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Merge pull request #817 from erwincoumans/master

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avoid wavefront obj texture index out-of-bounds (most obj out-of-boun…
This commit is contained in:
erwincoumans
2016-10-05 17:28:23 -07:00
committed by GitHub
parent 831b42c19d 90ae12659c
commit 0aa2bbfe07
9 changed files with 120 additions and 44 deletions
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9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -145,6 +145,15 @@ int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandH
return 0;
}
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_numSolverIterations = numSolverIterations;
command->m_updateFlags |= SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
return 0;
}
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -101,6 +101,9 @@ int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double
int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);

39
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -27,7 +27,9 @@
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
btVector3 gLastPickPos(0, 0, 0);
bool gCloseToKuka=false;
bool gEnableRealTimeSimVR=false;
int gCreateObjectSimVR = -1;
btScalar simTimeScalingFactor = 1;
@@ -1488,7 +1490,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_SEND_DESIRED_STATE:
case CMD_SEND_DESIRED_STATE:
{
if (m_data->m_verboseOutput)
{
@@ -1668,18 +1670,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
default:
{
b3Warning("m_controlMode not implemented yet");
break;
}
{
b3Warning("m_controlMode not implemented yet");
break;
}
}
}
}
}
serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
hasStatus = true;
break;
}
serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
hasStatus = true;
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
if (m_data->m_verboseOutput)
@@ -1942,6 +1944,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS)
{
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS)
{
m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps;
@@ -2931,8 +2937,9 @@ btVector3 gVRGripperPos(0,0,0.2);
btQuaternion gVRGripperOrn(0,0,0,1);
btVector3 gVRController2Pos(0,0,0.2);
btQuaternion gVRController2Orn(0,0,0,1);
btScalar gVRGripper2Analog = 0;
btScalar gVRGripperAnalog = 0;
bool gVRGripperClosed = false;
@@ -3148,7 +3155,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)childBody->m_multiBody->getLink(1).m_userPtr;
if (motor)
{
btScalar posTarget = (-0.048)*btMin(btScalar(0.75), gVRGripperAnalog) / 0.75;
btScalar posTarget = (-0.048)*btMin(btScalar(0.75), gVRGripper2Analog) / 0.75;
motor->setPositionTarget(posTarget, .2);
motor->setVelocityTarget(0.0, .5);
motor->setMaxAppliedImpulse(5.0);
@@ -3198,7 +3205,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btMultiBody* mb = bodyHandle->m_multiBody;
btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2();
btScalar distanceThreshold = 1.3;
bool closeToKuka=(sqLen<(distanceThreshold*distanceThreshold));
gCloseToKuka=(sqLen<(distanceThreshold*distanceThreshold));
int numDofs = bodyHandle->m_multiBody->getNumDofs();
btAlignedObjectArray<double> q_new;
@@ -3219,7 +3226,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
q_new[5] = -SIMD_HALF_PI*0.66;
q_new[6] = 0;
if (closeToKuka)
if (gCloseToKuka)
{
double dampIk[6] = {1.0, 1.0, 1.0, 1.0, 1.0, 0.0};
@@ -3390,7 +3397,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
btScalar desiredVelocity = 0.f;
btScalar desiredPosition = q_new[link];
motor->setRhsClamp(gRhsClamp);
//motor->setRhsClamp(gRhsClamp);
//printf("link %d: %f", link, q_new[link]);
motor->setVelocityTarget(desiredVelocity,1.0);
motor->setPositionTarget(desiredPosition,0.6);

17
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -16,6 +16,7 @@
#define MAX_VR_CONTROLLERS 8
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
extern btVector3 gLastPickPos;
btVector3 gVRTeleportPos(0,0,0);
btQuaternion gVRTeleportOrn(0, 0, 0,1);
@@ -24,6 +25,8 @@ extern btQuaternion gVRGripperOrn;
extern btVector3 gVRController2Pos;
extern btQuaternion gVRController2Orn;
extern btScalar gVRGripperAnalog;
extern btScalar gVRGripper2Analog;
extern bool gCloseToKuka;
extern bool gEnableRealTimeSimVR;
extern int gCreateObjectSimVR;
static int gGraspingController = -1;
@@ -191,12 +194,15 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_physicsServerPtr->removePickingConstraint();
}
if (args->m_isVrControllerPicking[c])
if (!gCloseToKuka)
{
args->m_isVrControllerPicking[c] = false;
args->m_isVrControllerDragging[c] = true;
args->m_physicsServerPtr->pickBody(from,-toZ);
//printf("PICK!\n");
if (args->m_isVrControllerPicking[c])
{
args->m_isVrControllerPicking[c] = false;
args->m_isVrControllerDragging[c] = true;
args->m_physicsServerPtr->pickBody(from,-toZ);
//printf("PICK!\n");
}
}
if (args->m_isVrControllerDragging[c])
@@ -1254,6 +1260,7 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
}
else
{
gVRGripper2Analog = analogAxis;
gVRController2Pos.setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]);
btQuaternion orgOrn(orn[0], orn[1], orn[2], orn[3]);
gVRController2Orn = orgOrn*btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI);