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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2017-10-03 09:09:56 -07:00
parent cd88614a22 0e893d4c56
commit 0be9dde36c
7 changed files with 195 additions and 12 deletions
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23
CMakeLists.txt
View File

@@ -301,8 +301,25 @@ IF (APPLE)
ENDIF()
OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
# Optional Python configuration
# builds pybullet automatically if all the requirements are met
SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.")
SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 )
SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF)
IF(EXACT_PYTHON_VERSION)
set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
ENDIF(EXACT_PYTHON_VERSION)
# first find the python interpreter
FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
# python library should exactly match that of the interpreter
FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
SET(DEFAULT_BUILD_PYBULLET OFF)
IF(PYTHONLIBS_FOUND)
SET(DEFAULT_BUILD_PYBULLET ON)
ENDIF(PYTHONLIBS_FOUND)
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" ${DEFAULT_BUILD_PYBULLET})
OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
@@ -310,7 +327,7 @@ OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking
IF(BUILD_PYBULLET)
FIND_PACKAGE(PythonLibs)
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)

19
build3/cmake/FindPythonLibs.cmake
View File

@@ -64,7 +64,7 @@ if(EXISTS "${PYTHON_INCLUDE_DIR}" AND EXISTS "${PYTHON_LIBRARY}")
else()
set(_PYTHON1_VERSIONS 1.6 1.5)
set(_PYTHON2_VERSIONS 2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0)
set(_PYTHON3_VERSIONS 3.4 3.3 3.2 3.1 3.0)
set(_PYTHON3_VERSIONS 3.6 3.5 3.4 3.3 3.2 3.1 3.0)
unset(_PYTHON_FIND_OTHER_VERSIONS)
if(PythonLibs_FIND_VERSION)
@@ -124,7 +124,7 @@ else()
STRING(REGEX REPLACE "^([0-9]+).*$" "\\1" _VERSION_MAJOR "${_CURRENT_VERSION}")
STRING(REGEX REPLACE "^[0-9]+\\.([0-9]+).*$" "\\1" _VERSION_MINOR "${_CURRENT_VERSION}")
set(_PYTHON_NAMES python)
set(_PYTHON_NAMES ${PYTHON_EXECUTABLE} python)
if (_CURRENT_VERSION MATCHES "^[0-9]+.*$")
list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}")
@@ -172,16 +172,17 @@ else()
if(NOT EXISTS "${PYTHON_LIBRARY}")
set(_PYTHON_SHORT_VERSION_NO_DOT "${_PYTHON_MAJOR_VERSION}${_PYTHON_MINOR_VERSION}")
set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT})
set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT} python${_PYTHON_SHORT_VERSION}m python${_PYTHON_SHORT_VERSION_NO_DOT}m)
FIND_LIBRARY(PYTHON_LIBRARY
NAMES ${_PYTHON_LIBRARY_NAMES}
PATH_SUFFIXES
python${_PYTHON_SHORT_VERSION}/config
python${_PYTHON_SHORT_VERSION_NO_DOT}/config
"python${_PYTHON_SHORT_VERSION}/config"
"python${_PYTHON_SHORT_VERSION_NO_DOT}/config"
PATHS
${_PYTHON_LIBRARY_DIR}
${_PYTHON_PREFIX}/lib $
{_PYTHON_PREFIX}/libs
${_PYTHON_PREFIX}/lib
${_PYTHON_PREFIX}/libs
${_PYTHON_LIBRARY_DIR}/x86_64-linux-gnu/
NO_DEFAULT_PATH)
if(WIN32)
@@ -254,6 +255,10 @@ set(PYTHON_LIBRARY_DEBUG "${PYTHON_DEBUG_LIBRARY}")
set(PYTHON_LIBRARY_RELEASE "${PYTHON_LIBRARY}")
include(${CMAKE_CURRENT_LIST_DIR}/SelectLibraryConfigurations.cmake)
SELECT_LIBRARY_CONFIGURATIONS(PYTHON)
if(PYTHON_LIBRARY AND NOT PYTHON_LIBRARIES)
set(PYTHON_LIBRARIES "${PYTHON_LIBRARY}")
endif()
# SELECT_LIBRARY_CONFIGURATIONS() sets ${PREFIX}_FOUND if it has a library.
# Unset this, this prefix doesn't match the module prefix, they are different
# for historical reasons.

2
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -122,6 +122,8 @@ SET(ExtendedTutorialsSources
../ExtendedTutorials/SimpleBox.h
../ExtendedTutorials/MultipleBoxes.cpp
../ExtendedTutorials/MultipleBoxes.h
../ExtendedTutorials/CompoundBoxes.cpp
../ExtendedTutorials/CompoundBoxes.h
../ExtendedTutorials/SimpleCloth.cpp
../ExtendedTutorials/SimpleCloth.h
../ExtendedTutorials/SimpleJoint.cpp

2
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -71,6 +71,7 @@
//Extended Tutorial Includes Added by Mobeen and Benelot
#include "../ExtendedTutorials/SimpleBox.h"
#include "../ExtendedTutorials/MultipleBoxes.h"
#include "../ExtendedTutorials/CompoundBoxes.h"
#include "../ExtendedTutorials/SimpleJoint.h"
#include "../ExtendedTutorials/SimpleCloth.h"
#include "../ExtendedTutorials/Chain.h"
@@ -322,6 +323,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(0,"Extended Tutorials"),
ExampleEntry(1,"Simple Box", "Simplest possible demo creating a single box rigid body that falls under gravity", ET_SimpleBoxCreateFunc),
ExampleEntry(1,"Multiple Boxes", "Add multiple box rigid bodies that fall under gravity", ET_MultipleBoxesCreateFunc),
ExampleEntry(1,"Compound Boxes", "Add multiple boxes to a single CompoundShape to form a simple rigid L-beam, that falls under gravity", ET_CompoundBoxesCreateFunc),
ExampleEntry(1,"Simple Joint", "Create a single distance constraint between two box rigid bodies", ET_SimpleJointCreateFunc),
ExampleEntry(1,"Simple Cloth", "Create a simple piece of cloth", ET_SimpleClothCreateFunc),
ExampleEntry(1,"Simple Chain", "Create a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc),

135
examples/ExtendedTutorials/CompoundBoxes.cpp Normal file
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@@ -0,0 +1,135 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "CompoundBoxes.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "../CommonInterfaces/CommonRigidBodyBase.h"
struct CompoundBoxesExample : public CommonRigidBodyBase
{
CompoundBoxesExample(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper)
{
}
virtual ~CompoundBoxesExample(){}
virtual void initPhysics();
virtual void renderScene();
void resetCamera()
{
float dist = 41;
float pitch = -35;
float yaw = 52;
float targetPos[3]={0,0.46,0};
m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
}
};
void CompoundBoxesExample::initPhysics()
{
m_guiHelper->setUpAxis(1);
createEmptyDynamicsWorld();
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
if (m_dynamicsWorld->getDebugDrawer())
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
///create a few basic rigid bodies
btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
{
btScalar mass(0.);
createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
}
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
btBoxShape* cube = createBoxShape(btVector3(0.5,0.5,0.5));
m_collisionShapes.push_back(cube);
// create a new compound shape for making an L-beam from `cube`s
btCompoundShape* compoundShape = new btCompoundShape();
btTransform transform;
// add cubes in an L-beam fashion to the compound shape
transform.setIdentity();
transform.setOrigin(btVector3(0, 0, 0));
compoundShape->addChildShape(transform, cube);
transform.setIdentity();
transform.setOrigin(btVector3(0, -1, 0));
compoundShape->addChildShape(transform, cube);
transform.setIdentity();
transform.setOrigin(btVector3(0, 0, 1));
compoundShape->addChildShape(transform, cube);
btScalar masses[3]={1, 1, 1};
btTransform principal;
btVector3 inertia;
compoundShape->calculatePrincipalAxisTransform(masses, principal, inertia);
// new compund shape to store
btCompoundShape* compound2 = new btCompoundShape();
m_collisionShapes.push_back(compound2);
#if 0
// less efficient way to add the entire compund shape
// to a new compund shape as a child
compound2->addChildShape(principal.inverse(), compoundShape);
#else
// recompute the shift to make sure the compound shape is re-aligned
for (int i=0; i < compoundShape->getNumChildShapes(); i++)
compound2->addChildShape(compoundShape->getChildTransform(i) * principal.inverse(),
compoundShape->getChildShape(i));
#endif
delete compoundShape;
transform.setIdentity();
transform.setOrigin(btVector3(0, 10, 0));
createRigidBody(1.0, transform, compound2);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void CompoundBoxesExample::renderScene()
{
CommonRigidBodyBase::renderScene();
}
CommonExampleInterface* ET_CompoundBoxesCreateFunc(CommonExampleOptions& options)
{
return new CompoundBoxesExample(options.m_guiHelper);
}

22
examples/ExtendedTutorials/CompoundBoxes.h Normal file
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@@ -0,0 +1,22 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef ET_COMPOUND_BOXES_EXAMPLE_H
#define ET_COMPOUND_BOXES_EXAMPLE_H
class CommonExampleInterface* ET_CompoundBoxesCreateFunc(struct CommonExampleOptions& options);
#endif //ET_COMPOUND_BOXES_EXAMPLE_H

4
src/LinearMath/btScalar.h
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@@ -374,8 +374,8 @@ inline int btGetVersion()
float mask;
int intmask;
};
btInfMaskConverter(int mask = 0x7F800000)
: intmask(mask)
btInfMaskConverter(int _mask = 0x7F800000)
: intmask(_mask)
{
}
};