Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix some btMultiBody URDF conversion issues in ImportURDFSetup

Browse Source 
remove various vertex format structures and use GLInstanceVertex from #include "OpenGLWindow/GLInstanceGraphicsShape.h"
btMultiBody::setupPrismatic takes an additional argument to allow a shift of inertia tensor, relative to the joint frame (link frame at q=0)
This commit is contained in:
=
2015-02-12 09:11:55 -08:00
parent 70221aeb3e
commit 27aa959059
11 changed files with 473 additions and 142 deletions
Download Patch File Download Diff File Expand all files Collapse all files

52
Demos3/FiniteElementMethod/FiniteElementDemo.cpp
View File

@@ -28,6 +28,7 @@ subject to the following restrictions:
#include <OpenTissue/core/containers/t4mesh/util/t4mesh_block_generator.h>
#include "LinearMath/btAlignedObjectArray.h"
#include "Bullet3AppSupport/CommonParameterInterface.h"
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
//typedef OpenTissue::math::BasicMathTypes<float,size_t> math_types;
typedef OpenTissue::math::BasicMathTypes<double,size_t> math_types;
@@ -100,12 +101,7 @@ FiniteElementDemo::~FiniteElementDemo()
m_app->m_renderer->removeAllInstances();
}
struct MyTetVertex
{
float x,y,z,w;
float nx,ny,nz;
float u,v;
};
void FiniteElementDemo::initPhysics()
{
@@ -151,19 +147,19 @@ void FiniteElementDemo::initPhysics()
int strideInBytes = 9*sizeof(float);
int numVertices =m_data->m_mesh1.m_nodes.size();
btAlignedObjectArray<MyTetVertex> verts;
btAlignedObjectArray<GLInstanceVertex> verts;
verts.resize(numVertices);
for (int n=0;n<m_data->m_mesh1.m_nodes.size();n++)
{
verts[n].x = m_data->m_mesh1.m_nodes[n].m_coord(0);
verts[n].y = m_data->m_mesh1.m_nodes[n].m_coord(1);
verts[n].z = m_data->m_mesh1.m_nodes[n].m_coord(2);
verts[n].w = 1;
verts[n].nx = 0;
verts[n].ny = 1;
verts[n].nz = 0;
verts[n].u = 0.5;
verts[n].v = 0.4;
verts[n].xyzw[0] = m_data->m_mesh1.m_nodes[n].m_coord(0);
verts[n].xyzw[1] = m_data->m_mesh1.m_nodes[n].m_coord(1);
verts[n].xyzw[2] = m_data->m_mesh1.m_nodes[n].m_coord(2);
verts[n].xyzw[3] = 1;
verts[n].normal[0] = 0;
verts[n].normal[1] = 1;
verts[n].normal[2] = 0;
verts[n].uv[0] = 0.5;
verts[n].uv[1] = 0.4;
}
btAlignedObjectArray<int> indices;
@@ -180,7 +176,7 @@ void FiniteElementDemo::initPhysics()
}
m_data->m_tetrahedralMeshRenderIndex = m_app->m_renderer->registerShape(&verts[0].x,verts.size(),&indices[0],indices.size());
m_data->m_tetrahedralMeshRenderIndex = m_app->m_renderer->registerShape(&verts[0].xyzw[0],verts.size(),&indices[0],indices.size());
float pos[4] = {0,0,0,1};
float orn[4] = {0,0,0,1};
@@ -282,19 +278,19 @@ void FiniteElementDemo::renderScene()
int strideInBytes = 9*sizeof(float);
int numVertices =m_data->m_mesh1.m_nodes.size();
btAlignedObjectArray<MyTetVertex> verts;
btAlignedObjectArray<GLInstanceVertex> verts;
verts.resize(numVertices);
for (int n=0;n<m_data->m_mesh1.m_nodes.size();n++)
{
verts[n].x = m_data->m_mesh1.m_nodes[n].m_coord(0);
verts[n].y = m_data->m_mesh1.m_nodes[n].m_coord(1);
verts[n].z = m_data->m_mesh1.m_nodes[n].m_coord(2);
verts[n].w = 1;
verts[n].nx = 0;
verts[n].ny = 1;
verts[n].nz = 0;
verts[n].u = 0.5;
verts[n].v = 0.4;
verts[n].xyzw[0] = m_data->m_mesh1.m_nodes[n].m_coord(0);
verts[n].xyzw[1] = m_data->m_mesh1.m_nodes[n].m_coord(1);
verts[n].xyzw[2] = m_data->m_mesh1.m_nodes[n].m_coord(2);
verts[n].xyzw[3] = 1;
verts[n].normal[0] = 0;
verts[n].normal[1] = 1;
verts[n].normal[2] = 0;
verts[n].uv[0] = 0.5;
verts[n].uv[1] = 0.4;
}
btAlignedObjectArray<int> indices;
@@ -311,7 +307,7 @@ void FiniteElementDemo::renderScene()
}
m_app->m_renderer->updateShape(m_data->m_tetrahedralMeshRenderIndex,&verts[0].x);
m_app->m_renderer->updateShape(m_data->m_tetrahedralMeshRenderIndex,&verts[0].xyzw[0]);
}
m_app->m_renderer->renderScene();