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

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This commit is contained in:
YunfeiBai
2016-09-27 16:51:41 -07:00
parent 7101cf013e 3f805103dd
commit 51963fdea3
63 changed files with 28962 additions and 64 deletions
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27
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1,6 +1,5 @@
#include "PhysicsServerCommandProcessor.h"
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
@@ -569,7 +568,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
m_data = new PhysicsServerCommandProcessorInternalData();
createEmptyDynamicsWorld();
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0001;
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
}
@@ -610,7 +609,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.05;
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
}
@@ -1071,6 +1070,10 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
util->m_memSerializer->m_skipPointers.insert(mb->getBaseCollider(),0);
if (mb->getBaseName())
{
util->m_memSerializer->registerNameForPointer(mb->getBaseName(),mb->getBaseName());
}
bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
for (int i=0;i<mb->getNumLinks();i++)
@@ -1893,6 +1896,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
applyJointDamping(i);
}
btScalar deltaTimeScaled = m_data->m_physicsDeltaTime*simTimeScalingFactor;
if (m_data->m_numSimulationSubSteps > 0)
@@ -2825,6 +2831,7 @@ void PhysicsServerCommandProcessor::removePickingConstraint()
m_data->m_dynamicsWorld->removeConstraint(m_data->m_pickedConstraint);
delete m_data->m_pickedConstraint;
m_data->m_pickedConstraint = 0;
m_data->m_pickedBody->forceActivationState(ACTIVE_TAG);
m_data->m_pickedBody = 0;
}
if (m_data->m_pickingMultiBodyPoint2Point)
@@ -2894,11 +2901,12 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btVector3 shiftPos = spawnDir*spawnDistance;
btVector3 spawnPos = gVRGripperPos + shiftPos;
loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("lego/lego.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_sphereId = bodyId;
InteralBodyData* parentBody = m_data->getHandle(bodyId);
if (parentBody->m_multiBody)
{
parentBody->m_multiBody->setBaseVel(spawnDir * 3);
parentBody->m_multiBody->setBaseVel(spawnDir * 5);
}
}
@@ -2943,6 +2951,10 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
loadUrdf("kuka_iiwa/model.urdf", btVector3(0, -3.0, 0.0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_KukaId = bodyId;
loadUrdf("lego/lego.urdf", btVector3(0, -2.8, .1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(0, -2.8, .2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(0, -2.8, .3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("r2d2.urdf", btVector3(2, -2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// Load one motor gripper for kuka
loadSdf("gripper/wsg50_one_motor_gripper_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
@@ -2962,6 +2974,13 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
}
}
}
for (int i = 0; i < 6; i++)
{
loadUrdf("jenga/jenga.urdf", btVector3(-1-0.1*i,-0.5, .07), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// Add slider joint for fingers
btVector3 pivotInParent1(0, 0, 0.06);