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Create project file for BussIK inverse kinematics library (premake, cmake)

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URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)
This commit is contained in:
erwin coumans
2016-09-08 15:15:58 -07:00
parent 630fcda38b
commit 32eccdff61
43 changed files with 791 additions and 144 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
examples/ExampleBrowser/CMakeLists.txt
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@@ -47,20 +47,20 @@ IF (BUILD_SHARED_LIBS)
IF (WIN32)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ELSE(WIN32)
IF(APPLE)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ELSE(APPLE)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
pthread dl
)
ENDIF(APPLE)
@@ -81,7 +81,7 @@ INCLUDE_DIRECTORIES(
LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
)
IF (WIN32)
@@ -129,6 +129,8 @@ SET(BulletExampleBrowser_SRCS
../TinyRenderer/TinyRenderer.cpp
../SharedMemory/TinyRendererVisualShapeConverter.cpp
../SharedMemory/TinyRendererVisualShapeConverter.h
../SharedMemory/IKTrajectoryHelper.cpp
../SharedMemory/IKTrajectoryHelper.h
../RenderingExamples/TinyRendererSetup.cpp
../SharedMemory/PhysicsServer.cpp
../SharedMemory/PhysicsClientSharedMemory.cpp
@@ -218,8 +220,6 @@ SET(BulletExampleBrowser_SRCS
../RoboticsLearning/R2D2GraspExample.h
../RoboticsLearning/KukaGraspExample.cpp
../RoboticsLearning/KukaGraspExample.h
../RoboticsLearning/IKTrajectoryHelper.cpp
../RoboticsLearning/IKTrajectoryHelper.h
../RenderingExamples/CoordinateSystemDemo.cpp
../RenderingExamples/CoordinateSystemDemo.h
../RenderingExamples/RaytracerSetup.cpp
@@ -307,17 +307,6 @@ SET(BulletExampleBrowser_SRCS
../ThirdPartyLibs/stb_image/stb_image.cpp
../ThirdPartyLibs/stb_image/stb_image.h
../ThirdPartyLibs/BussIK/Jacobian.cpp
../ThirdPartyLibs/BussIK/Tree.cpp
../ThirdPartyLibs/BussIK/Node.cpp
../ThirdPartyLibs/BussIK/LinearR2.cpp
../ThirdPartyLibs/BussIK/LinearR3.cpp
../ThirdPartyLibs/BussIK/LinearR4.cpp
../ThirdPartyLibs/BussIK/MatrixRmn.cpp
../ThirdPartyLibs/BussIK/VectorRn.cpp
../ThirdPartyLibs/BussIK/Misc.cpp
../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../ThirdPartyLibs/tinyxml/tinystr.cpp
../ThirdPartyLibs/tinyxml/tinyxml.cpp

42
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -146,11 +146,26 @@ struct OpenGLGuiHelperInternalData
struct CommonGraphicsApp* m_glApp;
class MyDebugDrawer* m_debugDraw;
GL_ShapeDrawer* m_gl2ShapeDrawer;
bool m_vrMode;
int m_vrSkipShadowPass;
btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer1;
btAlignedObjectArray<float> m_depthBuffer1;
OpenGLGuiHelperInternalData()
:m_vrMode(false),
m_vrSkipShadowPass(0)
{
}
};
void OpenGLGuiHelper::setVRMode(bool vrMode)
{
m_data->m_vrMode = vrMode;
m_data->m_vrSkipShadowPass = 0;
}
OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
@@ -269,6 +284,10 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
}
void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
//in VR mode, we skip the synchronization for the second eye
if (m_data->m_vrMode && m_data->m_vrSkipShadowPass==1)
return;
int numCollisionObjects = rbWorld->getNumCollisionObjects();
for (int i = 0; i<numCollisionObjects; i++)
{
@@ -288,8 +307,25 @@ void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWor
void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld)
{
m_data->m_glApp->m_renderer->renderScene();
if (m_data->m_vrMode)
{
//in VR, we skip the shadow generation for the second eye
if (m_data->m_vrSkipShadowPass>=1)
{
m_data->m_glApp->m_renderer->renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
m_data->m_vrSkipShadowPass=0;
} else
{
m_data->m_glApp->m_renderer->renderScene();
m_data->m_vrSkipShadowPass++;
}
} else
{
m_data->m_glApp->m_renderer->renderScene();
}
//backwards compatible OpenGL2 rendering
if (m_data->m_gl2ShapeDrawer && rbWorld)

2
examples/ExampleBrowser/OpenGLGuiHelper.h
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@@ -56,6 +56,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);
void renderInternalGl2(int pass, const btDiscreteDynamicsWorld* dynamicsWorld);
void setVRMode(bool vrMode);
};
#endif //OPENGL_GUI_HELPER_H

4
examples/ExampleBrowser/premake4.lua
View File

@@ -10,7 +10,7 @@ project "App_BulletExampleBrowser"
initOpenCL("clew")
end
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
initOpenGL()
initGlew()
@@ -55,6 +55,8 @@ project "App_BulletExampleBrowser"
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../RenderingExamples/TinyRendererSetup.cpp",
"../SharedMemory/IKTrajectoryHelper.cpp",
"../SharedMemory/IKTrajectoryHelper.h",
"../SharedMemory/PhysicsClientC_API.cpp",
"../SharedMemory/PhysicsClientC_API.h",
"../SharedMemory/PhysicsServerExample.cpp",