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b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API

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Parse and use colors from URDF file (single rgba color per link, not per visual)
Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof'
btHashMap, add const Value* operator[]
remove a few more obsolete btMultiBody methods (on the non-multi-dof path)
fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill)
Add mention to Jakub Stepien for his work on btMultiBody
This commit is contained in:
erwincoumans
2015-11-06 17:11:15 -08:00
parent 8160354d02
commit 3b9b803683
16 changed files with 96 additions and 588 deletions
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18
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -508,7 +508,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
if(!bod->isUsingRK4Integration())
{
bod->stepVelocitiesMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
}
else
{
@@ -596,7 +596,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
btScalar h = solverInfo.m_timeStep;
#define output &scratch_r[bod->getNumDofs()]
//calc qdd0 from: q0 & qd0
bod->stepVelocitiesMultiDof(0., scratch_r, scratch_v, scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m);
pCopy(output, scratch_qdd0, 0, numDofs);
//calc q1 = q0 + h/2 * qd0
pResetQx();
@@ -606,7 +606,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
//
//calc qdd1 from: q1 & qd1
pCopyToVelocityVector(bod, scratch_qd1);
bod->stepVelocitiesMultiDof(0., scratch_r, scratch_v, scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m);
pCopy(output, scratch_qdd1, 0, numDofs);
//calc q2 = q0 + h/2 * qd1
pResetQx();
@@ -616,7 +616,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
//
//calc qdd2 from: q2 & qd2
pCopyToVelocityVector(bod, scratch_qd2);
bod->stepVelocitiesMultiDof(0., scratch_r, scratch_v, scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m);
pCopy(output, scratch_qdd2, 0, numDofs);
//calc q3 = q0 + h * qd2
pResetQx();
@@ -626,7 +626,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
//
//calc qdd3 from: q3 & qd3
pCopyToVelocityVector(bod, scratch_qd3);
bod->stepVelocitiesMultiDof(0., scratch_r, scratch_v, scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0., scratch_r, scratch_v, scratch_m);
pCopy(output, scratch_qdd3, 0, numDofs);
//
@@ -661,7 +661,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
for(int link = 0; link < bod->getNumLinks(); ++link)
bod->getLink(link).updateCacheMultiDof();
bod->stepVelocitiesMultiDof(0, scratch_r, scratch_v, scratch_m);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(0, scratch_r, scratch_v, scratch_m);
}
}
@@ -710,7 +710,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
if(!bod->isUsingRK4Integration())
{
bool isConstraintPass = true;
bod->stepVelocitiesMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m, isConstraintPass);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m, isConstraintPass);
}
}
}
@@ -718,8 +718,8 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
}
for (int i=0;i<this->m_multiBodies.size();i++)
{
btMultiBody* bod = m_multiBodies[i];
{
btMultiBody* bod = m_multiBodies[i];
bod->processDeltaVeeMultiDof2();
}