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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
erwin coumans
2016-09-08 15:22:41 -07:00
parent 32eccdff61 e0127bdb54
commit 4ab02a07e5
5 changed files with 1507 additions and 1669 deletions
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2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -1020,7 +1020,7 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
//delete textures //delete textures
for (int i=0;i<textures.size();i++) for (int i=0;i<textures.size();i++)
{ {
delete textures[i].textureData; free( textures[i].textureData);
} }
return graphicsIndex; return graphicsIndex;
} }

20
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -286,6 +286,7 @@ void ConvertURDF2BulletInternal(
btTransform offsetInA,offsetInB; btTransform offsetInA,offsetInB;
offsetInA = parentLocalInertialFrame.inverse()*parent2joint; offsetInA = parentLocalInertialFrame.inverse()*parent2joint;
offsetInB = localInertialFrame.inverse(); offsetInB = localInertialFrame.inverse();
btQuaternion parentRotToThis = offsetInB.getRotation() * offsetInA.inverse().getRotation();
bool disableParentCollision = true; bool disableParentCollision = true;
switch (jointType) switch (jointType)
@@ -295,14 +296,9 @@ void ConvertURDF2BulletInternal(
if (createMultiBody) if (createMultiBody)
{ {
//todo: adjust the center of mass transform and pivot axis properly //todo: adjust the center of mass transform and pivot axis properly
//b3Printf("Fixed joint (btMultiBody)\n");
btQuaternion rot = offsetInA.inverse().getRotation();//parent2joint.inverse().getRotation();
cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex, cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
rot*offsetInB.getRotation(), offsetInA.getOrigin(),-offsetInB.getOrigin()); parentRotToThis, offsetInA.getOrigin(),-offsetInB.getOrigin());
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex); creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
} else } else
{ {
//b3Printf("Fixed joint\n"); //b3Printf("Fixed joint\n");
@@ -319,14 +315,12 @@ void ConvertURDF2BulletInternal(
{ {
if (createMultiBody) if (createMultiBody)
{ {
cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex, cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
offsetInA.inverse().getRotation()*offsetInB.getRotation(), quatRotate(offsetInB.inverse().getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(), parentRotToThis, quatRotate(offsetInB.getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
-offsetInB.getOrigin(), -offsetInB.getOrigin(),
disableParentCollision); disableParentCollision);
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping; cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction; cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex); creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
} else } else
@@ -344,12 +338,10 @@ void ConvertURDF2BulletInternal(
{ {
if (createMultiBody) if (createMultiBody)
{ {
cache.m_bulletMultiBody->setupPrismatic(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex, cache.m_bulletMultiBody->setupPrismatic(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
offsetInA.inverse().getRotation()*offsetInB.getRotation(), quatRotate(offsetInB.inverse().getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(), parentRotToThis, quatRotate(offsetInB.getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
-offsetInB.getOrigin(), -offsetInB.getOrigin(),
disableParentCollision); disableParentCollision);
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex); creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody,mbLinkIndex,jointLowerLimit, jointUpperLimit); btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody,mbLinkIndex,jointLowerLimit, jointUpperLimit);
world1->addMultiBodyConstraint(con); world1->addMultiBodyConstraint(con);

2
examples/TinyRenderer/our_gl.cpp
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@@ -59,7 +59,7 @@ Vec3f barycentric(Vec2f A, Vec2f B, Vec2f C, Vec2f P) {
return Vec3f(-1,1,1); // in this case generate negative coordinates, it will be thrown away by the rasterizator return Vec3f(-1,1,1); // in this case generate negative coordinates, it will be thrown away by the rasterizator
} }
void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, const Matrix& viewPortMatrix, int objectIndex) void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, const Matrix& viewPortMatrix)
{ {
triangle(clipc,shader,image,zbuffer,0,viewPortMatrix,0); triangle(clipc,shader,image,zbuffer,0,viewPortMatrix,0);
} }

3148
examples/pybullet/pybullet.c
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File diff suppressed because it is too large Load Diff

4
src/BulletInverseDynamics/IDConfig.hpp
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@@ -31,6 +31,10 @@
#include "IDErrorMessages.hpp" #include "IDErrorMessages.hpp"
#ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H #ifdef BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H
/*
#include "IDConfigEigen.hpp"
#include "IDConfigBuiltin.hpp"
*/
#define INVDYN_INCLUDE_HELPER_2(x) #x #define INVDYN_INCLUDE_HELPER_2(x) #x
#define INVDYN_INCLUDE_HELPER(x) INVDYN_INCLUDE_HELPER_2(x) #define INVDYN_INCLUDE_HELPER(x) INVDYN_INCLUDE_HELPER_2(x)
#include INVDYN_INCLUDE_HELPER(BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H) #include INVDYN_INCLUDE_HELPER(BT_CUSTOM_INVERSE_DYNAMICS_CONFIG_H)