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

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)

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -17,7 +17,7 @@ subject to the following restrictions:
 
 ///todo: make this configurable in the gui
 bool useShadowMap = true;// true;//false;//true;
-int shadowMapWidth= 2048;//8192;
+int shadowMapWidth= 2048;
 int shadowMapHeight= 2048;
 float shadowMapWorldSize=5;
 
@@ -329,6 +329,19 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
 }
 
 
+void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int srcIndex, float* position, float* orientation)
+{
+	b3Assert(srcIndex<m_data->m_totalNumInstances);
+	b3Assert(srcIndex>=0);
+	position[0] = m_data->m_instance_positions_ptr[srcIndex*4+0];
+	position[1] = m_data->m_instance_positions_ptr[srcIndex*4+1];
+	position[2] = m_data->m_instance_positions_ptr[srcIndex*4+2];
+	
+	orientation[0] = m_data->m_instance_quaternion_ptr[srcIndex*4+0];
+	orientation[1] = m_data->m_instance_quaternion_ptr[srcIndex*4+1];
+	orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex*4+2];
+	orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex*4+3];
+}
 void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int srcIndex)
 {
 	m_data->m_instance_colors_ptr[srcIndex*4+0]=float(color[0]);

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -41,7 +41,7 @@ class GLInstancingRenderer : public CommonRenderInterface
 	int m_upAxis;
     bool m_enableBlend;
     
-	void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE);
+	
 
 	
 	
@@ -52,6 +52,7 @@ public:
 	virtual void init();
 
 	virtual void renderScene();
+	virtual void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE);
 
 	void InitShaders();
 	void CleanupShaders();
@@ -73,6 +74,7 @@ public:
 
 	void writeTransforms();
 
+	
 	virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex);
 	virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)
     {
@@ -90,6 +92,8 @@ public:
 
     }
 
+	virtual void readSingleInstanceTransformFromCPU(int srcIndex, float* position, float* orientation);
+
 	virtual void writeSingleInstanceTransformToGPU(float* position, float* orientation, int srcIndex);
 
 	virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);

examples/OpenGLWindow/SimpleCamera.cpp

@@ -3,6 +3,8 @@
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Quaternion.h"
 #include "Bullet3Common/b3Matrix3x3.h"
+#include "Bullet3Common/b3Transform.h"
+
 
 struct SimpleCameraInternalData
 {
@@ -19,6 +21,9 @@ struct SimpleCameraInternalData
 		m_frustumZFar(1000),
 		m_enableVR(false)
 	{
+		b3Transform tr;
+		tr.setIdentity();
+		tr.getOpenGLMatrix(m_offsetTransformVR);
 	}
 	b3Vector3 m_cameraTargetPosition;
 	float m_cameraDistance;
@@ -37,6 +42,7 @@ struct SimpleCameraInternalData
 	bool m_enableVR;
 	float m_viewMatrixVR[16];
 	float m_projectionMatrixVR[16];
+	float m_offsetTransformVR[16];
 
 };
 
@@ -244,13 +250,26 @@ void SimpleCamera::getCameraProjectionMatrix(float projectionMatrix[16]) const
 		b3CreateFrustum(-m_data->m_aspect * m_data->m_frustumZNear, m_data->m_aspect * m_data->m_frustumZNear, -m_data->m_frustumZNear,m_data->m_frustumZNear, m_data->m_frustumZNear, m_data->m_frustumZFar,projectionMatrix);
 	}
 }
+void	SimpleCamera::setVRCameraOffsetTransform(const float offset[16])
+{
+	for (int i=0;i<16;i++)
+	{
+		m_data->m_offsetTransformVR[i]   = offset[i];
+	}
+}
 void SimpleCamera::getCameraViewMatrix(float viewMatrix[16]) const
 {
 	if (m_data->m_enableVR)
 	{
 		for (int i=0;i<16;i++)
 		{
-			viewMatrix[i] = m_data->m_viewMatrixVR[i];
+			b3Transform tr;
+			tr.setFromOpenGLMatrix(m_data->m_viewMatrixVR);
+			b3Transform shift=b3Transform::getIdentity();
+			shift.setFromOpenGLMatrix(m_data->m_offsetTransformVR);
+			tr = tr*shift;
+			tr.getOpenGLMatrix(viewMatrix);
+			//viewMatrix[i] = m_data->m_viewMatrixVR[i];
 		}
 	} else
 	{

examples/OpenGLWindow/SimpleCamera.h

@@ -15,7 +15,9 @@ struct SimpleCamera : public CommonCameraInterface
 	virtual void getCameraViewMatrix(float m[16]) const;
 	
 	virtual void	setVRCamera(const float viewMat[16], const float projectionMatrix[16]);
+	virtual void	setVRCameraOffsetTransform(const float offset[16]);
 	virtual void disableVRCamera();
+
 	virtual bool isVRCamera() const;
 
 	virtual void getCameraTargetPosition(float pos[3]) const;