diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat index e3e8a4dc5..b6fd3cb93 100644 --- a/build_visual_studio_vr_pybullet_double.bat +++ b/build_visual_studio_vr_pybullet_double.bat @@ -18,7 +18,7 @@ rem SET myvar=c:\python-3.5.2 cd build3 -premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 +premake4 --double --standalone-examples --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 rem premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010 rem premake4 --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010 diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index 5ffba4a9a..c82a549e0 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -199,7 +199,6 @@ project "App_BulletExampleBrowser" "../RigidBody/RigidBodySoftContact.cpp", "../ThirdPartyLibs/stb_image/stb_image.cpp", "../ThirdPartyLibs/Wavefront/tiny_obj_loader.*", - "../ThirdPartyLibs/BussIK/*", "../GyroscopicDemo/GyroscopicSetup.cpp", "../GyroscopicDemo/GyroscopicSetup.h", "../ThirdPartyLibs/tinyxml2/tinyxml2.cpp", diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 2c47be584..b629ffe5e 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -3171,6 +3171,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHand struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO); command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId; + command->m_changeDynamicsInfoArgs.m_linkIndex = -1; command->m_changeDynamicsInfoArgs.m_linearDamping = linearDamping; command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING; return 0; @@ -3181,6 +3182,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHan struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO); command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId; + command->m_changeDynamicsInfoArgs.m_linkIndex = -1; command->m_changeDynamicsInfoArgs.m_angularDamping = angularDamping; command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING; return 0; diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua index 1be7f957f..980f14063 100644 --- a/examples/SharedMemory/premake4.lua +++ b/examples/SharedMemory/premake4.lua @@ -72,8 +72,6 @@ myfiles = "plugins/collisionFilterPlugin/collisionFilterPlugin.cpp", "plugins/pdControlPlugin/pdControlPlugin.cpp", "plugins/pdControlPlugin/pdControlPlugin.h", - "../OpenGLWindow/SimpleCamera.cpp", - "../OpenGLWindow/SimpleCamera.h", "../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h", "../Importers/ImportURDFDemo/MultiBodyCreationInterface.h", "../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp", @@ -115,6 +113,8 @@ myfiles = files { myfiles, + "../OpenGLWindow/SimpleCamera.cpp", + "../OpenGLWindow/SimpleCamera.h", "main.cpp", } diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj new file mode 100644 index 000000000..c1b494f87 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj @@ -0,0 +1,2497 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +mtllib chassis_vhacd_mod_zup.mtl +o convex_8 +v -0.154863 -0.055977 0.076973 +v -0.181315 -0.055977 0.078032 +v -0.181315 -0.055977 0.075915 +v -0.181315 0.079452 0.072741 +v -0.181315 0.079452 0.074858 +v -0.154863 0.079452 0.073800 +v -0.154863 -0.055977 0.078032 +v -0.154863 0.074150 0.078032 +v -0.180253 0.014919 0.072741 +v -0.181315 0.074150 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590//753 594//753 591//753 +f 594//754 589//754 591//754 diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl new file mode 100644 index 000000000..2849e6fb6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None.003 +Ns 0.000000 +Ka 0.000000 0.000000 0.000000 +Kd 0.800000 0.800000 0.800000 +Ks 0.800000 0.800000 0.800000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd laikago_tex.jpg diff --git a/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj new file mode 100644 index 000000000..1bc224f15 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj @@ -0,0 +1,24050 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +mtllib chassis_zup.mtl +o 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3518/7020/31 4542/8157/31 4550/8165/31 +f 3511/7013/31 4555/8170/31 4552/8167/31 +f 3511/7013/31 3510/7012/31 4555/8170/31 +f 3510/7012/31 4556/8171/31 4555/8170/31 diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf new file mode 100644 index 000000000..d051affb8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf @@ -0,0 +1,598 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/base_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/base_com.urdf new file mode 100644 index 000000000..829626252 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/base_com.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link1.urdf b/examples/pybullet/gym/pybullet_data/xarm/link1.urdf new file mode 100644 index 000000000..990825f80 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link1.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf new file mode 100644 index 000000000..497cc5e84 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link2.urdf b/examples/pybullet/gym/pybullet_data/xarm/link2.urdf new file mode 100644 index 000000000..b5bff838a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link2.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf new file mode 100644 index 000000000..40a065525 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link3.urdf b/examples/pybullet/gym/pybullet_data/xarm/link3.urdf new file mode 100644 index 000000000..2749d2666 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link3.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf new file mode 100644 index 000000000..3bc0991a1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link4.urdf b/examples/pybullet/gym/pybullet_data/xarm/link4.urdf new file mode 100644 index 000000000..e2e6d11ab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link4.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf new file mode 100644 index 000000000..25183bb4f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link5.urdf b/examples/pybullet/gym/pybullet_data/xarm/link5.urdf new file mode 100644 index 000000000..0bc4f787b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link5.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf new file mode 100644 index 000000000..c1b4616c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf @@ -0,0 +1,69 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link6.urdf b/examples/pybullet/gym/pybullet_data/xarm/link6.urdf new file mode 100644 index 000000000..0ce9a887d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link6.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf new file mode 100644 index 000000000..4cb707430 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf @@ -0,0 +1,70 @@ + + + + + + + + + + /xarm + + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/examples/batchsim3.py b/examples/pybullet/gym/pybullet_envs/examples/batchsim3.py index a7d57e127..962b2a206 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/batchsim3.py +++ b/examples/pybullet/gym/pybullet_envs/examples/batchsim3.py @@ -5,7 +5,7 @@ parentdir = os.path.dirname(os.path.dirname(currentdir)) os.sys.path.insert(0, parentdir) from pybullet_utils import bullet_client -import panda_sim +from pybullet_envs.examples import panda_sim import time diff --git a/examples/pybullet/gym/pybullet_envs/examples/loadpanda.py b/examples/pybullet/gym/pybullet_envs/examples/loadpanda.py index 207a5ba40..022133a29 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/loadpanda.py +++ b/examples/pybullet/gym/pybullet_envs/examples/loadpanda.py @@ -3,7 +3,7 @@ import pybullet_data as pd import math import time import numpy as np -import panda_sim +from pybullet_envs.examples import panda_sim p.connect(p.GUI) p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) @@ -18,4 +18,4 @@ while (1): panda.step() p.stepSimulation() time.sleep(timeStep) - \ No newline at end of file + diff --git a/examples/pybullet/gym/pybullet_envs/examples/xarm.py b/examples/pybullet/gym/pybullet_envs/examples/xarm.py index 781d5afa4..893ff065e 100644 --- a/examples/pybullet/gym/pybullet_envs/examples/xarm.py +++ b/examples/pybullet/gym/pybullet_envs/examples/xarm.py @@ -1,7 +1,7 @@ import pybullet as p import pybullet_data as pd import time -p.connect(p.GUI) +p.connect(p.GUI)#, options="--background_color_red=1.0 --background_color_blue=1.0 --background_color_green=1.0") p.setAdditionalSearchPath(pd.getDataPath()) @@ -14,7 +14,30 @@ table_pos = [0,0,-0.625] table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase) xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase) +jointIds = [] +paramIds = [] + +for j in range(p.getNumJoints(xarm)): + p.changeDynamics(xarm, j, linearDamping=0, angularDamping=0) + info = p.getJointInfo(xarm, j) + #print(info) + jointName = info[1] + jointType = info[2] + if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE): + jointIds.append(j) + paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4, 0)) + +skip_cam_frames = 10 + while (1): p.stepSimulation() + for i in range(len(paramIds)): + c = paramIds[i] + targetPos = p.readUserDebugParameter(c) + p.setJointMotorControl2(xarm, jointIds[i], p.POSITION_CONTROL, targetPos, force=5 * 240.) + skip_cam_frames -= 1 + if (skip_cam_frames<0): + p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL ) + skip_cam_frames = 10 time.sleep(1./240.) diff --git a/examples/pybullet/premake4.lua b/examples/pybullet/premake4.lua index 34d829579..8d63393d2 100644 --- a/examples/pybullet/premake4.lua +++ b/examples/pybullet/premake4.lua @@ -109,8 +109,6 @@ if not _OPTIONS["no-enet"] then "../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h", "../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp", "../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h", - "../../examples/OpenGLWindow/SimpleCamera.cpp", - "../../examples/OpenGLWindow/SimpleCamera.h", "../../examples/TinyRenderer/geometry.cpp", "../../examples/TinyRenderer/model.cpp", "../../examples/TinyRenderer/tgaimage.cpp", @@ -157,8 +155,6 @@ if not _OPTIONS["no-enet"] then "../../examples/SharedMemory/PosixSharedMemory.h", "../../examples/SharedMemory/SharedMemoryCommands.h", "../../examples/SharedMemory/SharedMemoryPublic.h", - "../../examples/Utils/b3ResourcePath.cpp", - "../../examples/Utils/b3ResourcePath.h", "../../examples/Utils/RobotLoggingUtil.cpp", "../../examples/Utils/RobotLoggingUtil.h", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp", diff --git a/setup.py b/setup.py index ae78e4690..86718314f 100644 --- a/setup.py +++ b/setup.py @@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='2.5.8', + version='2.6.0', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= diff --git a/src/Bullet3Common/b3Logging.h b/src/Bullet3Common/b3Logging.h index 9c92b12eb..f61149de7 100644 --- a/src/Bullet3Common/b3Logging.h +++ b/src/Bullet3Common/b3Logging.h @@ -14,20 +14,8 @@ extern "C" //#define b3Printf b3OutputPrintfVarArgsInternal //#define b3Printf(...) printf(__VA_ARGS__) //#define b3Printf(...) - -#define b3Warning(...) \ - do \ - { \ - b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__); \ - b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) -#define b3Error(...) \ - do \ - { \ - b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__); \ - b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); \ - } while (0) - +#define b3Warning(...) do{ b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__);} while (0) +#define b3Error(...)do {b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__);} while (0) #ifndef B3_NO_PROFILE void b3EnterProfileZone(const char* name); diff --git a/src/Bullet3Common/b3Scalar.h b/src/Bullet3Common/b3Scalar.h index c843c1dd2..eeb70ed63 100644 --- a/src/Bullet3Common/b3Scalar.h +++ b/src/Bullet3Common/b3Scalar.h @@ -71,7 +71,17 @@ inline int b3GetVersion() #if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION)) #if (defined(_M_IX86) || defined(_M_X64)) + + +#ifdef __clang__ +//#define B3_NO_SIMD_OPERATOR_OVERLOADS +#define B3_DISABLE_SSE +#endif //__clang__ + +#ifndef B3_DISABLE_SSE #define B3_USE_SSE +#endif //B3_DISABLE_SSE + #ifdef B3_USE_SSE //B3_USE_SSE_IN_API is disabled under Windows by default, because //it makes it harder to integrate Bullet into your application under Windows @@ -92,17 +102,7 @@ inline int b3GetVersion() #ifdef B3_DEBUG #ifdef _MSC_VER #include -#define b3Assert(x) \ - { \ - if (!(x)) \ - { \ - b3Error( \ - "Assert "__FILE__ \ - ":%u (" #x ")\n", \ - __LINE__); \ - __debugbreak(); \ - } \ - } +#define b3Assert(x) { if(!(x)){b3Error("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }} #else //_MSC_VER #include #define b3Assert assert @@ -297,7 +297,7 @@ static int b3NanMask = 0x7F800001; static int b3InfinityMask = 0x7F800000; #define B3_INFINITY_MASK (*(float *)&b3InfinityMask) #endif - +#ifndef B3_NO_SIMD_OPERATOR_OVERLOADS inline __m128 operator+(const __m128 A, const __m128 B) { return _mm_add_ps(A, B); @@ -312,7 +312,7 @@ inline __m128 operator*(const __m128 A, const __m128 B) { return _mm_mul_ps(A, B); } - +#endif //B3_NO_SIMD_OPERATOR_OVERLOADS #define b3CastfTo128i(a) (_mm_castps_si128(a)) #define b3CastfTo128d(a) (_mm_castps_pd(a)) #define b3CastiTo128f(a) (_mm_castsi128_ps(a)) diff --git a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h index 825caeef5..bc0742ad6 100644 --- a/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +++ b/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -187,13 +187,6 @@ btBroadphasePair BT_DECLARE_ALIGNED_ALLOCATOR(); - btBroadphasePair(const btBroadphasePair& other) - : m_pProxy0(other.m_pProxy0), - m_pProxy1(other.m_pProxy1), - m_algorithm(other.m_algorithm), - m_internalInfo1(other.m_internalInfo1) - { - } btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1) { //keep them sorted, so the std::set operations work diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.h b/src/BulletCollision/BroadphaseCollision/btDbvt.h index e5db99722..980d19a75 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/src/BulletCollision/BroadphaseCollision/btDbvt.h @@ -131,7 +131,6 @@ subject to the following restrictions: struct btDbvtAabbMm { DBVT_INLINE btDbvtAabbMm(){} - DBVT_INLINE btDbvtAabbMm(const btDbvtAabbMm& other): mi(other.mi), mx(other.mx){} DBVT_INLINE btVector3 Center() const { return ((mi + mx) / 2); } DBVT_INLINE btVector3 Lengths() const { return (mx - mi); } DBVT_INLINE btVector3 Extents() const { return ((mx - mi) / 2); } diff --git a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index a85782bc8..f4a2d5e36 100644 --- a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -68,7 +68,7 @@ public: virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0; - virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo) + virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& /*dispatchInfo*/) { processAllOverlappingPairs(callback, dispatcher); } diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp index 9f422dc15..e56e73dcf 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp @@ -292,8 +292,8 @@ btCollisionShape* btCollisionWorldImporter::convertCollisionShape(btCollisionSha } break; } -#endif //SUPPORT_GIMPACT_SHAPE_IMPORT \ - //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API \ +#endif //SUPPORT_GIMPACT_SHAPE_IMPORT + //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API //so deal with this case CAPSULE_SHAPE_PROXYTYPE: { diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index 44dd3c553..b48d97f2b 100644 --- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -503,9 +503,9 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper* gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw); //gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw); -#endif //ZERO_MARGIN \ - //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); \ - //if (l2>SIMD_EPSILON) +#endif //ZERO_MARGIN + //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); + //if (l2>SIMD_EPSILON) { sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld; //gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2); //minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance(); diff --git a/src/LinearMath/btScalar.h b/src/LinearMath/btScalar.h index 0fa46df09..86d94e897 100644 --- a/src/LinearMath/btScalar.h +++ b/src/LinearMath/btScalar.h @@ -110,11 +110,16 @@ inline int btIsDoublePrecision() #if defined (_M_ARM) //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however) #elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) + +#ifdef __clang__ +#define __BT_DISABLE_SSE__ +#endif +#ifndef __BT_DISABLE_SSE__ #if _MSC_VER>1400 #define BT_USE_SIMD_VECTOR3 #endif - #define BT_USE_SSE +#endif//__BT_DISABLE_SSE__ #ifdef BT_USE_SSE #if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua index 7933e900e..69a66d32c 100644 --- a/test/SharedMemory/premake4.lua +++ b/test/SharedMemory/premake4.lua @@ -413,8 +413,6 @@ project ("Test_PhysicsServerInProcessExampleBrowser") "../../examples/TinyRenderer/tgaimage.cpp", "../../examples/TinyRenderer/our_gl.cpp", "../../examples/TinyRenderer/TinyRenderer.cpp", - "../../examples/Utils/b3ResourcePath.cpp", - "../../examples/Utils/b3ResourcePath.h", "../../examples/Utils/RobotLoggingUtil.cpp", "../../examples/Utils/RobotLoggingUtil.h", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",