] as Real))
.collect();
vertices
.iter_mut()
.for_each(|pt| pt.coords.component_mul_assign(&scale));
let indices: Vec<_> = raw_mesh
.faces
.iter()
.map(|f| f.vertices.map(|i| i as u32))
.collect();
let (shape, pose) = converter.convert(vertices, indices)?;
Ok(StlShape {
shape,
pose,
raw_mesh,
})
}

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crates/rapier-urdf/Cargo.toml
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[package]
name = "rapier-urdf"
version = "0.1.0"
edition = "2021"
[features]
stl = ["rapier-stl"]
[dependencies]
log = "0.4"
anyhow = "1"
bitflags = "2"
# NOTE: we are not using the (more recent) urdf-rs crate because of https://github.com/openrr/urdf-rs/issues/94
xurdf = "0.2"
rapier3d = { versions = "0.19", path = "../rapier3d" }
rapier-stl = { version = "0.1.0", path = "../rapier-stl", optional = true }

2
crates/rapier2d-f64/Cargo.toml
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@@ -1,7 +1,7 @@
[package]
name = "rapier2d-f64"
version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "2-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier2d"
homepage = "https://rapier.rs"

2
crates/rapier2d/Cargo.toml
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@@ -1,7 +1,7 @@
[package]
name = "rapier2d"
version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "2-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier2d"
homepage = "https://rapier.rs"

2
crates/rapier3d-f64/Cargo.toml
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@@ -1,7 +1,7 @@
[package]
name = "rapier3d-f64"
version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "3-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier3d"
homepage = "https://rapier.rs"

9
crates/rapier3d-stl/CHANGELOG.md Normal file
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## Unreleased
This is the initial release of the `rapier3d-stl` crate.
### Added
- Add `load_from_path` for creating a shape from a stl file.
- Add `load_from_reader` for creating a shape from an object implementing `Read`.
- Add `load_from_raw_mesh` for creating a shape from an already loaded `IndexedMesh`.

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crates/rapier3d-stl/Cargo.toml Normal file
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[package]
name = "rapier3d-stl"
version = "0.1.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "STL file loader for the 3D rapier physics engine."
documentation = "https://docs.rs/rapier3d-stl"
homepage = "https://rapier.rs"
repository = "https://github.com/dimforge/rapier"
readme = "README.md"
categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
license = "Apache-2.0"
edition = "2021"
[dependencies]
thiserror = "1.0.61"
stl_io = "0.7"
rapier3d = { version = "0.19", path = "../rapier3d" }

201
crates/rapier3d-stl/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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"License" shall mean the terms and conditions for use, reproduction,
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"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
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transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
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"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
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of this License, Derivative Works shall not include works that remain
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"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
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or a Contribution incorporated within the Work constitutes direct
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Copyright 2020 Sébastien Crozet
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
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18
crates/rapier3d-stl/README.md Normal file
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## STL loader for the Rapier physics engine
Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-stl`
crate lets you create a shape compatible with `rapier3d` and `parry3d` (the underlying collision-detection
library) from an STL file.
## Resources and discussions
- [Dimforge](https://dimforge.com): See all the open-source projects we are working on! Follow our announcements
on our [blog](https://www.dimforge.com/blog).
- [User guide](https://www.rapier.rs/docs/): Learn to use Rapier in your project by reading the official User Guides.
- [Discord](https://discord.gg/vt9DJSW): Come chat with us, get help, suggest features, on Discord!
- [NPM packages](https://www.npmjs.com/search?q=%40dimforge): Check out our NPM packages for Rapier, if you need to
use it with JavaScript/Typescript.
Please make sure to familiarize yourself with our [Code of Conduct](CODE_OF_CONDUCT.md)
and our [Contribution Guidelines](CONTRIBUTING.md) before contributing or participating in
discussions with the community.

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crates/rapier3d-stl/src/lib.rs Normal file
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//! ## STL loader for the Rapier physics engine
//!
//! Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-stl`
//! crate lets you create a shape compatible with `rapier3d` and `parry3d` (the underlying collision-detection
//! library) from an STL file.
#![warn(missing_docs)]
use rapier3d::geometry::{MeshConverter, MeshConverterError, SharedShape};
use rapier3d::math::{Isometry, Point, Real, Vector};
use std::fs::File;
use std::io::{BufReader, Read, Seek};
use std::path::Path;
use stl_io::IndexedMesh;
/// Error while loading an STL file.
#[derive(thiserror::Error, Debug)]
pub enum StlLoaderError {
/// An error triggered by rapier’s [`MeshConverter`].
#[error(transparent)]
MeshConverter(#[from] MeshConverterError),
/// A generic IO error.
#[error(transparent)]
Io(#[from] std::io::Error),
}
/// The result of loading a shape from an stl mesh.
pub struct StlShape {
/// The shape loaded from the file and converted by the [`MeshConverter`].
pub shape: SharedShape,
/// The shape’s pose.
pub pose: Isometry<Real>,
/// The raw mesh read from the stl file without any modification.
pub raw_mesh: IndexedMesh,
}
/// Loads an STL file as a shape from a file.
///
/// # Parameters
/// - `file_path`: the STL file’s path.
/// - `converter`: controls how the shape is computed from the STL content. In particular, it lets
/// you specify if the computed [`StlShape::shape`] is a triangle mesh, its convex hull,
/// bounding box, etc.
/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
/// affect at the geometric level the [`StlShape::shape`]. Note that raw mesh value stored
/// in [`StlShape::raw_mesh`] remains unscaled.
pub fn load_from_path(
file_path: impl AsRef<Path>,
converter: MeshConverter,
scale: Vector<Real>,
) -> Result<StlShape, StlLoaderError> {
let mut reader = BufReader::new(File::open(file_path)?);
load_from_reader(&mut reader, converter, scale)
}
/// Loads an STL file as a shape from an arbitrary reader.
///
/// # Parameters
/// - `reader`: the reader.
/// - `converter`: controls how the shape is computed from the STL content. In particular, it lets
/// you specify if the computed [`StlShape::shape`] is a triangle mesh, its convex hull,
/// bounding box, etc.
/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
/// affect at the geometric level the [`StlShape::shape`]. Note that raw mesh value stored
/// in [`StlShape::raw_mesh`] remains unscaled.
pub fn load_from_reader<R: Read + Seek>(
read: &mut R,
converter: MeshConverter,
scale: Vector<Real>,
) -> Result<StlShape, StlLoaderError> {
let stl_mesh = stl_io::read_stl(read)?;
Ok(load_from_raw_mesh(stl_mesh, converter, scale)?)
}
/// Loads an STL file as a shape from a preloaded raw stl mesh.
///
/// # Parameters
/// - `raw_mesh`: the raw stl mesh.
/// - `converter`: controls how the shape is computed from the STL content. In particular, it lets
/// you specify if the computed [`StlShape::shape`] is a triangle mesh, its convex hull,
/// bounding box, etc.
/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
/// affect at the geometric level the [`StlShape::shape`]. Note that raw mesh value stored
/// in [`StlShape::raw_mesh`] remains unscaled.
pub fn load_from_raw_mesh(
raw_mesh: IndexedMesh,
converter: MeshConverter,
scale: Vector<Real>,
) -> Result<StlShape, MeshConverterError> {
let mut vertices: Vec<_> = raw_mesh
.vertices
.iter()
.map(|xyz| Point::new(xyz[0] as Real, xyz[1] as Real, xyz[2] as Real))
.collect();
vertices
.iter_mut()
.for_each(|pt| pt.coords.component_mul_assign(&scale));
let indices: Vec<_> = raw_mesh
.faces
.iter()
.map(|f| f.vertices.map(|i| i as u32))
.collect();
let (shape, pose) = converter.convert(vertices, indices)?;
Ok(StlShape {
shape,
pose,
raw_mesh,
})
}

16
crates/rapier3d-urdf/CHANGELOG.md Normal file
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## Unreleased
This is the initial release of the `rapier3d-urdf` crate.
### Added
- Add `UrdfRobot` which is a collection of colliders, rigid-bodies and joints representing a robot loaded from an URDF
file.
- Add `UrdfRobot::from_file` to load an `UrdfRobot` from an URDF file.
- Add `UrdfRobot::from_str` to load an `UrdfRobot` from a string in URDF format.
- Add `UrdfRobot::from_robot` to load an `UrdfRobot` from an already loaded URDF
robot (pre-parsed with the `xurdf` crate).
- Add `UrdfRobot::insert_using_impulse_joints` to insert the robot to the rapier sets. Joints are represented as
**impulse** joints.
- Add `UrdfRobot::insert_using_impulse_joints` to insert the robot to the rapier sets. Joints are represented as
**multibody** joints.

26
crates/rapier3d-urdf/Cargo.toml Normal file
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[package]
name = "rapier3d-urdf"
version = "0.1.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "URDF file loader for the 3D rapier physics engine."
documentation = "https://docs.rs/rapier3d-urdf"
homepage = "https://rapier.rs"
repository = "https://github.com/dimforge/rapier"
readme = "README.md"
categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
license = "Apache-2.0"
edition = "2021"
[features]
stl = ["rapier3d-stl"]
[dependencies]
log = "0.4"
anyhow = "1"
bitflags = "2"
# NOTE: we are not using the (more recent) urdf-rs crate because of https://github.com/openrr/urdf-rs/issues/94
xurdf = "0.2"
rapier3d = { version = "0.19", path = "../rapier3d" }
rapier3d-stl = { version = "0.1.0", path = "../rapier3d-stl", optional = true }

201
crates/rapier3d-urdf/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
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(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
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37
crates/rapier3d-urdf/README.md Normal file
View File

@@ -0,0 +1,37 @@
## STL loader for the Rapier physics engine
Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-urdf`
crate lets you convert an URDF file into a set of rigid-bodies, colliders, and joints, for usage with the
`rapier3d` physics engine.
## Optional cargo features
- `stl`: enables loading STL meshes referenced by the URDF file.
## Limitations
Are listed below some known limitations you might want to be aware of before picking this library. Contributions to
improve
these elements are very welcome!
- Mesh file types other than `stl` are not supported yet. Contributions are welcome. You my check the `rapier3d-stl`
repository for an example of mesh loader.
- When inserting joints as multibody joints, they will be reset to their neutral position (all coordinates = 0).
- The following fields are currently ignored:
- `Joint::dynamics`
- `Joint::limit.effort` / `limit.velocity`
- `Joint::mimic`
- `Joint::safety_controller`
## Resources and discussions
- [Dimforge](https://dimforge.com): See all the open-source projects we are working on! Follow our announcements
on our [blog](https://www.dimforge.com/blog).
- [User guide](https://www.rapier.rs/docs/): Learn to use Rapier in your project by reading the official User Guides.
- [Discord](https://discord.gg/vt9DJSW): Come chat with us, get help, suggest features, on Discord!
- [NPM packages](https://www.npmjs.com/search?q=%40dimforge): Check out our NPM packages for Rapier, if you need to
use it with JavaScript/Typescript.
Please make sure to familiarize yourself with our [Code of Conduct](CODE_OF_CONDUCT.md)
and our [Contribution Guidelines](CONTRIBUTING.md) before contributing or participating in
discussions with the community.

205
crates/rapier-urdf/src/lib.rs → crates/rapier3d-urdf/src/lib.rs
View File

@@ -1,4 +1,31 @@
use na::{RealField, UnitQuaternion};
//! ## STL loader for the Rapier physics engine
//!
//! Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-urdf`
//! crate lets you convert an URDF file into a set of rigid-bodies, colliders, and joints, for usage with the
//! `rapier3d` physics engine.
//!
//! ## Optional cargo features
//!
//! - `stl`: enables loading STL meshes referenced by the URDF file.
//!
//! ## Limitations
//!
//! Are listed below some known limitations you might want to be aware of before picking this library. Contributions to
//! improve
//! these elements are very welcome!
//!
//! - Mesh file types other than `stl` are not supported yet. Contributions are welcome. You my check the `rapier3d-stl`
//! repository for an example of mesh loader.
//! - When inserting joints as multibody joints, they will be reset to their neutral position (all coordinates = 0).
//! - The following fields are currently ignored:
//! - `Joint::dynamics`
//! - `Joint::limit.effort` / `limit.velocity`
//! - `Joint::mimic`
//! - `Joint::safety_controller`
#![warn(missing_docs)]
use na::RealField;
use rapier3d::{
dynamics::{
GenericJoint, GenericJointBuilder, ImpulseJointHandle, ImpulseJointSet, JointAxesMask,
@@ -13,30 +40,88 @@ use rapier3d::{
na,
};
use std::collections::HashMap;
use std::path::{Path, PathBuf};
use xurdf::{Collision, Geometry, Inertial, Joint, Pose, Robot};
use std::path::Path;
use xurdf::{Geometry, Inertial, Joint, Pose, Robot};
bitflags::bitflags! {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// Options applied to multibody joints created from the URDF joints.
#[derive(Copy, Clone, Debug, PartialEq, Eq, Default)]
pub struct UrdfMultibodyOptions: u8 {
/// If this flag is set, the created multibody joint will be marked as kinematic.
///
/// A kinematic joint is entirely controlled by the user (it is not affected by any force).
/// This particularly useful if you intend to control the robot through inverse-kinematics.
const JOINTS_ARE_KINEMATIC = 0b0001;
/// If enabled, any contact between two links belonging to the same generated multibody robot will
/// be ignored.
///
/// This is useful if the generated colliders are known to be overlapping (e.g. if creating colliders
/// from visual meshes was enabled) or that collision detection is not needed a computationally
/// expensive (e.g. if any of these colliders is a high-quality triangle mesh).
const DISABLE_SELF_CONTACTS = 0b0010;
}
}
/// The index of an urdf link.
pub type LinkId = usize;
/// A set of configurable options for loading URDF files.
#[derive(Clone, Debug)]
pub struct UrdfLoaderOptions {
/// If `true` one collider will be created for each **collision** shape from the urdf file (default: `true`).
pub create_colliders_from_collision_shapes: bool,
/// If `true` one collider will be created for each **visual** shape from the urdf file (default: `false`).
///
/// Note that visual shapes are usually significantly higher-resolution than collision shapes.
/// Most of the time they might also overlap, or generate a lot of contacts due to them being
/// thin triangle meshes.
///
/// So if this option is set to `true`, it is recommended to also keep
/// [`UrdfLoaderOptions::enable_joint_collisions`] set to `false`. If the model is then added
/// to the physics sets using multibody joints, it is recommended to call
/// [`UrdfRobot::insert_with_multibody_joints`] with the [`UrdfMultibodyOptions::DISABLE_SELF_CONTACTS`]
/// flag enabled.
pub create_colliders_from_visual_shapes: bool,
/// If `true`, the mass properties (center-of-mass, mass, and angular inertia) read from the urdf
/// file will be added to the corresponding rigid-body (default: `true`).
///
/// Note that by default, all colliders created will be given a density of 0.0, meaning that,
/// by default, the imported mass properties are the only ones added to the created rigid-bodies.
/// To give colliders a non-zero density, see [`UrdfLoaderOptions::collider_blueprint`].
pub apply_imported_mass_props: bool,
/// If `true`, collisions between two links sharing a joint will be disabled (default: `false`).
///
/// It is strongly recommended to leave this to `false` unless you are certain adjacent links
/// colliders don’t overlap.
pub enable_joint_collisions: bool,
/// If `true`, the rigid-body at the root of the kinematic chains will be initialized as [`RigidBodyType::Fixed`]
/// (default: `false`).
pub make_roots_fixed: bool,
/// This is the set of flags set on all the loaded triangle meshes (default: [`TriMeshFlags::all`]).
///
/// Note that the default enables all the flags. This is operating under the assumption that the provided
/// mesh are generally well-formed and properly oriented (2-manifolds with outward normals).
pub trimesh_flags: TriMeshFlags,
/// The transform appended to every created rigid-bodies (default: [`Isometry::identity`]).
pub shift: Isometry<Real>,
/// A description of the collider properties that need to be applied to every collider created
/// by the loader (default: `ColliderBuilder::default().density(0.0)`).
///
/// This collider builder will be used for initializing every collider created by the loader.
/// The shape specified by this builder isn’t important and will be replaced by the shape read
/// from the urdf file.
///
/// Note that by default, the collider is given a density of 0.0 so that it doesn’t contribute
/// to its parent rigid-body’s mass properties (since they should be already provided by the
/// urdf file assuming the [`UrdfLoaderOptions::apply_imported_mass_props`] wasn’t set `false`).
pub collider_blueprint: ColliderBuilder,
/// A description of the rigid-body properties that need to be applied to every rigid-body
/// created by the loader (default: `RigidBodyBuilder::dynamic()`).
///
/// This rigid-body builder will be used for initializing every rigid-body created by the loader.
/// The rigid-body type is not important as it will always be set to [`RigidBodyType::Dynamic`]
/// for non-root links. Root links will be set to [`RigidBodyType::Fixed`] instead of
/// [`RigidBodyType::Dynamic`] if the [`UrdfLoaderOptions::make_roots_fixed`] is set to `true`.
pub rigid_body_blueprint: RigidBodyBuilder,
}
@@ -50,7 +135,7 @@ impl Default for UrdfLoaderOptions {
make_roots_fixed: false,
trimesh_flags: TriMeshFlags::all(),
shift: Isometry::identity(),
collider_blueprint: ColliderBuilder::ball(0.0).density(0.0),
collider_blueprint: ColliderBuilder::default().density(0.0),
rigid_body_blueprint: RigidBodyBuilder::dynamic(),
}
}
@@ -59,7 +144,10 @@ impl Default for UrdfLoaderOptions {
/// An urdf link loaded as a rapier [`RigidBody`] and its [`Collider`]s.
#[derive(Clone, Debug)]
pub struct UrdfLink {
/// The rigid-body created for this link.
pub body: RigidBody,
/// All the colliders build from the URDF visual and/or collision shapes (if the corresponding
/// [`UrdfLoaderOptions`] option is enabled).
pub colliders: Vec<Collider>,
}
@@ -89,28 +177,32 @@ pub struct UrdfRobot {
pub joints: Vec<UrdfJoint>,
}
impl UrdfRobot {
pub fn append_transform(&mut self, transform: &Isometry<Real>) {
for link in &mut self.links {
link.body
.set_position(transform * link.body.position(), true);
}
}
}
/// Handle of a joint read from the URDF file and inserted into rapier’s `ImpulseJointSet`
/// or a `MultibodyJointSet`.
pub struct UrdfJointHandle<JointHandle> {
/// The inserted joint handle.
pub joint: JointHandle,
/// The handle of the first rigid-body attached by this joint.
pub link1: RigidBodyHandle,
/// The handle of the second rigid-body attached by this joint.
pub link2: RigidBodyHandle,
}
/// The handles related to a link read from the URDF file and inserted into Rapier’s
/// `RigidBodySet` and `ColliderSet`.
pub struct UrdfLinkHandle {
/// Handle of the inserted link’s rigid-body.
pub body: RigidBodyHandle,
/// Handle of the colliders attached to [`Self::body`].
pub colliders: Vec<ColliderHandle>,
}
/// Handles to all the Rapier objects created when inserting this robot into Rapier’s
/// `RigidBodySet`, `ColliderSet`, `ImpulseJointSet`, `MultibodyJointSet`.
pub struct UrdfRobotHandles<JointHandle> {
/// The handles related to each URDF robot link.
pub links: Vec<UrdfLinkHandle>,
/// The handles related to each URDF robot joint.
pub joints: Vec<UrdfJointHandle<JointHandle>>,
}
@@ -142,27 +234,72 @@ impl JointType {
}
impl UrdfRobot {
/// Parses a URDF file and returns both the rapier objects (`UrdfRobot`) and the original urdf
/// structures (`Robot`). Both structures are arranged the same way, with matching indices for each part.
///
/// If the URDF file references external meshes, they will be loaded automatically if the format
/// is supported. The format is detected from the file’s extension. All the mesh formats are
/// disabled by default and can be enabled through cargo features (e.g. the `stl` feature of
/// this crate enabled loading referenced meshes in stl format).
///
/// # Parameters
/// - `path`: the path of the URDF file.
/// - `options`: customize the creation of rapier objects from the URDF description.
/// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When
/// a mesh reference is found in the URDF file, this `mesh_dir` is appended
/// to the file path. If `mesh_dir` is `None` then the mesh directory is assumed
/// to be the same directory as the one containing the URDF file.
pub fn from_file(
path: impl AsRef<Path>,
options: UrdfLoaderOptions,
mesh_dir: Option<&Path>,
) -> anyhow::Result<(Self, Robot)> {
let path = path.as_ref();
let mesh_dir = mesh_dir.or_else(|| path.parent());
let robot = xurdf::parse_urdf_from_file(path)?;
let path = path.as_ref().canonicalize()?;
let mesh_dir = mesh_dir
.or_else(|| path.parent())
.unwrap_or_else(|| Path::new("./"));
let robot = xurdf::parse_urdf_from_file(&path)?;
Ok((Self::from_robot(&robot, options, mesh_dir), robot))
}
/// Parses a string in URDF format and returns both the rapier objects (`UrdfRobot`) and the original urdf
/// structures (`Robot`). Both structures are arranged the same way, with matching indices for each part.
///
/// If the URDF file references external meshes, they will be loaded automatically if the format
/// is supported. The format is detected from the file’s extension. All the mesh formats are
/// disabled by default and can be enabled through cargo features (e.g. the `stl` feature of
/// this crate enabled loading referenced meshes in stl format).
///
/// # Parameters
/// - `str`: the string content of an URDF file.
/// - `options`: customize the creation of rapier objects from the URDF description.
/// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When
/// a mesh reference is found in the URDF file, this `mesh_dir` is appended
/// to the file path.
pub fn from_str(
str: &str,
options: UrdfLoaderOptions,
mesh_dir: Option<&Path>,
mesh_dir: &Path,
) -> anyhow::Result<(Self, Robot)> {
let robot = xurdf::parse_urdf_from_string(str)?;
Ok((Self::from_robot(&robot, options, mesh_dir), robot))
}
pub fn from_robot(robot: &Robot, options: UrdfLoaderOptions, mesh_dir: Option<&Path>) -> Self {
/// From an already loaded urdf file as a `Robot`, this creates the matching rapier objects
/// (`UrdfRobot`). Both structures are arranged the same way, with matching indices for each part.
///
/// If the URDF file references external meshes, they will be loaded automatically if the format
/// is supported. The format is detected from the file’s extension. All the mesh formats are
/// disabled by default and can be enabled through cargo features (e.g. the `stl` feature of
/// this crate enabled loading referenced meshes in stl format).
///
/// # Parameters
/// - `robot`: the robot loaded from an URDF file.
/// - `options`: customize the creation of rapier objects from the URDF description.
/// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When
/// a mesh reference is found in the URDF file, this `mesh_dir` is appended
/// to the file path.
pub fn from_robot(robot: &Robot, options: UrdfLoaderOptions, mesh_dir: &Path) -> Self {
let mut name_to_link_id = HashMap::new();
let mut link_is_root = vec![true; robot.links.len()];
let mut links: Vec<_> = robot
@@ -217,6 +354,11 @@ impl UrdfRobot {
Self { links, joints }
}
/// Inserts all the robots elements to the rapier rigid-body, collider, and impulse joint, sets.
///
/// Joints are represented as impulse joints. This implies that joint constraints are simulated
/// in full coordinates using impulses. For a reduced-coordinates approach, see
/// [`UrdfRobot::insert_using_multibody_joints`].
pub fn insert_using_impulse_joints(
self,
rigid_body_set: &mut RigidBodySet,
@@ -253,6 +395,13 @@ impl UrdfRobot {
UrdfRobotHandles { links, joints }
}
/// Inserts all the robots elements to the rapier rigid-body, collider, and multibody joint, sets.
///
/// Joints are represented as multibody joints. This implies that the robot as a whole can be
/// accessed as a single [`Multibody`] from the [`MultibodyJointSet`]. That multibody uses reduced
/// coordinates for modeling joints, meaning that it will be very close to the way they are usually
/// represented for robotics applications. Multibodies also support inverse kinematics.
pub fn insert_using_multibody_joints(
self,
rigid_body_set: &mut RigidBodySet,
@@ -303,6 +452,14 @@ impl UrdfRobot {
UrdfRobotHandles { links, joints }
}
/// Appends a transform to all the rigid-bodie of this robot.
pub fn append_transform(&mut self, transform: &Isometry<Real>) {
for link in &mut self.links {
link.body
.set_position(transform * link.body.position(), true);
}
}
}
fn urdf_to_rigid_body(options: &UrdfLoaderOptions, inertial: &Inertial) -> RigidBody {
@@ -333,13 +490,13 @@ fn urdf_to_rigid_body(options: &UrdfLoaderOptions, inertial: &Inertial) -> Rigid
fn urdf_to_collider(
options: &UrdfLoaderOptions,
mesh_dir: Option<&Path>,
mesh_dir: &Path,
geometry: &Geometry,
origin: &Pose,
) -> Option<Collider> {
let mut builder = options.collider_blueprint.clone();
let mut shape_transform = Isometry::identity();
let mut shape = match &geometry {
let shape = match &geometry {
Geometry::Box { size } => SharedShape::cuboid(
size[0] as Real / 2.0,
size[1] as Real / 2.0,
@@ -360,8 +517,8 @@ fn urdf_to_collider(
match path.extension().and_then(|ext| ext.to_str()) {
#[cfg(feature = "stl")]
Some("stl") | Some("STL") => {
let full_path = mesh_dir.map(|dir| dir.join(filename)).unwrap_or_default();
match rapier_stl::load_from_path(
let full_path = mesh_dir.join(filename);
match rapier3d_stl::load_from_path(
&full_path,
MeshConverter::TriMeshWithFlags(options.trimesh_flags),
scale,
@@ -445,7 +602,6 @@ fn urdf_to_joint(
.local_axis2(joint_axis);
}
/* TODO: panics the multibody
match joint_type {
JointType::Prismatic => {
builder = builder.limits(
@@ -461,7 +617,6 @@ fn urdf_to_joint(
}
_ => {}
}
*/
// TODO: the following fields are currently ignored:
// - Joint::dynamics

2
crates/rapier3d/Cargo.toml
View File

@@ -1,7 +1,7 @@
[package]
name = "rapier3d"
version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "3-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier3d"
homepage = "https://rapier.rs"

2
crates/rapier_testbed2d-f64/Cargo.toml
View File

@@ -1,7 +1,7 @@
[package]
name = "rapier_testbed2d-f64"
version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.org"
repository = "https://github.com/dimforge/rapier"

2
crates/rapier_testbed2d/Cargo.toml
View File

@@ -1,7 +1,7 @@
[package]
name = "rapier_testbed2d"
version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.org"
repository = "https://github.com/dimforge/rapier"

2
crates/rapier_testbed3d-f64/Cargo.toml
View File

@@ -1,7 +1,7 @@
[package]
name = "rapier_testbed3d-f64"
version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.org"
repository = "https://github.com/dimforge/rapier"

2
crates/rapier_testbed3d/Cargo.toml
View File

@@ -1,7 +1,7 @@
[package]
name = "rapier_testbed3d"
version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.org"
repository = "https://github.com/dimforge/rapier"