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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2019-09-25 09:10:44 -07:00
parent 677fe1a368 bdf24bd4e7
commit 2e5455def1
5 changed files with 12 additions and 9 deletions
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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4005,7 +4005,7 @@ bool PhysicsServerCommandProcessor::processSaveWorldCommand(const struct SharedM
FILE* f = fopen(clientCmd.m_sdfArguments.m_sdfFileName, "w");
if (f)
{
char line[1024];
char line[2048];
{
sprintf(line, "import pybullet as p\n");
int len = strlen(line);

5
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
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@@ -1276,7 +1276,10 @@ void EGLRendererVisualShapeConverter::render(const float viewMat[16], const floa
render();
m_data->m_camera.disableVRCamera();
// don't disableVRCamera, see issue https://github.com/bulletphysics/bullet3/issues/2390
// todo: check out why
//
// m_data->m_camera.disableVRCamera();
//cout<<viewMat[4*0 + 0]<<" "<<viewMat[4*0+1]<<" "<<viewMat[4*0+2]<<" "<<viewMat[4*0+3] << endl;
//cout<<viewMat[4*1 + 0]<<" "<<viewMat[4*1+1]<<" "<<viewMat[4*1+2]<<" "<<viewMat[4*1+3] << endl;

4
examples/pybullet/examples/createMultiBodyBatch.py
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@@ -117,14 +117,14 @@ for x in range(32):
batchPositions.append(
[x * meshScale[0] * 5.5, y * meshScale[1] * 5.5, (0.5 + z) * meshScale[2] * 2.5])
bodyUid = p.createMultiBody(baseMass=0,
bodyUids = p.createMultiBody(baseMass=0,
baseInertialFramePosition=[0, 0, 0],
baseCollisionShapeIndex=collisionShapeId,
baseVisualShapeIndex=visualShapeId,
basePosition=[0, 0, 2],
batchPositions=batchPositions,
useMaximalCoordinates=True)
p.changeVisualShape(bodyUid, -1, textureUniqueId=texUid)
p.changeVisualShape(bodyUids[0], -1, textureUniqueId=texUid)
p.syncBodyInfo()
print("numBodies=", p.getNumBodies())

2
src/BulletSoftBody/btDeformableCorotatedForce.h
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@@ -56,7 +56,7 @@ public:
virtual void addScaledElasticForce(btScalar scale, TVStack& force)
{
int numNodes = getNumNodes();
btAssert(numNodes <= force.size())
btAssert(numNodes <= force.size());
btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1);
for (int i = 0; i < m_softBodies.size(); ++i)
{

8
src/BulletSoftBody/btDeformableNeoHookeanForce.h
View File

@@ -51,7 +51,7 @@ public:
virtual void addScaledDampingForce(btScalar scale, TVStack& force)
{
int numNodes = getNumNodes();
btAssert(numNodes <= force.size())
btAssert(numNodes <= force.size());
btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1);
for (int i = 0; i < m_softBodies.size(); ++i)
{
@@ -114,7 +114,7 @@ public:
virtual void addScaledElasticForce(btScalar scale, TVStack& force)
{
int numNodes = getNumNodes();
btAssert(numNodes <= force.size())
btAssert(numNodes <= force.size());
btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1);
for (int i = 0; i < m_softBodies.size(); ++i)
{
@@ -149,7 +149,7 @@ public:
virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
{
int numNodes = getNumNodes();
btAssert(numNodes <= df.size())
btAssert(numNodes <= df.size());
btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1);
for (int i = 0; i < m_softBodies.size(); ++i)
{
@@ -184,7 +184,7 @@ public:
virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
{
int numNodes = getNumNodes();
btAssert(numNodes <= df.size())
btAssert(numNodes <= df.size());
btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1);
for (int i = 0; i < m_softBodies.size(); ++i)
{