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Use collision tag for physics #3

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174 changes: 103 additions & 71 deletions src/wrappers/material_and_mesh.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@ use derive_more::From;
use glam::Vec3;
use nalgebra::Vector3;
use urdf_rs::Visual;
use urdf_rs::Collision;

#[derive(From, Clone)]
pub struct VisualWrapper(Visual);
Expand All @@ -35,82 +36,113 @@ impl From<&VisualWrapper> for MaterialFlag {
}
}

impl HasGeometry for VisualWrapper {
fn get_geometry(&self) -> &urdf_rs::Geometry {
&self.0.geometry
}
}

impl From<&VisualWrapper> for FileCheckPicker<GeometryFlag, GeometryFile> {
fn from(value: &VisualWrapper) -> Self {
let visual = &value.0;
// let urdf_rotation_flipOLD = Matrix3::new(
// 0.0, 0.0, -1.0,
// 0.0, 1.0, 0.0,
// 1.0, 0.0, 0.0,
// );
let box_allign = [
Vec3::new(0.0, 0.0, -1.0),
Vec3::new(0.0, 1.0, 0.0),
Vec3::new(1.0, 0.0, 0.0),
];
let cylinder_align = [
Vec3::new(-1.0, 0.0, 0.0),
Vec3::new(0.0, 0.0, 1.0),
Vec3::new(0.0, 1.0, 0.0),
];
to_flag_geometry(value)
}
}

let urdf_geometry = &visual.geometry;
#[derive(From, Clone)]
pub struct CollisionWrapper(Collision);

let flag_geometry = match urdf_geometry {
urdf_rs::Geometry::Box { size } => {
let bevy_size = /*urdf_rotation_flip * */ Vector3::new(size[0], size[1], size[2]);
FileCheckPicker::PureComponent(GeometryFlag {
primitive: MeshPrimitive::Cuboid {
//size: (*size).map(|f| f as f32),
size: [
bevy_size[0] as f32,
bevy_size[1] as f32,
bevy_size[2] as f32,
],
},
orientation_matrix: box_allign,
})
}
urdf_rs::Geometry::Cylinder { radius, length } => {
//let bevy_size = Vector3::new(radius, length, radius);
FileCheckPicker::PureComponent(GeometryFlag {
primitive: MeshPrimitive::Cylinder {
radius: *radius as f32,
length: *length as f32,
},
orientation_matrix: cylinder_align,
})
}
urdf_rs::Geometry::Capsule { radius, length } => {
FileCheckPicker::PureComponent(GeometryFlag {
primitive: MeshPrimitive::Capsule {
radius: *radius as f32,
length: *length as f32,
},
//FIXME:
..default()
})
}
urdf_rs::Geometry::Sphere { radius } => FileCheckPicker::PureComponent(GeometryFlag {
primitive: MeshPrimitive::Sphere {
impl HasGeometry for CollisionWrapper {
fn get_geometry(&self) -> &urdf_rs::Geometry {
&self.0.geometry
}
}

impl From<&CollisionWrapper> for FileCheckPicker<GeometryFlag, GeometryFile> {
fn from(value: &CollisionWrapper) -> Self {
to_flag_geometry(value)
}
}

trait HasGeometry {
fn get_geometry(&self) -> &urdf_rs::Geometry;
}

fn to_flag_geometry<T>(wrapper: &T) -> FileCheckPicker<GeometryFlag, GeometryFile>
where
T: HasGeometry,
{
let urdf_geometry = wrapper.get_geometry();

// let urdf_rotation_flipOLD = Matrix3::new(
// 0.0, 0.0, -1.0,
// 0.0, 1.0, 0.0,
// 1.0, 0.0, 0.0,
// );
let box_allign = [
Vec3::new(0.0, 0.0, -1.0),
Vec3::new(0.0, 1.0, 0.0),
Vec3::new(1.0, 0.0, 0.0),
];
let cylinder_align = [
Vec3::new(-1.0, 0.0, 0.0),
Vec3::new(0.0, 0.0, 1.0),
Vec3::new(0.0, 1.0, 0.0),
];

let flag_geometry = match urdf_geometry {
urdf_rs::Geometry::Box { size } => {
let bevy_size = /*urdf_rotation_flip * */ Vector3::new(size[0], size[1], size[2]);
FileCheckPicker::PureComponent(GeometryFlag {
primitive: MeshPrimitive::Cuboid {
//size: (*size).map(|f| f as f32),
size: [
bevy_size[0] as f32,
bevy_size[1] as f32,
bevy_size[2] as f32,
],
},
orientation_matrix: box_allign,
})
}
urdf_rs::Geometry::Cylinder { radius, length } => {
//let bevy_size = Vector3::new(radius, length, radius);
FileCheckPicker::PureComponent(GeometryFlag {
primitive: MeshPrimitive::Cylinder {
radius: *radius as f32,
length: *length as f32,
},
orientation_matrix: cylinder_align,
})
}
urdf_rs::Geometry::Capsule { radius, length } => {
FileCheckPicker::PureComponent(GeometryFlag {
primitive: MeshPrimitive::Capsule {
radius: *radius as f32,
length: *length as f32,
},
//FIXME:
..default()
}),
urdf_rs::Geometry::Mesh { filename, .. } => {
//let asset_source = AssetSource::Package(filename.clone());
})
}
urdf_rs::Geometry::Sphere { radius } => FileCheckPicker::PureComponent(GeometryFlag {
primitive: MeshPrimitive::Sphere {
radius: *radius as f32,
},
..default()
}),
urdf_rs::Geometry::Mesh { filename, .. } => {
//let asset_source = AssetSource::Package(filename.clone());

//let asset_path = parse_urdf_source(asset_source);
//println!("file name is {:#?}", filename);
FileCheckPicker::PathComponent(
//AssetSource::Package(filename.clone());
GeometryFile {
//source: AssetSource::Package(filename.clone()),
source: filename.clone(),
},
)
}
};
return flag_geometry;
}
}
//let asset_path = parse_urdf_source(asset_source);
//println!("file name is {:#?}", filename);
FileCheckPicker::PathComponent(
//AssetSource::Package(filename.clone());
GeometryFile {
//source: AssetSource::Package(filename.clone()),
source: filename.clone(),
},
)
}
};
return flag_geometry;
}
48 changes: 30 additions & 18 deletions src/wrappers/urdf.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ use bevy_ecs::{prelude::*, query::QueryData};

use crate::loaders::urdf_loader::Urdf;

use super::material_and_mesh::CollisionWrapper;
use super::material_and_mesh::VisualWrapper;

/// the collection of things that qualify as a "link", in the ROS 2 context.
Expand All @@ -48,7 +49,6 @@ impl LazyDeserialize for Urdf {
}
}


impl<'a> FromStructure for Urdf {
fn into_entities(commands: &mut Commands, value: Self, _: AssetSpawnRequest<Self>) {
//let name = request.item.clone();
Expand Down Expand Up @@ -110,28 +110,40 @@ impl<'a> FromStructure for Urdf {
};
commands
.entity(e)
.insert(MaterialFlag::from(&visual_wrapper));
.insert(MaterialFlag::from(&visual_wrapper))
.insert(VisibilityBundle::default())
.insert(TransformBundle {
//local: temp_rotate_for_demo,
..default()
})
.insert(GeometryShiftMarked::default());
}
if let Some(collision) = link.collision.first() {
let collision_wrapper = CollisionWrapper::from(collision.clone());
match FileCheckPicker::from(&collision_wrapper) {
FileCheckPicker::PureComponent(t) => commands.entity(e).insert(t),
FileCheckPicker::PathComponent(u) => commands.entity(e).insert(u),
};
commands
.entity(e)
.insert(VisibilityBundle::default())
.insert(TransformBundle {
//local: temp_rotate_for_demo,
..default()
})
.insert(ColliderFlag::default())
.insert(SolverGroupsFlag {
memberships: GroupWrapper::GROUP_1,
filters: GroupWrapper::GROUP_2,
})
.insert(GeometryShiftMarked::default())
.insert(RigidBodyFlag::Dynamic)
.insert(CcdFlag::default());
}
//let mut temp_rotate_for_demo = spawn_request.position;
//FIXME: urdf meshes have their verticies re-oriented to match bevy's cordinate system, but their rotation isn't rotated back
// to account for this, this will need a proper fix later.
//temp_rotate_for_demo.rotate_x(-PI * 0.5);

commands
.entity(e)
.insert(VisibilityBundle::default())
.insert(TransformBundle {
//local: temp_rotate_for_demo,
..default()
})
.insert(ColliderFlag::default())
.insert(SolverGroupsFlag {
memberships: GroupWrapper::GROUP_1,
filters: GroupWrapper::GROUP_2,
})
.insert(GeometryShiftMarked::default())
.insert(RigidBodyFlag::Dynamic)
.insert(CcdFlag::default());
}

for (_, joint) in structured_joint_map.iter() {
Expand Down