premake add enable_stable_pd option, so Bullet can be compiled without C++11 (Visual Studio 2010 etc)

PyBullet: improve sleeping: if the base is static and all joints in the chain between this link and the base are fixed, then this link is static too (doesn't merge islands)
Fix PyBullet compilation of Visual Studion 2010

build3/premake4.lua

@@ -54,6 +54,13 @@
 		description = "Try to link and use system X11 headers instead of dynamically loading X11 (dlopen is default)"
 	}
 
+	newoption
+	{
+		trigger = "enable_stable_pd",
+		description = "Enable Stable PD control in PyBullet"
+	}
+
+
 	newoption
 	{
 		trigger = "enable_static_vr_plugin",

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -660,6 +660,27 @@ btTransform ConvertURDF2BulletInternal(
 
 				if (mbLinkIndex >= 0)  //???? double-check +/- 1
 				{
+					//if the base is static and all joints in the chain between this link and the base are fixed, 
+					//then this link is static too (doesn't merge islands)
+					if (cache.m_bulletMultiBody->getBaseMass() == 0)
+					{
+						bool allJointsFixed = true;
+						int testLinkIndex = mbLinkIndex;
+						do
+						{
+							if (cache.m_bulletMultiBody->getLink(testLinkIndex).m_jointType != btMultibodyLink::eFixed)
+							{
+								allJointsFixed = false;
+								break;
+							}
+							testLinkIndex = cache.m_bulletMultiBody->getLink(testLinkIndex).m_parent;
+						} while (testLinkIndex> 0);
+						if (allJointsFixed)
+						{
+							col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
+						}
+
+					}
 					cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider = col;
 					if (flags & CUF_USE_SELF_COLLISION_INCLUDE_PARENT)
 					{

examples/pybullet/premake4.lua

@@ -17,7 +17,8 @@ project ("pybullet")
 		
 		includedirs {"../../src", "../../examples",
 		"../../examples/ThirdPartyLibs"}
-		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "STATIC_LINK_SPD_PLUGIN"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+		
 		
 		
 	hasCL = findOpenCL("clew")
@@ -181,6 +182,12 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
+			
+			
+
+	if _OPTIONS["enable_stable_pd"] then
+		defines {"STATIC_LINK_SPD_PLUGIN"}
+		files {
 			"../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp",
 			"../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h",
 			"../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp",
@@ -196,6 +203,8 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp",
 			"../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h",
 			}
+		end
+		
 		
 	if _OPTIONS["enable_physx"] then
   	defines {"BT_ENABLE_PHYSX","PX_PHYSX_STATIC_LIB", "PX_FOUNDATION_DLL=0"}

examples/pybullet/pybullet.c

@@ -4311,6 +4311,12 @@ static PyObject* pybullet_resetJointStatesMultiDof(PyObject* self, PyObject* arg
 				targetVelocitiesSeq = PySequence_Fast(targetVelocitiesObj, "expected a sequence of target positions");
 			for (i = 0; i < numIndices; i++)
 			{
+				double targetPositionArray[4] = { 0, 0, 0, 1 };
+				double targetVelocityArray[3] = { 0, 0, 0 };
+				int targetPositionSize = 0;
+				int targetVelocitySize = 0;
+				PyObject* targetPositionObj = 0;
+				PyObject* targetVelocityObj = 0;
 				
 				int jointIndex = pybullet_internalGetIntFromSequence(jointIndicesSeq, i);
 				if ((jointIndex >= numJoints) || (jointIndex < 0))
@@ -4325,12 +4331,7 @@ static PyObject* pybullet_resetJointStatesMultiDof(PyObject* self, PyObject* arg
 				}
 
 
-				double targetPositionArray[4] = { 0, 0, 0, 1 };
+				
-				double targetVelocityArray[3] = { 0, 0, 0 };
-				int targetPositionSize = 0;
-				int targetVelocitySize = 0;
-				PyObject* targetPositionObj = 0;
-				PyObject* targetVelocityObj = 0;
 				
 
 				if (numTargetPositionObjs > 0)
@@ -6061,6 +6062,7 @@ static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, Py
 	b3PhysicsClientHandle sm = 0;
 	static char* kwlist[] = {"eventName ", "physicsClientId", NULL};
 	int physicsClientId = 0;
+	b3SharedMemoryCommandHandle commandHandle;
 
 	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|si", kwlist,
 									 &eventName, &physicsClientId))
@@ -6072,7 +6074,7 @@ static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, Py
 		PyErr_SetString(SpamError, "Not connected to physics server.");
 		return NULL;
 	}
-	b3SharedMemoryCommandHandle commandHandle;
+	
 	commandHandle = b3ProfileTimingCommandInit(sm, eventName);
 
 	if (eventName)
@@ -10971,10 +10973,12 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 	}
 	{
 		int numEndEffectorPositions = extractVertices(targetPosObj, 0, B3_MAX_NUM_END_EFFECTORS);
+		    
 		int numIndices = extractIndices(endEffectorLinkIndicesObj, 0, B3_MAX_NUM_END_EFFECTORS);
 		double* positions = numEndEffectorPositions ? malloc(numEndEffectorPositions * 3 * sizeof(double)) : 0;
 		int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0;
 
+
 		numEndEffectorPositions = extractVertices(targetPosObj, positions, B3_MAX_NUM_VERTICES);
 		
 		if (endEffectorLinkIndicesObj)
@@ -10982,6 +10986,7 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 			numIndices = extractIndices(endEffectorLinkIndicesObj, indices, B3_MAX_NUM_INDICES);
 		}
 		
+		{
 			double pos[3] = { 0, 0, 0 };
 			double ori[4] = { 0, 0, 0, 1 };
 			int hasPos = numEndEffectorPositions > 0;
@@ -11174,6 +11179,7 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 				return NULL;
 			}
 		}
+	}
 
 	Py_INCREF(Py_None);
 	return Py_None;