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

remove src/BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.cpp and examples/ConstraintSolvers/* code

Browse Source 
revert changes to btMultiBodyConstraintSolver/btSequentialImpulseConstraintSolver related to btMultiBodyBlockConstraintSolver
This commit is contained in:
erwincoumans
2019-02-27 17:10:17 -08:00
parent 48d84e7899
commit 36a9dcf368
21 changed files with 1006 additions and 3224 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -21,10 +21,6 @@
#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
#include "../Importers/ImportMJCFDemo/ImportMJCFSetup.h"
#include "../Collision/CollisionTutorialBullet2.h"
#include "../ConstraintSolvers/SerialChains.h"
#include "../ConstraintSolvers/BoxStacks.h"
#include "../ConstraintSolvers/BoxStacks_MLCP.h"
#include "../ConstraintSolvers/Grasp_Block.h"
#include "../GyroscopicDemo/GyroscopicSetup.h"
#include "../Constraints/Dof6Spring2Setup.h"
#include "../Constraints/ConstraintPhysicsSetup.h"
@@ -142,13 +138,7 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Inverted Pendulum PD", "Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
ExampleEntry(1, "MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", MultiBodySoftContactCreateFunc, 0),
ExampleEntry(0, "Constraint Solvers"),
ExampleEntry(1, "Serial Chains", "Show colliding two serial chains using different constraint solvers.", SerialChainsCreateFunc, 0),
ExampleEntry(1, "Box Stack", "Show box stacks with different constraint solvers for each stack.", BoxStacksCreateFunc, 0),
ExampleEntry(1, "Box Stack MLCP", "Show box stacks with different constraint solvers for each stack.", BoxStacks_MLCPCreateFunc, 0),
ExampleEntry(1, "Grasp Block", "Show box stacks with different constraint solvers for each stack.", Grasp_BlockCreateFunc, 0),
ExampleEntry(0, "Physics Client-Server"),
ExampleEntry(1, "Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pybullet, a PhysicsClient or a UDP/TCP Bridge.",
PhysicsServerCreateFuncBullet2),
@@ -163,10 +153,10 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(0, "BlockSolver"),
ExampleEntry(1, "Stack MultiBody SI", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_STACK+ BLOCK_SOLVER_SI),
ExampleEntry(1, "Stack MultiBody MLCP PGS", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_STACK + BLOCK_SOLVER_MLCP_PGS),
ExampleEntry(1, "Stack MultiBody MLCP Dantzig", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_STACK + BLOCK_SOLVER_MLCP_DANTZIG),
ExampleEntry(1, "Stack MultiBody Block", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_STACK + BLOCK_SOLVER_BLOCK),
ExampleEntry(1, "Stack MultiBody SI", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK+ BLOCK_SOLVER_SI),
ExampleEntry(1, "Stack MultiBody MLCP PGS", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_PGS),
ExampleEntry(1, "Stack MultiBody MLCP Dantzig", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_DANTZIG),
ExampleEntry(1, "Stack MultiBody Block", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_BLOCK),
ExampleEntry(0, "Inverse Dynamics"),
ExampleEntry(1, "Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc, BT_ID_LOAD_URDF),