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Merge branch 'master' into 3D-NN-walkers-example

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This commit is contained in:
Benelot
2016-12-27 21:09:49 +01:00
parent 3a424079f3 1deb3c1666
commit 3add00631f
270 changed files with 44434 additions and 2949 deletions
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22
CMakeLists.txt
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@@ -28,6 +28,7 @@ OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF)
OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
@@ -155,6 +156,13 @@ IF(USE_GRAPHICAL_BENCHMARK)
ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
ENDIF (USE_GRAPHICAL_BENCHMARK)
IF(BULLET2_USE_THREAD_LOCKS)
ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
IF (NOT MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ENDIF (NOT MSVC)
ENDIF (BULLET2_USE_THREAD_LOCKS)
IF (WIN32)
OPTION(USE_GLUT "Use Glut" ON)
ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
@@ -195,8 +203,6 @@ ENDIF (OPENGL_FOUND)
#FIND_PACKAGE(GLU)
IF (APPLE)
FIND_LIBRARY(COCOA_LIBRARY Cocoa)
ENDIF()
@@ -211,7 +217,8 @@ IF(BUILD_PYBULLET)
FIND_PACKAGE(PythonLibs)
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
IF(BUILD_PYBULLET_NUMPY)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake)
#include(FindNumPy)
@@ -264,6 +271,15 @@ IF(BUILD_BULLET2_DEMOS)
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
SUBDIRS(examples)
ENDIF()
IF (BULLET2_USE_THREAD_LOCKS)
OPTION(BULLET2_MULTITHREADED_OPEN_MP_DEMO "Build Bullet 2 MultithreadedDemo using OpenMP (requires a compiler with OpenMP support)" OFF)
OPTION(BULLET2_MULTITHREADED_TBB_DEMO "Build Bullet 2 MultithreadedDemo using Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
IF (MSVC)
OPTION(BULLET2_MULTITHREADED_PPL_DEMO "Build Bullet 2 MultithreadedDemo using Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
ENDIF (MSVC)
ENDIF (BULLET2_USE_THREAD_LOCKS)
ENDIF(BUILD_BULLET2_DEMOS)

4
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
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@@ -553,6 +553,8 @@ typedef struct bInvalidHandle {
double m_deactivationTime;
double m_friction;
double m_rollingFriction;
double m_contactDamping;
double m_contactStiffness;
double m_restitution;
double m_hitFraction;
double m_ccdSweptSphereRadius;
@@ -585,6 +587,8 @@ typedef struct bInvalidHandle {
float m_deactivationTime;
float m_friction;
float m_rollingFriction;
float m_contactDamping;
float m_contactStiffness;
float m_restitution;
float m_hitFraction;
float m_ccdSweptSphereRadius;

2
README.md
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@@ -4,7 +4,7 @@
# Bullet Physics SDK
This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for games, visual effects, robotics etc.
This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR

26
build3/premake4.lua
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@@ -57,7 +57,7 @@
description = "Use Midi controller to control parameters"
}
-- --_OPTIONS["midi"] = "1";
-- _OPTIONS["midi"] = "1";
newoption
{
@@ -73,8 +73,8 @@
newoption
{
trigger = "enet",
description = "Enable enet NAT punchthrough test"
trigger = "no-enet",
description = "Disable enet and enet tests"
}
newoption
@@ -237,6 +237,7 @@ end
language "C++"
if not _OPTIONS["no-demos"] then
include "../examples/ExampleBrowser"
include "../examples/OpenGLWindow"
@@ -261,14 +262,23 @@ end
if not _OPTIONS["no-test"] then
include "../test/SharedMemory"
if _OPTIONS["enet"] then
include "../examples/ThirdPartyLibs/enet"
include "../test/enet/client"
include "../test/enet/server"
end
end
end
if _OPTIONS["midi"] then
include "../examples/ThirdPartyLibs/midi"
end
if not _OPTIONS["no-enet"] then
include "../examples/ThirdPartyLibs/enet"
include "../test/enet/nat_punchthrough/client"
include "../test/enet/nat_punchthrough/server"
include "../test/enet/chat/client"
include "../test/enet/chat/server"
defines {"BT_ENABLE_ENET"}
end
if _OPTIONS["no-bullet3"] then
print "--no-bullet3 implies --no-demos"
_OPTIONS["no-demos"] = "1"

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build3/premake5.exe Normal file
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4
build_cmake_pybullet_win32.bat Normal file
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@@ -0,0 +1,4 @@
mkdir cm
cd cm
cmake -DBUILD_PYBULLET=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.2\libs\python35_d.lib ..
start .

2
build_visual_studio_vr_pybullet_double.bat
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@@ -16,6 +16,6 @@ del tmp1234.txt
cd build3
premake4 --double --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
premake4 --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
start vs2010

8
data/gripper/wsg50_one_motor_gripper_free_base.sdf
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@@ -303,6 +303,10 @@
</joint>
<link name='finger_right'>
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<pose frame=''>0.042 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
@@ -343,6 +347,10 @@
</joint>
<link name='finger_left'>
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<pose frame=''>-0.042 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>

27
data/gripper/wsg50_one_motor_gripper_left_finger.urdf Normal file
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@@ -0,0 +1,27 @@
<?xml version="0.0" ?>
<robot name="left_finger.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<inertia_scaling value="3.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<mass value=".2"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 4.71239" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.042"/>
<geometry>
<box size="0.02 0.02 0.15"/>
</geometry>
</collision>
</link>
</robot>

8
data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
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@@ -300,6 +300,10 @@
</joint>
<link name='finger_right'>
<contact>
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
@@ -340,6 +344,10 @@
</joint>
<link name='finger_left'>
<contact>
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>

307
data/gripper/wsg50_one_motor_gripper_no_finger.sdf Normal file
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@@ -0,0 +1,307 @@
<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.4 3.14 0 0</pose>
<link name='world'>
</link>
<joint name='base_joint' type='prismatic'>
<parent>world</parent>
<child>base_link</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-10</lower>
<upper>10</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/WSG50_110.stl</uri>
</mesh>
</geometry>
<material>
</material>
</visual>
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
</box>
</geometry>
</visual>
</link>
<joint name='base_joint_motor' type='prismatic'>
<child>motor</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.055</lower>
<upper>0.001</upper>
<effort>10.0</effort>
<velocity>10.0</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_left_hinge_joint' type='revolute'>
<child>left_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_right_hinge_joint' type='revolute'>
<child>right_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_left_hinge_joint' type='prismatic'>
<child>gripper_left</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.01</lower>
<upper>0.04</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 3.14159</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 3.14159</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_right_hinge_joint' type='prismatic'>
<child>gripper_right</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.04</lower>
<upper>0.01</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
</model>
</world>
</sdf>

27
data/gripper/wsg50_one_motor_gripper_right_finger.urdf Normal file
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@@ -0,0 +1,27 @@
<?xml version="0.0" ?>
<robot name="right_finger.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<inertia_scaling value="3.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<mass value=".2"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 1.5708" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.042"/>
<geometry>
<box size="0.02 0.02 0.15"/>
</geometry>
</collision>
</link>
</robot>

26
data/humanoid/LICENSE.txt Normal file
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@@ -0,0 +1,26 @@
Copyright (c) 2009-2013, A. Hornung, University of Freiburg
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the University of Freiburg nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.

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data/kiva_shelf/0_Bullet3Demo.txt
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@@ -1,7 +0,0 @@
--start_demo_name=R2D2 Grasp
--mouse_move_multiplier=0.400000
--mouse_wheel_multiplier=0.010000
--background_color_red= 0.900000
--background_color_green= 0.900000
--background_color_blue= 1.000000
--fixed_timestep= 0.000000

289
data/kuka_iiwa/model_free_base.urdf Normal file
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@@ -0,0 +1,289 @@
<?xml version="1.0" ?>
<!-- ======================================================================= -->
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- | Changes (kohlhoff): | -->
<!-- | * Removed gazebo tags. | -->
<!-- | * Removed unused materials. | -->
<!-- | * Made mesh paths relative. | -->
<!-- | * Removed material fields from collision segments. | -->
<!-- | * Removed the self_collision_checking segment. | -->
<!-- | * Removed transmission segments, since they didn't match the | -->
<!-- | convention, will have to added back later. | -->
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
<!--Orebro University, Sweden -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions of source code must retain the above copyright notice,-->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Import Rviz colors -->
<material name="Grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="Blue">
<color rgba="0.5 0.7 1.0 1.0"/>
</material>
<!--Import the lbr iiwa macro -->
<!--Import Transmissions -->
<!--Include Utilities -->
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
<!--Little helper macros to define the inertia matrix needed for links.-->
<!--Cuboid-->
<!--Cylinder: length is along the y-axis! -->
<!--lbr-->
<link name="lbr_iiwa_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
<!--Increase mass from 5 Kg original to provide a stable base to carry the
arm.-->
<mass value="0.1"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="lbr_iiwa_joint_1" type="revolute">
<parent link="lbr_iiwa_link_0"/>
<child link="lbr_iiwa_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="4"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_1 and link_2 -->
<joint name="lbr_iiwa_joint_2" type="revolute">
<parent link="lbr_iiwa_link_1"/>
<child link="lbr_iiwa_link_2"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="4"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_2 and link_3 -->
<joint name="lbr_iiwa_joint_3" type="revolute">
<parent link="lbr_iiwa_link_2"/>
<child link="lbr_iiwa_link_3"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="3"/>
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_3 and link_4 -->
<joint name="lbr_iiwa_joint_4" type="revolute">
<parent link="lbr_iiwa_link_3"/>
<child link="lbr_iiwa_link_4"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="2.7"/>
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_4 and link_5 -->
<joint name="lbr_iiwa_joint_5" type="revolute">
<parent link="lbr_iiwa_link_4"/>
<child link="lbr_iiwa_link_5"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="1.7"/>
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_5 and link_6 -->
<joint name="lbr_iiwa_joint_6" type="revolute">
<parent link="lbr_iiwa_link_5"/>
<child link="lbr_iiwa_link_6"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="1.8"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_6 and link_7 -->
<joint name="lbr_iiwa_joint_7" type="revolute">
<parent link="lbr_iiwa_link_6"/>
<child link="lbr_iiwa_link_7"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="0.3"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
</geometry>
</collision>
</link>
</robot>

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data/plane.obj
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@@ -2,14 +2,14 @@
# www.blender.org
mtllib plane.mtl
o Plane
v 5.000000 -5.000000 0.000000
v 5.000000 5.000000 0.000000
v -5.000000 5.000000 0.000000
v -5.000000 -5.000000 0.000000
v 15.000000 -15.000000 0.000000
v 15.000000 15.000000 0.000000
v -15.000000 15.000000 0.000000
v -15.000000 -15.000000 0.000000
vt 5.000000 0.000000
vt 5.000000 5.000000
vt 0.000000 5.000000
vt 15.000000 0.000000
vt 15.000000 15.000000
vt 0.000000 15.000000
vt 0.000000 0.000000
usemtl Material

7
data/plane.urdf
View File

@@ -1,6 +1,9 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="planeLink">
<contact>
<lateral_friction value="1.5"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
@@ -16,9 +19,9 @@
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<origin rpy="0 0 0" xyz="0 0 -5"/>
<geometry>
<box size="10 10 0.001"/>
<box size="30 30 10"/>
</geometry>
</collision>
</link>

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data/quadruped/quadruped.urdf Normal file
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@@ -0,0 +1,712 @@
<?xml version="0.0" ?>
<robot name="quadruped">
<link name="base_chassis_link">
<visual>
<geometry>
<box size=".226 0.16 .07"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".226 0.16 .07"/>
</geometry>
</collision>
<inertial>
<mass value="1."/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="motor_front_rightR_link">
<visual>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_front_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0.21 -0.125 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_rightL_link">
<visual>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_rightL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_front_rightL_link"/>
<origin rpy="1.57075 0 0" xyz="0.21 -0.06 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_leftR_link">
<visual>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_leftR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_front_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="0.21 0.125 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_leftL_link">
<visual>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_front_leftL_link"/>
<origin rpy="1.57075 0 0" xyz="0.21 0.06 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_rightR_link">
<visual>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_back_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.21 -0.125 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_rightL_link">
<visual>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_rightL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_back_rightL_link"/>
<origin rpy="1.57075 0 0" xyz="-0.21 -0.06 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_leftR_link">
<visual>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_leftR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_back_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.21 0.125 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_leftL_link">
<visual>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_back_leftL_link"/>
<origin rpy="1.57075 0 0" xyz="-0.21 0.06 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_leftL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_leftL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftL_link"/>
<child link="upper_leg_back_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_leftR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="hip_leftR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftR_link"/>
<child link="upper_leg_back_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_leftR_link">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_back_leftR_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftR_link"/>
<child link="lower_leg_back_leftR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_leftL_link">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_back_leftL_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftL_link"/>
<child link="lower_leg_back_leftL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_leftL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_leftL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftL_link"/>
<child link="upper_leg_front_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_leftR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="hip_front_leftR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftR_link"/>
<child link="upper_leg_front_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_leftR_link">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_front_leftR_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftR_link"/>
<child link="lower_leg_front_leftR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_leftL_link">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_front_leftL_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftL_link"/>
<child link="lower_leg_front_leftL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_rightL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_rightL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightL_link"/>
<child link="upper_leg_back_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_rightR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="hip_rightR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightR_link"/>
<child link="upper_leg_back_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_rightR_link">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_back_rightR_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightR_link"/>
<child link="lower_leg_back_rightR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_rightL_link">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_back_rightL_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightL_link"/>
<child link="lower_leg_back_rightL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_rightL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_rightL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightL_link"/>
<child link="upper_leg_front_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 0.02"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_rightR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="hip_front_rightR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightR_link"/>
<child link="upper_leg_front_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.02"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_rightR_link">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_front_rightR_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightR_link"/>
<child link="lower_leg_front_rightR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_rightL_link">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_front_rightL_link" type="revolute">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightL_link"/>
<child link="lower_leg_front_rightL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.0 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
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</robot>

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data/torus/plane_only.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

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data/torus/torus.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
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illum 2

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data/torus/torus.urdf Normal file
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="1.0"/>
<inertia_scaling value="3.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
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</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
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<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
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12
data/torus/torus_only.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
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Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
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Ni 1.000000
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illum 2

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data/torus/torus_with_plane.mtl Normal file
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# Blender MTL File: 'None'
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data/torus/torus_with_plane.urdf Normal file
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="1.0"/>
<inertia_scaling value="3.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="torus_with_plane.obj" scale=".3 .3 .3"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="torus_with_plane.obj" scale=".3 .3 .3"/>
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</collision>
</link>
</robot>

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data/torus/torus_with_separate_plane.urdf Normal file
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="1.0"/>
<inertia_scaling value="3.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="torus_only.obj" scale=".3 .3 .3"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="plane_only.obj" scale=".3 .3 .3"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
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</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
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</collision>
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</robot>

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13
data/tray/tray_textured2.mtl Normal file
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# Blender MTL File: 'tray_textured2.blend'
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255
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o edge_3_Cube.002
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v -0.580000 -0.573309 0.261247
v 0.580000 -0.590083 0.250354
v 0.419883 -0.409917 0.009162
v -0.580000 -0.590083 0.250354
v 0.419883 -0.426691 -0.001731
v -0.419400 -0.426691 -0.002215
vt 0.8690 0.1040
vt 0.1365 0.1739
vt 0.0188 0.1040
vt 0.8690 0.0968
vt 0.7517 0.1739
vt 0.0188 0.0968
vt 0.7517 0.1668
vt 0.1365 0.1668
vn -0.0002 0.8392 0.5438
vn -0.0000 0.8395 0.5433
vn -0.0000 0.8396 0.5432
vn 0.8825 0.2562 -0.3945
vn 0.0002 -0.8396 -0.5433
vn 0.0000 -0.8392 -0.5438
vn 0.0000 -0.8391 -0.5439
vn -0.8821 0.2565 -0.3950
vn 0.0005 0.5446 -0.8387
vn 0.0000 -0.5446 0.8387
vn -0.0003 0.8391 0.5440
vn 0.0003 -0.8397 -0.5430
usemtl None
s 1
f 17/17/25 18/18/26 19/19/27
f 20/20/28 21/21/28 17/17/28
f 22/22/29 23/23/30 20/20/31
f 19/19/32 24/24/32 22/22/32
f 21/21/33 24/24/33 18/18/33
f 20/20/34 19/19/34 22/22/34
f 17/17/25 21/21/35 18/18/26
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f 19/19/32 18/18/32 24/24/32
f 21/21/33 23/23/33 24/24/33
f 20/20/34 17/17/34 19/19/34
o edge_5_Cube.005
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v -0.006691 0.419400 -0.002214
v -0.170083 0.580000 0.250354
v -0.153309 -0.580000 0.261247
v 0.010083 0.419400 0.008679
v -0.170083 -0.580000 0.250354
v 0.010083 -0.419883 0.009732
v -0.006691 -0.419883 -0.001161
vt 0.0506 0.8517
vt 0.1935 0.8492
vt 0.0342 0.8520
vt 0.0164 0.1914
vt 0.2099 0.8489
vt 0.0001 0.1917
vt 0.1757 0.1886
vt 0.1594 0.1889
vn 0.2565 0.8821 -0.3950
vn 0.8387 0.0005 0.5446
vn 0.8394 0.0001 0.5434
vn 0.8396 0.0000 0.5432
vn 0.2565 -0.8822 -0.3950
vn -0.8395 -0.0005 -0.5434
vn -0.8388 -0.0001 -0.5445
vn -0.8386 -0.0000 -0.5448
vn 0.5446 -0.0011 -0.8387
vn -0.5446 -0.0000 0.8387
vn 0.8384 0.0007 0.5451
vn -0.8398 -0.0007 -0.5429
usemtl None
s 1
f 25/25/37 26/26/37 27/27/37
f 28/28/38 29/29/39 25/25/40
f 30/30/41 31/31/41 28/28/41
f 27/27/42 32/32/43 30/30/44
f 29/29/45 32/32/45 26/26/45
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f 25/25/37 29/29/37 26/26/37
f 28/28/38 31/31/47 29/29/39
f 30/30/41 32/32/41 31/31/41
f 27/27/42 26/26/48 32/32/43
f 29/29/45 31/31/45 32/32/45
f 28/28/46 25/25/46 27/27/46
o edge_4_Cube.001
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v -0.426691 0.419400 -0.002214
v -0.590083 0.580000 0.250354
v -0.573309 -0.580000 0.261247
v -0.409917 0.419400 0.008679
v -0.590083 -0.580000 0.250354
v -0.409917 -0.419400 0.009162
v -0.426691 -0.419400 -0.001731
vt 0.9046 0.2397
vt 0.7929 0.2434
vt 0.9174 0.2393
vt 0.9537 0.7559
vt 0.7801 0.2438
vt 0.9664 0.7554
vt 0.8291 0.7599
vt 0.8419 0.7595
vn 0.2565 0.8821 -0.3950
vn 0.8392 0.0002 0.5438
vn 0.8395 0.0000 0.5433
vn 0.8396 0.0000 0.5432
vn 0.2568 -0.8819 -0.3954
vn -0.8396 -0.0002 -0.5433
vn -0.8392 -0.0000 -0.5438
vn -0.8391 -0.0000 -0.5439
vn 0.5446 -0.0005 -0.8387
vn -0.5446 -0.0000 0.8387
vn 0.8391 0.0003 0.5440
vn -0.8397 -0.0003 -0.5430
usemtl None
s 1
f 33/33/49 34/34/49 35/35/49
f 36/36/50 37/37/51 33/33/52
f 38/38/53 39/39/53 36/36/53
f 35/35/54 40/40/55 38/38/56
f 37/37/57 40/40/57 34/34/57
f 36/36/58 35/35/58 38/38/58
f 33/33/49 37/37/49 34/34/49
f 36/36/50 39/39/59 37/37/51
f 38/38/53 40/40/53 39/39/53
f 35/35/54 34/34/60 40/40/55
f 37/37/57 39/39/57 40/40/57
f 36/36/58 33/33/58 35/35/58
o base_Cube.004
v 0.420000 0.420000 0.010000
v -0.420000 0.420000 -0.010000
v -0.420000 0.420000 0.010000
v 0.420000 -0.420000 0.010000
v 0.420000 0.420000 -0.010000
v -0.420000 -0.420000 0.010000
v 0.420000 -0.420000 -0.010000
v -0.420000 -0.420000 -0.010000
vt 0.7524 0.8072
vt -0.3038 0.8371
vt -0.3038 0.8371
vt 0.7012 0.1905
vt 0.7524 0.8072
vt -0.3550 0.2204
vt 0.7012 0.1905
vt -0.3550 0.2204
vn -0.0000 1.0000 0.0000
vn 1.0000 0.0000 0.0000
vn 0.0000 -1.0000 0.0000
vn -1.0000 -0.0000 0.0000
vn -0.0000 0.0000 -1.0000
vn 0.0000 -0.0000 1.0000
usemtl None
s 1
f 41/41/61 42/42/61 43/43/61
f 44/44/62 45/45/62 41/41/62
f 46/46/63 47/47/63 44/44/63
f 43/43/64 48/48/64 46/46/64
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f 44/44/66 43/43/66 46/46/66
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f 45/45/65 47/47/65 48/48/65
f 44/44/66 41/41/66 43/43/66

24
data/tray/tray_textured2.urdf Normal file
View File

@@ -0,0 +1,24 @@
<robot name="tabletop">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured2.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="tray_material">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured2.obj" scale="0.5 0.5 0.5"/>
</geometry>
</collision>
</link>
</robot>

BIN
docs/pybullet_quickstartguide.pdf Normal file
View File

Binary file not shown.

7
examples/BasicDemo/premake4.lua
View File

@@ -18,6 +18,7 @@ language "C++"
files {
"**.cpp",
"**.h",
"../CommonInterfaces/*",
}
@@ -49,6 +50,7 @@ files {
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../CommonInterfaces/*",
"../Utils/b3Clock.cpp",
"../Utils/b3Clock.h",
}
@@ -90,6 +92,7 @@ files {
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../CommonInterfaces/*",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
@@ -130,6 +133,7 @@ files {
"*.h",
"../StandaloneMain/main_tinyrenderer_single_example.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../CommonInterfaces/*",
"../OpenGLWindow/SimpleCamera.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
@@ -175,6 +179,7 @@ files {
"BasicExample.cpp",
"*.h",
"../StandaloneMain/hellovr_opengl_main.cpp",
"../CommonInterfaces/*",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
@@ -200,4 +205,4 @@ if os.is("MacOSX") then
links{"Cocoa.framework"}
end
end
end

116
examples/Benchmarks/BenchmarkDemo.cpp
View File

@@ -32,10 +32,12 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include "../MultiThreadedDemo/ParallelFor.h"
class btDynamicsWorld;
#define NUMRAYS 500
#define USE_PARALLEL_RAYCASTS 1
class btRigidBody;
class btBroadphaseInterface;
@@ -47,11 +49,11 @@ struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../MultiThreadedDemo/CommonRigidBodyMTBase.h"
class BenchmarkDemo : public CommonRigidBodyBase
class BenchmarkDemo : public CommonRigidBodyMTBase
{
//keep the collision shapes, for deletion/cleanup
@@ -91,7 +93,7 @@ class BenchmarkDemo : public CommonRigidBodyBase
public:
BenchmarkDemo(struct GUIHelperInterface* helper, int benchmark)
:CommonRigidBodyBase(helper),
:CommonRigidBodyMTBase(helper),
m_benchmark(benchmark)
{
}
@@ -204,7 +206,39 @@ public:
sign = -1.0;
}
void cast (btCollisionWorld* cw)
void castRays( btCollisionWorld* cw, int iBegin, int iEnd )
{
for ( int i = iBegin; i < iEnd; ++i )
{
btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
cw->rayTest (source[i], dest[i], cb);
if (cb.hasHit ())
{
hit[i] = cb.m_hitPointWorld;
normal[i] = cb.m_hitNormalWorld;
normal[i].normalize ();
} else {
hit[i] = dest[i];
normal[i] = btVector3(1.0, 0.0, 0.0);
}
}
}
struct CastRaysLoopBody
{
btRaycastBar2* mRaycasts;
btCollisionWorld* mWorld;
CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}
void forLoop( int iBegin, int iEnd ) const
{
mRaycasts->castRays(mWorld, iBegin, iEnd);
}
};
void cast (btCollisionWorld* cw, bool multiThreading = false)
{
#ifdef USE_BT_CLOCK
frame_timer.reset ();
@@ -228,22 +262,19 @@ public:
normal[i].normalize ();
}
#else
for (int i = 0; i < NUMRAYS; i++)
{
btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
cw->rayTest (source[i], dest[i], cb);
if (cb.hasHit ())
{
hit[i] = cb.m_hitPointWorld;
normal[i] = cb.m_hitNormalWorld;
normal[i].normalize ();
} else {
hit[i] = dest[i];
normal[i] = btVector3(1.0, 0.0, 0.0);
}
}
#if USE_PARALLEL_RAYCASTS
if ( multiThreading )
{
CastRaysLoopBody rayLooper(cw, this);
int grainSize = 20; // number of raycasts per task
parallelFor( 0, NUMRAYS, grainSize, rayLooper );
}
else
#endif // USE_PARALLEL_RAYCASTS
{
// single threaded
castRays(cw, 0, NUMRAYS);
}
#ifdef USE_BT_CLOCK
ms += frame_timer.getTimeMilliseconds ();
#endif //USE_BT_CLOCK
@@ -354,42 +385,43 @@ void BenchmarkDemo::initPhysics()
setCameraDistance(btScalar(100.));
///collision configuration contains default setup for memory, collision setup
btDefaultCollisionConstructionInfo cci;
cci.m_defaultMaxPersistentManifoldPoolSize = 32768;
m_collisionConfiguration = new btDefaultCollisionConfiguration(cci);
createEmptyDynamicsWorld();
/////collision configuration contains default setup for memory, collision setup
//btDefaultCollisionConstructionInfo cci;
//cci.m_defaultMaxPersistentManifoldPoolSize = 32768;
//m_collisionConfiguration = new btDefaultCollisionConfiguration(cci);
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
/////use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
//m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
//
//m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
///the maximum size of the collision world. Make sure objects stay within these boundaries
///Don't make the world AABB size too large, it will harm simulation quality and performance
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache();
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache);
/////the maximum size of the collision world. Make sure objects stay within these boundaries
/////Don't make the world AABB size too large, it will harm simulation quality and performance
//btVector3 worldAabbMin(-1000,-1000,-1000);
//btVector3 worldAabbMax(1000,1000,1000);
//
//btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache();
//m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache);
// m_broadphase = new btSimpleBroadphase();
// m_broadphase = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
//btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
//m_solver = sol;
btDiscreteDynamicsWorld* dynamicsWorld;
m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//btDiscreteDynamicsWorld* dynamicsWorld;
//m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
///the following 3 lines increase the performance dramatically, with a little bit of loss of quality
m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; //don't recalculate friction values each frame
dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations
m_dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations
//m_defaultContactProcessingThreshold = 0.f;//used when creating bodies: body->setContactProcessingThreshold(...);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
@@ -1242,7 +1274,7 @@ void BenchmarkDemo::initRays()
void BenchmarkDemo::castRays()
{
raycastBar.cast (m_dynamicsWorld);
raycastBar.cast (m_dynamicsWorld, m_multithreadedWorld);
}
void BenchmarkDemo::createTest7()
@@ -1264,7 +1296,7 @@ void BenchmarkDemo::exitPhysics()
}
m_ragdolls.clear();
CommonRigidBodyBase::exitPhysics();
CommonRigidBodyMTBase::exitPhysics();
}

23
examples/CommonInterfaces/CommonGUIHelperInterface.h
View File

@@ -69,6 +69,12 @@ struct GUIHelperInterface
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
virtual int addUserDebugText3D( const char* txt, const double posisionXYZ[3], const double textColorRGB[3], double size, double lifeTime)=0;
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )=0;
virtual void removeUserDebugItem( int debugItemUniqueId)=0;
virtual void removeAllUserDebugItems( )=0;
};
@@ -141,7 +147,22 @@ struct DummyGUIHelper : public GUIHelperInterface
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
{
}
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
{
return -1;
}
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )
{
return -1;
}
virtual void removeUserDebugItem( int debugItemUniqueId)
{
}
virtual void removeAllUserDebugItems( )
{
}
};
#endif //GUI_HELPER_INTERFACE_H

2
examples/CommonInterfaces/CommonGraphicsAppInterface.h
View File

@@ -120,7 +120,7 @@ struct CommonGraphicsApp
virtual int getUpAxis() const = 0;
virtual void swapBuffer() = 0;
virtual void drawText( const char* txt, int posX, int posY) = 0;
virtual void drawText( const char* txt, int posX, int posY, float size = 1.0f) = 0;
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)=0;
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1)=0;

4
examples/CommonInterfaces/CommonParameterInterface.h
View File

@@ -4,7 +4,7 @@
#pragma once
typedef void (*SliderParamChangedCallback) (float newVal);
typedef void (*SliderParamChangedCallback) (float newVal, void* userPointer);
#include "LinearMath/btScalar.h"
struct SliderParams
@@ -16,6 +16,7 @@ struct SliderParams
btScalar* m_paramValuePointer;
void* m_userPointer;
bool m_clampToNotches;
bool m_clampToIntegers;
bool m_showValues;
SliderParams(const char* name, btScalar* targetValuePointer)
@@ -26,6 +27,7 @@ struct SliderParams
m_paramValuePointer(targetValuePointer),
m_userPointer(0),
m_clampToNotches(true),
m_clampToIntegers(false),
m_showValues(true)
{
}

4
examples/Evolution/NN3DWalkers.cpp
View File

@@ -950,9 +950,9 @@ bool NN3DWalkersExample::keyboardCallback(int key, int state)
case ']':
gWalkerMotorStrength *= 1.1f;
return true;
// case 'l':
case 'l':
// printWalkerConfigs();
// return true;
return true;
default:
break;
}

19
examples/Evolution/NN3DWalkersTimeWarpBase.h
View File

@@ -138,19 +138,15 @@ static btScalar gCFMSingularityAvoidance = 0;
//GUI related parameter changing helpers
inline void floorSliderValues(float notUsed) { // floor values that should be ints
gSolverIterations = floor(gSolverIterations);
}
inline void twxChangePhysicsStepsPerSecond(float physicsStepsPerSecond) { // function to change simulation physics steps per second
inline void twxChangePhysicsStepsPerSecond(float physicsStepsPerSecond, void*) { // function to change simulation physics steps per second
gPhysicsStepsPerSecond = physicsStepsPerSecond;
}
inline void twxChangeFPS(float framesPerSecond) {
inline void twxChangeFPS(float framesPerSecond, void*) {
gFramesPerSecond = framesPerSecond;
}
inline void twxChangeERPCFM(float notUsed) { // function to change ERP/CFM appropriately
inline void twxChangeERPCFM(float notUsed, void*) { // function to change ERP/CFM appropriately
gChangeErpCfm = true;
}
@@ -166,13 +162,12 @@ inline void changeSolver(int comboboxId, const char* item, void* userPointer) {
}
inline void twxChangeSolverIterations(float notUsed){ // change the solver iterations
inline void twxChangeSolverIterations(float notUsed, void* userPtr) { // change the solver iterations
floorSliderValues(0); // floor the values set by slider
}
inline void clampToCustomSpeedNotches(float speed) { // function to clamp to custom speed notches
inline void clampToCustomSpeedNotches(float speed, void*) { // function to clamp to custom speed notches
double minSpeed = 0;
double minSpeedDist = SimulationSpeeds::MAX_SPEED;
for (int i = 0; i < SimulationSpeeds::NUM_SPEEDS; i++) {
@@ -200,7 +195,7 @@ inline void switchMaximumSpeed(int buttonId, bool buttonState, void* userPointer
// b3Printf("Run maximum speed %s", gMaximumSpeed?"on":"off");
}
inline void setApplicationTick(float frequency){ // set internal application tick
inline void setApplicationTick(float frequency, void*){ // set internal application tick
gApplicationTick = 1000.0f/frequency;
}
@@ -384,7 +379,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
slider.m_minVal = 0;
slider.m_maxVal = 1000;
slider.m_callback = twxChangePhysicsStepsPerSecond;
slider.m_clampToNotches = false;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}

46
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -108,6 +108,29 @@ ELSE(WIN32)
ENDIF(APPLE)
ENDIF(WIN32)
IF (BULLET2_MULTITHREADED_OPEN_MP_DEMO)
ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
IF (MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
ELSE (MSVC)
# GCC, Clang
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
ENDIF (MSVC)
ENDIF (BULLET2_MULTITHREADED_OPEN_MP_DEMO)
IF (BULLET2_MULTITHREADED_PPL_DEMO)
ADD_DEFINITIONS("-DBT_USE_PPL=1")
ENDIF (BULLET2_MULTITHREADED_PPL_DEMO)
IF (BULLET2_MULTITHREADED_TBB_DEMO)
SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")
find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR})
find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR})
ADD_DEFINITIONS("-DBT_USE_TBB=1")
INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} )
LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} )
ENDIF (BULLET2_MULTITHREADED_TBB_DEMO)
SET(ExtendedTutorialsSources
../ExtendedTutorials/Chain.cpp
@@ -146,6 +169,7 @@ SET(BulletExampleBrowser_SRCS
../SharedMemory/PhysicsServer.cpp
../SharedMemory/PhysicsClientSharedMemory.cpp
../SharedMemory/PhysicsClientSharedMemory_C_API.cpp
../SharedMemory/PhysicsClient.cpp
../SharedMemory/PhysicsClientC_API.cpp
../SharedMemory/PhysicsServerExample.cpp
@@ -173,6 +197,11 @@ SET(BulletExampleBrowser_SRCS
../InverseKinematics/InverseKinematicsExample.h
../ForkLift/ForkLiftDemo.cpp
../ForkLift/ForkLiftDemo.h
../MultiThreadedDemo/MultiThreadedDemo.cpp
../MultiThreadedDemo/MultiThreadedDemo.h
../MultiThreadedDemo/CommonRigidBodyMTBase.cpp
../MultiThreadedDemo/CommonRigidBodyMTBase.h
../MultiThreadedDemo/ParallelFor.h
../Tutorial/Tutorial.cpp
../Tutorial/Tutorial.h
../Tutorial/Dof6ConstraintTutorial.cpp
@@ -346,9 +375,26 @@ ADD_CUSTOM_COMMAND(
COMMAND ${CMAKE_COMMAND} ARGS -E copy_directory ${BULLET_PHYSICS_SOURCE_DIR}/data ${PROJECT_BINARY_DIR}/data
)
IF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32)
# add a post build command to copy some dlls to the executable directory
set(TBB_VC_VER "vc12")
set(TBB_VC_ARCH "ia32")
# assume 32-bit build in VC12 for now
# checks can be added here at a later time
ADD_CUSTOM_COMMAND(TARGET App_ExampleBrowser POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbb.dll"
$<TARGET_FILE_DIR:App_ExampleBrowser>)
ADD_CUSTOM_COMMAND(TARGET App_ExampleBrowser POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbbmalloc.dll"
$<TARGET_FILE_DIR:App_ExampleBrowser>)
ENDIF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

10
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -8,6 +8,7 @@
#include "../RenderingExamples/TinyRendererSetup.h"
#include "../RenderingExamples/DynamicTexturedCubeDemo.h"
#include "../ForkLift/ForkLiftDemo.h"
#include "../MultiThreadedDemo/MultiThreadedDemo.h"
#include "../BasicDemo/BasicExample.h"
#include "../Planar2D/Planar2D.h"
#include "../Benchmarks/BenchmarkDemo.h"
@@ -269,6 +270,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP),
ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP),
ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
#ifdef ENABLE_LUA
@@ -284,7 +286,13 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Fracture demo", "Create a basic custom implementation to model fracturing objects, based on a btCompoundShape. It explicitly propagates the collision impulses and breaks the rigid body into multiple rigid bodies. Press F to toggle fracture and glue mode.", FractureDemoCreateFunc),
ExampleEntry(1,"Planar 2D","Show the use of 2D collision shapes and rigid body simulation. The collision shape is wrapped into a btConvex2dShape. The rigid bodies are restricted in a plane using the 'setAngularFactor' and 'setLinearFactor' API call.",Planar2DCreateFunc),
#if BT_USE_OPENMP || BT_USE_TBB || BT_USE_PPL
// only enable MultiThreaded demo if a task scheduler is available
ExampleEntry( 1, "Multithreaded Demo",
"Stacks of boxes that do not sleep. Good for testing performance with large numbers of bodies and contacts. Sliders can be used to change the number of stacks (restart needed after each change)."
,
MultiThreadedDemoCreateFunc ),
#endif
ExampleEntry(0,"Rendering"),

22
examples/ExampleBrowser/GL_ShapeDrawer.cpp
View File

@@ -782,7 +782,7 @@ GL_ShapeDrawer::~GL_ShapeDrawer()
}
}
void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWorld, int pass)
void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWorld, int pass, int cameraUpAxis)
{
btAssert(dynamicsWorld);
@@ -849,7 +849,12 @@ void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWo
//if (!(getDebugMode()& btIDebugDraw::DBG_DrawWireframe))
int debugMode = 0;//getDebugMode()
//btVector3 m_sundirection(-1,-1,-1);
btVector3 m_sundirection(btVector3(1,-2,1)*1000);
if (cameraUpAxis==2)
{
m_sundirection = btVector3(1,1,-2)*1000;
}
switch(pass)
{
@@ -861,9 +866,12 @@ void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWo
}
void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, bool useShadows)
//this GL_ShapeDrawer will be removed, in the meanwhile directly access this global 'useShadoMaps'
extern bool useShadowMap;
void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, bool useShadows1, int cameraUpAxis)
{
bool useShadows = useShadowMap;
GLfloat light_ambient[] = { btScalar(0.2), btScalar(0.2), btScalar(0.2), btScalar(1.0) };
GLfloat light_diffuse[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0) };
GLfloat light_specular[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0 )};
@@ -897,7 +905,7 @@ void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, boo
{
glClear(GL_STENCIL_BUFFER_BIT);
glEnable(GL_CULL_FACE);
drawSceneInternal(dynamicsWorld,0);
drawSceneInternal(dynamicsWorld,0, cameraUpAxis);
glDisable(GL_LIGHTING);
glDepthMask(GL_FALSE);
@@ -907,10 +915,10 @@ void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, boo
glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL);
glFrontFace(GL_CCW);
glStencilOp(GL_KEEP,GL_KEEP,GL_INCR);
drawSceneInternal(dynamicsWorld,1);
drawSceneInternal(dynamicsWorld,1,cameraUpAxis);
glFrontFace(GL_CW);
glStencilOp(GL_KEEP,GL_KEEP,GL_DECR);
drawSceneInternal(dynamicsWorld,1);
drawSceneInternal(dynamicsWorld,1,cameraUpAxis);
glFrontFace(GL_CCW);
glPolygonMode(GL_FRONT,GL_FILL);
@@ -929,7 +937,7 @@ void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, boo
glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL );
glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP );
glDisable(GL_LIGHTING);
drawSceneInternal(dynamicsWorld,2);
drawSceneInternal(dynamicsWorld,2,cameraUpAxis);
glEnable(GL_LIGHTING);
glDepthFunc(GL_LESS);
glDisable(GL_STENCIL_TEST);
@@ -938,6 +946,6 @@ void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, boo
else
{
glDisable(GL_CULL_FACE);
drawSceneInternal(dynamicsWorld,0);
drawSceneInternal(dynamicsWorld,0,cameraUpAxis);
}
}

4
examples/ExampleBrowser/GL_ShapeDrawer.h
View File

@@ -44,7 +44,7 @@ protected:
ShapeCache* cache(btConvexShape*);
virtual void drawSceneInternal(const btDiscreteDynamicsWorld* world, int pass);
virtual void drawSceneInternal(const btDiscreteDynamicsWorld* world, int pass, int cameraUpAxis);
public:
GL_ShapeDrawer();
@@ -53,7 +53,7 @@ public:
virtual void drawScene(const btDiscreteDynamicsWorld* world, bool useShadows);
virtual void drawScene(const btDiscreteDynamicsWorld* world, bool useShadows, int cameraUpAxis);
///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
virtual void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);

22
examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
View File

@@ -28,18 +28,20 @@ template<typename T>
struct MySliderEventHandler : public Gwen::Event::Handler
{
SliderParamChangedCallback m_callback;
void* m_userPointer;
Gwen::Controls::TextBox* m_label;
Gwen::Controls::Slider* m_pSlider;
char m_variableName[1024];
T* m_targetValue;
bool m_showValue;
MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider,T* target,SliderParamChangedCallback callback)
MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider,T* target, SliderParamChangedCallback callback, void* userPtr)
:m_label(label),
m_pSlider(pSlider),
m_targetValue(target),
m_showValue(true),
m_callback(callback)
m_callback(callback),
m_userPointer(userPtr)
{
memcpy(m_variableName,varName,strlen(varName)+1);
}
@@ -55,7 +57,7 @@ struct MySliderEventHandler : public Gwen::Event::Handler
if (m_callback)
{
(*m_callback)(v);
(*m_callback)(v, m_userPointer);
}
}
@@ -223,12 +225,20 @@ void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
pSlider->SetPos( 10, m_gwenInternalData->m_curYposition );
pSlider->SetSize( 200, 20 );
pSlider->SetRange( params.m_minVal, params.m_maxVal);
pSlider->SetNotchCount(16);//float(params.m_maxVal-params.m_minVal)/100.f);
pSlider->SetClampToNotches( params.m_clampToNotches );
if (params.m_clampToIntegers)
{
pSlider->SetNotchCount( int( params.m_maxVal - params.m_minVal ) );
pSlider->SetClampToNotches( params.m_clampToNotches );
}
else
{
pSlider->SetNotchCount( 16 );//float(params.m_maxVal-params.m_minVal)/100.f);
pSlider->SetClampToNotches( params.m_clampToNotches );
}
pSlider->SetValue( *params.m_paramValuePointer);//dimensions[i] );
char labelName[1024];
sprintf(labelName,"%s",params.m_name);//axisNames[0]);
MySliderEventHandler<btScalar>* handler = new MySliderEventHandler<btScalar>(labelName,label,pSlider,params.m_paramValuePointer,params.m_callback);
MySliderEventHandler<btScalar>* handler = new MySliderEventHandler<btScalar>(labelName,label,pSlider,params.m_paramValuePointer,params.m_callback, params.m_userPointer);
handler->m_showValue = params.m_showValues;
m_paramInternalData->m_sliderEventHandlers.push_back(handler);

8
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -134,9 +134,9 @@ int gSharedMemoryKey=-1;
int gPreferredOpenCLDeviceIndex=-1;
int gPreferredOpenCLPlatformIndex=-1;
int gGpuArraySizeX=15;
int gGpuArraySizeY=15;
int gGpuArraySizeZ=15;
int gGpuArraySizeX=45;
int gGpuArraySizeY=55;
int gGpuArraySizeZ=45;
//#include <float.h>
//unsigned int fp_control_state = _controlfp(_EM_INEXACT, _MCW_EM);
@@ -1167,7 +1167,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
}
BT_PROFILE("Render Scene");
sCurrentDemo->renderScene();
}
} else
{
B3_PROFILE("physicsDebugDraw");
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );

2
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -338,7 +338,7 @@ void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld)
if (m_data->m_gl2ShapeDrawer && rbWorld)
{
m_data->m_gl2ShapeDrawer->enableTexture(true);
m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true);
m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true, m_data->m_glApp->getUpAxis());
}
}
void OpenGLGuiHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)

18
examples/ExampleBrowser/OpenGLGuiHelper.h
View File

@@ -55,9 +55,27 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
{
return -1;
}
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )
{
return -1;
}
virtual void removeUserDebugItem( int debugItemUniqueId)
{
}
virtual void removeAllUserDebugItems( )
{
}
void renderInternalGl2(int pass, const btDiscreteDynamicsWorld* dynamicsWorld);
void setVRMode(bool vrMode);
};
#endif //OPENGL_GUI_HELPER_H

4
examples/ExampleBrowser/main.cpp
View File

@@ -15,6 +15,8 @@
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
#include "../Importers/ImportBullet/SerializeSetup.h"
#include "LinearMath/btAlignedAllocator.h"
@@ -34,6 +36,8 @@ int main(int argc, char* argv[])
exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc);
exampleBrowser->registerFileImporter(".obj", ImportObjCreateFunc);
exampleBrowser->registerFileImporter(".stl", ImportSTLCreateFunc);
exampleBrowser->registerFileImporter(".bullet", SerializeBulletCreateFunc);
clock.reset();
if (init)

11
examples/ExampleBrowser/premake4.lua
View File

@@ -63,6 +63,14 @@ project "App_BulletExampleBrowser"
"../SharedMemory/PhysicsServer.cpp",
"../SharedMemory/PhysicsServerSharedMemory.cpp",
"../SharedMemory/PhysicsClientSharedMemory.cpp",
"../SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
"../SharedMemory/PhysicsClientSharedMemory_C_API.h",
"../SharedMemory/PhysicsClientSharedMemory2.cpp",
"../SharedMemory/PhysicsClientSharedMemory2.h",
"../SharedMemory/PhysicsClientSharedMemory2_C_API.cpp",
"../SharedMemory/PhysicsClientSharedMemory2_C_API.h",
"../SharedMemory/SharedMemoryCommandProcessor.cpp",
"../SharedMemory/SharedMemoryCommandProcessor.h",
"../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
"../SharedMemory/PhysicsClient.cpp",
"../SharedMemory/PosixSharedMemory.cpp",
@@ -95,7 +103,8 @@ project "App_BulletExampleBrowser"
"../RoboticsLearning/*",
"../Collision/Internal/*",
"../Benchmarks/*",
"../CommonInterfaces/*",
"../MultiThreadedDemo/*",
"../CommonInterfaces/*.h",
"../ForkLift/ForkLiftDemo.*",
"../Importers/**",
"../../Extras/Serialize/BulletWorldImporter/*",

28
examples/ExtendedTutorials/InclinedPlane.cpp
View File

@@ -69,19 +69,19 @@ struct InclinedPlaneExample : public CommonRigidBodyBase
};
void onBoxFrictionChanged(float friction);
void onBoxFrictionChanged(float friction, void* userPtr);
void onBoxRestitutionChanged(float restitution);
void onBoxRestitutionChanged(float restitution, void* userPtr);
void onSphereFrictionChanged(float friction);
void onSphereFrictionChanged(float friction, void* userPtr);
void onSphereRestitutionChanged(float restitution);
void onSphereRestitutionChanged(float restitution, void* userPtr);
void onRampInclinationChanged(float inclination);
void onRampInclinationChanged(float inclination, void* userPtr);
void onRampFrictionChanged(float friction);
void onRampFrictionChanged(float friction, void* userPtr);
void onRampRestitutionChanged(float restitution);
void onRampRestitutionChanged(float restitution, void* userPtr);
void InclinedPlaneExample::initPhysics()
{
@@ -306,35 +306,35 @@ bool InclinedPlaneExample::keyboardCallback(int key, int state) {
// GUI parameter modifiers
void onBoxFrictionChanged(float friction){
void onBoxFrictionChanged(float friction, void*){
if(gBox){
gBox->setFriction(friction);
// b3Printf("Friction of box changed to %f",friction );
}
}
void onBoxRestitutionChanged(float restitution){
void onBoxRestitutionChanged(float restitution, void*){
if(gBox){
gBox->setRestitution(restitution);
//b3Printf("Restitution of box changed to %f",restitution);
}
}
void onSphereFrictionChanged(float friction){
void onSphereFrictionChanged(float friction, void*){
if(gSphere){
gSphere->setFriction(friction);
//b3Printf("Friction of sphere changed to %f",friction );
}
}
void onSphereRestitutionChanged(float restitution){
void onSphereRestitutionChanged(float restitution, void*){
if(gSphere){
gSphere->setRestitution(restitution);
//b3Printf("Restitution of sphere changed to %f",restitution);
}
}
void onRampInclinationChanged(float inclination){
void onRampInclinationChanged(float inclination, void*){
if(ramp){
btTransform startTransform;
startTransform.setIdentity();
@@ -351,14 +351,14 @@ void onRampInclinationChanged(float inclination){
}
}
void onRampFrictionChanged(float friction){
void onRampFrictionChanged(float friction, void*){
if(ramp){
ramp->setFriction(friction);
//b3Printf("Friction of ramp changed to %f \n",friction );
}
}
void onRampRestitutionChanged(float restitution){
void onRampRestitutionChanged(float restitution, void*){
if(ramp){
ramp->setRestitution(restitution);
//b3Printf("Restitution of ramp changed to %f \n",restitution);

21
examples/ExtendedTutorials/MultiPendulum.cpp
View File

@@ -71,11 +71,9 @@ struct MultiPendulumExample: public CommonRigidBodyBase {
static MultiPendulumExample* mex = NULL; // Handle to the example to access it via functions. Do not use this in your simulation!
void onMultiPendulaLengthChanged(float pendulaLength); // Change the pendula length
void onMultiPendulaLengthChanged(float pendulaLength, void*); // Change the pendula length
void onMultiPendulaRestitutionChanged(float pendulaRestitution); // change the pendula restitution
void floorMSliderValue(float notUsed); // floor the slider values which should be integers
void onMultiPendulaRestitutionChanged(float pendulaRestitution, void*); // change the pendula restitution
void applyMForceWithForceScalar(float forceScalar);
@@ -85,8 +83,7 @@ void MultiPendulumExample::initPhysics() { // Setup your physics scene
SliderParams slider("Number of Pendula", &gPendulaQty);
slider.m_minVal = 1;
slider.m_maxVal = 50;
slider.m_callback = floorMSliderValue; // hack to get integer values
slider.m_clampToNotches = false;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
@@ -95,8 +92,7 @@ void MultiPendulumExample::initPhysics() { // Setup your physics scene
SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
slider.m_minVal = 0;
slider.m_maxVal = 49;
slider.m_callback = floorMSliderValue; // hack to get integer values
slider.m_clampToNotches = false;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
@@ -397,7 +393,7 @@ void MultiPendulumExample::applyPendulumForce(btScalar pendulumForce){
// GUI parameter modifiers
void onMultiPendulaLengthChanged(float pendulaLength) { // Change the pendula length
void onMultiPendulaLengthChanged(float pendulaLength, void*) { // Change the pendula length
if (mex){
mex->changePendulaLength(pendulaLength);
}
@@ -405,18 +401,13 @@ void onMultiPendulaLengthChanged(float pendulaLength) { // Change the pendula le
}
void onMultiPendulaRestitutionChanged(float pendulaRestitution) { // change the pendula restitution
void onMultiPendulaRestitutionChanged(float pendulaRestitution, void*) { // change the pendula restitution
if (mex){
mex->changePendulaRestitution(pendulaRestitution);
}
}
void floorMSliderValue(float notUsed) { // floor the slider values which should be integers
gPendulaQty = floor(gPendulaQty);
gDisplacedPendula = floor(gDisplacedPendula);
}
void applyMForceWithForceScalar(float forceScalar) {
if(mex){
btScalar appliedForce = forceScalar * gDisplacementForce;

22
examples/ExtendedTutorials/NewtonsCradle.cpp
View File

@@ -71,11 +71,9 @@ struct NewtonsCradleExample: public CommonRigidBodyBase {
static NewtonsCradleExample* nex = NULL;
void onPendulaLengthChanged(float pendulaLength); // Change the pendula length
void onPendulaLengthChanged(float pendulaLength, void* userPtr); // Change the pendula length
void onPendulaRestitutionChanged(float pendulaRestitution); // change the pendula restitution
void floorSliderValue(float notUsed); // floor the slider values which should be integers
void onPendulaRestitutionChanged(float pendulaRestitution, void* userPtr); // change the pendula restitution
void applyForceWithForceScalar(float forceScalar);
@@ -85,8 +83,7 @@ void NewtonsCradleExample::initPhysics() {
SliderParams slider("Number of Pendula", &gPendulaQty);
slider.m_minVal = 1;
slider.m_maxVal = 50;
slider.m_callback = floorSliderValue; // hack to get integer values
slider.m_clampToNotches = false;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
@@ -95,8 +92,7 @@ void NewtonsCradleExample::initPhysics() {
SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
slider.m_minVal = 0;
slider.m_maxVal = 49;
slider.m_callback = floorSliderValue; // hack to get integer values
slider.m_clampToNotches = false;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
@@ -343,25 +339,19 @@ void NewtonsCradleExample::applyPendulumForce(btScalar pendulumForce){
// GUI parameter modifiers
void onPendulaLengthChanged(float pendulaLength) {
void onPendulaLengthChanged(float pendulaLength, void*) {
if (nex){
nex->changePendulaLength(pendulaLength);
//b3Printf("Pendula length changed to %f \n",sliderValue );
}
}
void onPendulaRestitutionChanged(float pendulaRestitution) {
void onPendulaRestitutionChanged(float pendulaRestitution, void*) {
if (nex){
nex->changePendulaRestitution(pendulaRestitution);
}
}
void floorSliderValue(float notUsed) {
gPendulaQty = floor(gPendulaQty);
gDisplacedPendula = floor(gDisplacedPendula);
}
void applyForceWithForceScalar(float forceScalar) {
if(nex){
btScalar appliedForce = forceScalar * gDisplacementForce;

21
examples/ExtendedTutorials/NewtonsRopeCradle.cpp
View File

@@ -105,9 +105,7 @@ struct NewtonsRopeCradleExample : public CommonRigidBodyBase {
static NewtonsRopeCradleExample* nex = NULL;
void onRopePendulaRestitutionChanged(float pendulaRestitution);
void floorRSliderValue(float notUsed);
void onRopePendulaRestitutionChanged(float pendulaRestitution, void*);
void applyRForceWithForceScalar(float forceScalar);
@@ -118,8 +116,7 @@ void NewtonsRopeCradleExample::initPhysics()
SliderParams slider("Number of Pendula", &gPendulaQty);
slider.m_minVal = 1;
slider.m_maxVal = 50;
slider.m_callback = floorRSliderValue; // hack to get integer values
slider.m_clampToNotches = false;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
@@ -128,8 +125,7 @@ void NewtonsRopeCradleExample::initPhysics()
SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
slider.m_minVal = 0;
slider.m_maxVal = 49;
slider.m_callback = floorRSliderValue; // hack to get integer values
slider.m_clampToNotches = false;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
@@ -148,8 +144,7 @@ void NewtonsRopeCradleExample::initPhysics()
SliderParams slider("Rope Resolution", &gRopeResolution);
slider.m_minVal = 1;
slider.m_maxVal = 20;
slider.m_clampToNotches = false;
slider.m_callback = floorRSliderValue;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
@@ -357,18 +352,12 @@ void NewtonsRopeCradleExample::applyPendulumForce(btScalar pendulumForce){
// GUI parameter modifiers
void onRopePendulaRestitutionChanged(float pendulaRestitution) {
void onRopePendulaRestitutionChanged(float pendulaRestitution, void*) {
if (nex){
nex->changePendulaRestitution(pendulaRestitution);
}
}
void floorRSliderValue(float notUsed) {
gPendulaQty = floor(gPendulaQty);
gDisplacedPendula = floor(gDisplacedPendula);
gRopeResolution = floor(gRopeResolution);
}
void applyRForceWithForceScalar(float forceScalar) {
if(nex){
btScalar appliedForce = forceScalar * gDisplacementForce;

4
examples/ExtendedTutorials/premake4.lua
View File

@@ -17,6 +17,7 @@ language "C++"
files {
"RigidBodyFromObj.cpp",
"../CommonInterfaces/*",
"**.h",
"../StandaloneMain/main_console_single_example.cpp",
"../Utils/b3ResourcePath.cpp",
@@ -68,6 +69,7 @@ files {
"RigidBodyFromObj.cpp",
"*.h",
"../StandaloneMain/main_opengl_single_example.cpp",
"../CommonInterfaces/*",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
@@ -132,6 +134,7 @@ files {
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../CommonInterfaces/*",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
@@ -193,6 +196,7 @@ files {
"../StandaloneMain/main_tinyrenderer_single_example.cpp",
"../OpenGLWindow/SimpleCamera.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../CommonInterfaces/*",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",

236
examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp Normal file
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#include "ImportMJCFSetup.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
//#define TEST_MULTIBODY_SERIALIZATION 1
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "Bullet3Common/b3FileUtils.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../../Utils/b3ResourcePath.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../ImportURDFDemo/MyMultiBodyCreator.h"
class ImportMJCFSetup : public CommonMultiBodyBase
{
char m_fileName[1024];
struct ImportMJCFInternalData* m_data;
bool m_useMultiBody;
btAlignedObjectArray<std::string* > m_nameMemory;
btScalar m_grav;
int m_upAxis;
public:
ImportMJCFSetup(struct GUIHelperInterface* helper, int option, const char* fileName);
virtual ~ImportMJCFSetup();
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
void setFileName(const char* mjcfFileName);
virtual void resetCamera()
{
float dist = 3.5;
float pitch = -136;
float yaw = 28;
float targetPos[3]={0.47,0,-0.64};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
static btAlignedObjectArray<std::string> gMCFJFileNameArray;
#define MAX_NUM_MOTORS 1024
struct ImportMJCFInternalData
{
ImportMJCFInternalData()
:m_numMotors(0),
m_mb(0)
{
for (int i=0;i<MAX_NUM_MOTORS;i++)
{
m_jointMotors[i] = 0;
m_generic6DofJointMotors[i] = 0;
}
}
btScalar m_motorTargetVelocities[MAX_NUM_MOTORS];
btMultiBodyJointMotor* m_jointMotors [MAX_NUM_MOTORS];
btGeneric6DofSpring2Constraint* m_generic6DofJointMotors [MAX_NUM_MOTORS];
int m_numMotors;
btMultiBody* m_mb;
btRigidBody* m_rb;
};
ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
:CommonMultiBodyBase(helper),
m_grav(0),
m_upAxis(2)
{
m_data = new ImportMJCFInternalData;
if (option==1)
{
m_useMultiBody = true;
} else
{
m_useMultiBody = false;
}
static int count = 0;
if (fileName)
{
setFileName(fileName);
} else
{
gMCFJFileNameArray.clear();
//load additional MJCF file names from file
FILE* f = fopen("mjcf_files.txt","r");
if (f)
{
int result;
//warning: we don't avoid string buffer overflow in this basic example in fscanf
char fileName[1024];
do
{
result = fscanf(f,"%s",fileName);
b3Printf("mjcf_files.txt entry %s",fileName);
if (result==1)
{
gMCFJFileNameArray.push_back(fileName);
}
} while (result==1);
fclose(f);
}
if (gMCFJFileNameArray.size()==0)
{
gMCFJFileNameArray.push_back("quadruped/quadruped.mjcf");
}
int numFileNames = gMCFJFileNameArray.size();
if (count>=numFileNames)
{
count=0;
}
sprintf(m_fileName,"%s",gMCFJFileNameArray[count++].c_str());
}
}
ImportMJCFSetup::~ImportMJCFSetup()
{
for (int i=0;i<m_nameMemory.size();i++)
{
delete m_nameMemory[i];
}
m_nameMemory.clear();
delete m_data;
}
static btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
static btVector3 selectColor()
{
static int curColor = 0;
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
return color;
}
void ImportMJCFSetup::setFileName(const char* mjcfFileName)
{
memcpy(m_fileName,mjcfFileName,strlen(mjcfFileName)+1);
}
void ImportMJCFSetup::initPhysics()
{
m_guiHelper->setUpAxis(m_upAxis);
this->createEmptyDynamicsWorld();
//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawContactPoints
+btIDebugDraw::DBG_DrawAabb
);//+btIDebugDraw::DBG_DrawConstraintLimits);
if (m_guiHelper->getParameterInterface())
{
SliderParams slider("Gravity", &m_grav);
slider.m_minVal = -10;
slider.m_maxVal = 10;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
}
void ImportMJCFSetup::stepSimulation(float deltaTime)
{
if (m_dynamicsWorld)
{
btVector3 gravity(0, 0, 0);
gravity[m_upAxis] = m_grav;
m_dynamicsWorld->setGravity(gravity);
for (int i=0;i<m_data->m_numMotors;i++)
{
if (m_data->m_jointMotors[i])
{
m_data->m_jointMotors[i]->setVelocityTarget(m_data->m_motorTargetVelocities[i]);
}
if (m_data->m_generic6DofJointMotors[i])
{
GenericConstraintUserInfo* jointInfo = (GenericConstraintUserInfo*)m_data->m_generic6DofJointMotors[i]->getUserConstraintPtr();
m_data->m_generic6DofJointMotors[i]->setTargetVelocity(jointInfo->m_jointAxisIndex,m_data->m_motorTargetVelocities[i]);
//jointInfo->
}
}
//the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge
m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
}
}
class CommonExampleInterface* ImportMJCFCreateFunc(struct CommonExampleOptions& options)
{
return new ImportMJCFSetup(options.m_guiHelper, options.m_option,options.m_fileName);
}

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examples/Importers/ImportMJCFDemo/ImportMJCFSetup.h Normal file
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#ifndef IMPORT_MJCF_SETUP_H
#define IMPORT_MJCF_SETUP_H
class CommonExampleInterface* ImportMJCFCreateFunc(struct CommonExampleOptions& options);
#endif //IMPORT_MJCF_SETUP_H

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