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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
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21
examples/OpenGLWindow/SimpleCamera.cpp
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@@ -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
{