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Merge remote-tracking branch 'upstream/master'

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yunfeibai committed 2017-03-29 15:06:15 -07:00
2 parents 64573c38e4 30c1923b00
commit 66a8685816
77 files changed
+2112 -1117
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CMakeLists.txt
+45
View File
@@ -85,15 +85,60 @@ IF(MSVC)
ADD_DEFINITIONS(-D_WIN64)
ELSE()
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON)
option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
IF (USE_MSVC_SSE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
ENDIF()
IF (USE_MSVC_SSE2)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2")
ENDIF()
ENDIF()
option(USE_MSVC_AVX "Compile your program with AVX instructions" OFF)
IF(USE_MSVC_AVX)
add_definitions(/arch:AVX)
ENDIF()
OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON)
IF (USE_MSVC_FAST_FLOATINGPOINT)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
ENDIF()
OPTION(USE_MSVC_STRING_POOLING "Use MSVC /GF string pooling option" ON)
IF (USE_MSVC_STRING_POOLING)
SET(CMAKE_C_FLAGS "/GF ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/GF ${CMAKE_CXX_FLAGS}")
ENDIF()
OPTION(USE_MSVC_FUNCTION_LEVEL_LINKING "Use MSVC /Gy function level linking option" ON)
IF(USE_MSVC_FUNCTION_LEVEL_LINKING)
SET(CMAKE_C_FLAGS "/Gy ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/Gy ${CMAKE_CXX_FLAGS}")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:REF")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:REF")
ENDIF(USE_MSVC_FUNCTION_LEVEL_LINKING)
OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option" OFF)
OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option" ON)
IF(USE_MSVC_COMDAT_FOLDING)
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF")
ENDIF()
OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option" ON)
IF(USE_MSVC_DISABLE_RTTI)
STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI
SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}")
ENDIF(USE_MSVC_DISABLE_RTTI)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
ENDIF(MSVC)
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
+8
View File
@@ -1368,6 +1368,10 @@ typedef struct bInvalidHandle {
double m_jointTorque[6];
double m_jointDamping;
double m_jointFriction;
double m_jointLowerLimit;
double m_jointUpperLimit;
double m_jointMaxForce;
double m_jointMaxVelocity;
char *m_linkName;
char *m_jointName;
btCollisionObjectDoubleData *m_linkCollider;
@@ -1395,6 +1399,10 @@ typedef struct bInvalidHandle {
int m_posVarCount;
float m_jointDamping;
float m_jointFriction;
float m_jointLowerLimit;
float m_jointUpperLimit;
float m_jointMaxForce;
float m_jointMaxVelocity;
char *m_linkName;
char *m_jointName;
btCollisionObjectFloatData *m_linkCollider;
Extras/Serialize/HeaderGenerator/apiGen.cpp
+10 -4
View File
@@ -20,12 +20,13 @@
#include "bDNA.h"
#include "bBlenderFile.h"
#include "btBulletFile.h"
#include "LinearMath/btSerializer.h"
#include "bCommon.h"
#include <map>
#include <vector>
#include <string.h>
bool isBulletFile = false;
bool isBulletFile = true;
using namespace bParse;
typedef std::string bString;
@@ -216,10 +217,12 @@ int main(int argc,char** argv)
using namespace bParse;
dump = fopen("dump.py", "w");
if (!dump) return 0;
fprintf(dump, "%s\n", data);
#if 0
char* filename = "../../../../data/r2d2_multibody.bullet";
if (argc==2)
@@ -269,9 +272,12 @@ int main(int argc,char** argv)
bBlenderFile f(memBuf,len);
swap = (f.getFlags() & FD_ENDIAN_SWAP)!=0;
}
#else
isBulletFile = true;
bool swap = false;
char* memBuf = sBulletDNAstr;
int len = sBulletDNAlen;
#endif
char *blenderData = memBuf;
Extras/Serialize/HeaderGenerator/bulletGenerate.py
+3
View File
@@ -1,6 +1,9 @@
import sys
sys.path.append(".")
import dump
header = """/* Copyright (C) 2011 Erwin Coumans & Charlie C
*
* This software is provided 'as-is', without any express or implied
Extras/Serialize/makesdna/CMakeLists.txt
+15 -1
View File
@@ -23,15 +23,29 @@ SET (INC_FILES
SET(SRC makesdna.cpp)
ADD_EXECUTABLE(makesdna ${SRC} ${INC_FILES})
IF (CMAKE_CL_64)
# Output BulletDNA.c
ADD_CUSTOM_COMMAND(
OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp
COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/
DEPENDS makesdna
)
SET(SRC ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp)
ELSE()
# Output BulletDNA.c
ADD_CUSTOM_COMMAND(
OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp
COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/
DEPENDS makesdna
)
SET(SRC ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp)
ENDIF()
# Build bf_dna library
SET(SRC ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp)
ADD_LIBRARY(BulletDNA ${SRC} ${INC_FILES})
MESSAGE(STATUS "Configuring makesdna")
VERSION
+1 -1
View File
@@ -1 +1 @@
2.86
2.87
data/pr2_gripper.urdf
+11 -4
View File
@@ -71,9 +71,9 @@
</visual>
<collision>
<geometry>
<box size=".03 .03 .02"/>
<box size=".03 .01 .02"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
<origin rpy="0.0 0.0 0" xyz="0.105 -0.005 0"/>
</collision>
<inertial>
<mass value="0.1"/>
@@ -130,10 +130,17 @@
</visual>
<collision>
<geometry>
<box size=".03 .03 .02"/>
<box size=".03 .01 .02"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
<origin rpy="-3.1415 0 0" xyz="0.105 0.015 0"/>
</collision>
<collision>
<geometry>
<box size=".01 .02 .02"/>
</geometry>
<origin rpy="-3.1415 0 -0.5" xyz="0.095 0.005 0"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
docs/pybullet_quickstartguide.pdf
BIN
View File
Binary file not shown.
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+6 -6
View File
@@ -495,10 +495,10 @@ static void saveCurrentSettings(int currentEntry,const char* startFileName)
{
fprintf(f,"--enable_experimental_opencl\n");
}
if (sUseOpenGL2 )
{
fprintf(f,"--opengl2\n");
}
// if (sUseOpenGL2 )
// {
// fprintf(f,"--opengl2\n");
// }
fclose(f);
}
@@ -1237,8 +1237,8 @@ void OpenGLExampleBrowser::update(float deltaTime)
if (renderGrid)
{
BT_PROFILE("Draw Grid");
glPolygonOffset(3.0, 3);
glEnable(GL_POLYGON_OFFSET_FILL);
//glPolygonOffset(3.0, 3);
//glEnable(GL_POLYGON_OFFSET_FILL);
s_app->drawGrid(dg);
}
examples/ExampleBrowser/OpenGLGuiHelper.cpp
+1 -16
View File
@@ -10,8 +10,6 @@
#include "../OpenGLWindow/SimpleCamera.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
//backwards compatibility
#include "GL_ShapeDrawer.h"
#define BT_LINE_BATCH_SIZE 512
@@ -147,7 +145,6 @@ struct OpenGLGuiHelperInternalData
{
struct CommonGraphicsApp* m_glApp;
class MyDebugDrawer* m_debugDraw;
GL_ShapeDrawer* m_gl2ShapeDrawer;
bool m_vrMode;
int m_vrSkipShadowPass;
@@ -178,19 +175,13 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
m_data->m_glApp = glApp;
m_data->m_debugDraw = 0;
m_data->m_gl2ShapeDrawer = 0;
if (useOpenGL2)
{
m_data->m_gl2ShapeDrawer = new GL_ShapeDrawer();
}
}
OpenGLGuiHelper::~OpenGLGuiHelper()
{
delete m_data->m_debugDraw;
delete m_data->m_gl2ShapeDrawer;
delete m_data;
}
@@ -337,13 +328,7 @@ void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld)
m_data->m_glApp->m_renderer->renderScene();
}
//backwards compatible OpenGL2 rendering
if (m_data->m_gl2ShapeDrawer && rbWorld)
{
m_data->m_gl2ShapeDrawer->enableTexture(true);
m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true, m_data->m_glApp->getUpAxis());
}
}
void OpenGLGuiHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)
{
examples/ExampleBrowser/main.cpp
-2
View File
@@ -1,5 +1,3 @@
#include "OpenGLExampleBrowser.h"
#include "Bullet3Common/b3CommandLineArgs.h"
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+102 -78
View File
@@ -79,7 +79,7 @@ static bool parseVector3(btVector3& vec3, const std::string& vector_str, MJCFErr
}
if (rgba.size() < 3)
{
logger->reportWarning("Couldn't parse vector3");
logger->reportWarning( ("Couldn't parse vector3 '" + vector_str + "'").c_str() );
return false;
}
if (lastThree) {
@@ -113,7 +113,8 @@ static bool parseVector6(btVector3& v0, btVector3& v1, const std::string& vector
}
if (values.size() < 6)
{
logger->reportWarning("Couldn't parse 6 floats");
logger->reportWarning( ("Couldn't parse 6 floats '" + vector_str + "'").c_str() );
return false;
}
v0.setValue(values[0],values[1],values[2]);
@@ -143,6 +144,7 @@ struct BulletMJCFImporterInternalData
//<compiler angle="radian" meshdir="mesh/" texturedir="texture/"/>
std::string m_meshDir;
std::string m_textureDir;
std::string m_angleUnits;
int m_activeModel;
@@ -173,9 +175,17 @@ struct BulletMJCFImporterInternalData
std::string sourceFileLocation(TiXmlElement* e)
{
#if 0
//no C++11 snprintf etc
char buf[1024];
snprintf(buf, sizeof(buf), "%s:%i", m_sourceFileName.c_str(), e->Row());
return buf;
#else
char row[1024];
sprintf(row,"%d",e->Row());
std::string str = m_sourceFileName.c_str() + std::string(":") + std::string(row);
return str;
#endif
}
const UrdfLink* getLink(int modelIndex, int linkIndex) const
@@ -205,6 +215,8 @@ struct BulletMJCFImporterInternalData
{
m_textureDir = textureDirStr;
}
const char* angle = root_xml->Attribute("angle");
m_angleUnits = angle ? angle : "degree"; // degrees by default, http://www.mujoco.org/book/modeling.html#compiler
#if 0
for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
{
@@ -337,8 +349,7 @@ struct BulletMJCFImporterInternalData
}
if (!handled)
{
logger->reportWarning("Unhandled root element");
logger->reportWarning(n.c_str());
logger->reportWarning( (sourceFileLocation(rootxml) + ": unhandled root element '" + n + "'").c_str() );
}
}
return true;
@@ -346,6 +357,7 @@ struct BulletMJCFImporterInternalData
bool parseJoint(TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, const btTransform& parentToLinkTrans, btTransform& jointTransOut)
{
bool jointHandled = false;
const char* jType = link_xml->Attribute("type");
const char* limitedStr = link_xml->Attribute("limited");
const char* axisStr = link_xml->Attribute("axis");
@@ -375,79 +387,25 @@ struct BulletMJCFImporterInternalData
jointTrans.setRotation(orn);
}
}
btVector3 jointAxis(1,0,0);
btVector3 jointAxis(1,0,0);
if (axisStr)
{
std::string ax = axisStr;
parseVector3(jointAxis,ax,logger);
} else
{
logger->reportWarning("joint without axis attribute");
logger->reportWarning( (sourceFileLocation(link_xml) + ": joint without axis attribute").c_str() );
}
bool isLimited = false;
double range[2] = {1,0};
double range[2] = {1,0};
std::string lim = m_defaultJointLimited;
if (limitedStr)
{
lim = limitedStr;
}
if (lim=="true")
{
isLimited = true;
//parse the 'range' field
btArray<std::string> pieces;
btArray<float> sizes;
btAlignedObjectArray<std::string> strArray;
urdfIsAnyOf(" ", strArray);
urdfStringSplit(pieces, rangeStr, strArray);
for (int i = 0; i < pieces.size(); ++i)
{
if (!pieces[i].empty())
{
sizes.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
}
}
if (sizes.size()==2)
{
// TODO angle units are in "<compiler angle="degree" inertiafromgeom="true"/>
range[0] = sizes[0] * B3_PI / 180;
range[1] = sizes[1] * B3_PI / 180;
} else
{
logger->reportWarning("Expected range[2] in joint with limits");
}
}
bool isLimited = lim=="true";
// TODO armature : real, "0" Armature inertia (or rotor inertia) of all
// degrees of freedom created by this joint. These are constants added to the
// diagonal of the inertia matrix in generalized coordinates. They make the
// simulation more stable, and often increase physical realism. This is because
// when a motor is attached to the system with a transmission that amplifies
// the motor force by c, the inertia of the rotor (i.e. the moving part of the
// motor) is amplified by c*c. The same holds for gears in the early stages of
// planetary gear boxes. These extra inertias often dominate the inertias of
// the robot parts that are represented explicitly in the model, and the
// armature attribute is the way to model them.
// TODO damping : real, "0" Damping applied to all degrees of
// freedom created by this joint. Unlike friction loss
// which is computed by the constraint solver, damping is
// simply a force linear in velocity. It is included in
// the passive forces. Despite this simplicity, larger
// damping values can make numerical integrators unstable,
// which is why our Euler integrator handles damping
// implicitly. See Integration in the Computation chapter.
bool jointHandled = false;
const UrdfLink* linkPtr = getLink(modelIndex,linkIndex);
btTransform parentLinkToJointTransform;
parentLinkToJointTransform.setIdentity();
parentLinkToJointTransform = parentToLinkTrans*jointTrans;
jointTransOut = jointTrans;
UrdfJointTypes ejtype;
if (jType)
{
@@ -475,9 +433,67 @@ struct BulletMJCFImporterInternalData
}
} else
{
logger->reportWarning("Expected 'type' attribute for joint");
logger->reportWarning( (sourceFileLocation(link_xml) + ": expected 'type' attribute for joint").c_str() );
}
if (isLimited)
{
//parse the 'range' field
btArray<std::string> pieces;
btArray<float> limits;
btAlignedObjectArray<std::string> strArray;
urdfIsAnyOf(" ", strArray);
urdfStringSplit(pieces, rangeStr, strArray);
for (int i = 0; i < pieces.size(); ++i)
{
if (!pieces[i].empty())
{
limits.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
}
}
if (limits.size()==2)
{
range[0] = limits[0];
range[1] = limits[1];
if (m_angleUnits=="degree" && ejtype==URDFRevoluteJoint)
{
range[0] = limits[0] * B3_PI / 180;
range[1] = limits[1] * B3_PI / 180;
}
}
else
{
logger->reportWarning( (sourceFileLocation(link_xml) + ": cannot parse 'range' attribute (units='" + m_angleUnits + "'')").c_str() );
}
}
// TODO armature : real, "0" Armature inertia (or rotor inertia) of all
// degrees of freedom created by this joint. These are constants added to the
// diagonal of the inertia matrix in generalized coordinates. They make the
// simulation more stable, and often increase physical realism. This is because
// when a motor is attached to the system with a transmission that amplifies
// the motor force by c, the inertia of the rotor (i.e. the moving part of the
// motor) is amplified by c*c. The same holds for gears in the early stages of
// planetary gear boxes. These extra inertias often dominate the inertias of
// the robot parts that are represented explicitly in the model, and the
// armature attribute is the way to model them.
// TODO damping : real, "0" Damping applied to all degrees of
// freedom created by this joint. Unlike friction loss
// which is computed by the constraint solver, damping is
// simply a force linear in velocity. It is included in
// the passive forces. Despite this simplicity, larger
// damping values can make numerical integrators unstable,
// which is why our Euler integrator handles damping
// implicitly. See Integration in the Computation chapter.
const UrdfLink* linkPtr = getLink(modelIndex,linkIndex);
btTransform parentLinkToJointTransform;
parentLinkToJointTransform.setIdentity();
parentLinkToJointTransform = parentToLinkTrans*jointTrans;
jointTransOut = jointTrans;
if (jointHandled)
{
UrdfJoint* jointPtr = new UrdfJoint();
@@ -520,6 +536,7 @@ struct BulletMJCFImporterInternalData
UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
if (linkPtrPtr==0)
{
// XXX: should it be assert?
logger->reportWarning("Invalide linkindex");
return false;
}
@@ -613,7 +630,7 @@ struct BulletMJCFImporterInternalData
geom.m_sphereRadius = urdfLexicalCast<double>(sz);
} else
{
logger->reportWarning("Expected size field (scalar) in sphere geom");
logger->reportWarning( (sourceFileLocation(link_xml) + ": no size field (scalar) in sphere geom").c_str() );
}
handledGeomType = true;
}
@@ -637,18 +654,18 @@ struct BulletMJCFImporterInternalData
}
geom.m_capsuleRadius = 0;
geom.m_capsuleHalfHeight = 0.f;
geom.m_capsuleHeight = 0.f;
if (sizes.size()>0)
{
geom.m_capsuleRadius = sizes[0];
if (sizes.size()>1)
{
geom.m_capsuleHalfHeight = sizes[1];
geom.m_capsuleHeight = 2*sizes[1];
}
} else
{
logger->reportWarning("couldn't convert 'size' attribute of capsule geom");
logger->reportWarning( (sourceFileLocation(link_xml) + ": couldn't convert 'size' attribute of capsule geom").c_str() );
}
const char* fromtoStr = link_xml->Attribute("fromto");
geom.m_hasFromTo = false;
@@ -664,7 +681,7 @@ struct BulletMJCFImporterInternalData
{
if (sizes.size()<2)
{
logger->reportWarning("capsule without fromto attribute requires 2 sizes (radius and halfheight)");
logger->reportWarning( (sourceFileLocation(link_xml) + ": capsule without fromto attribute requires 2 sizes (radius and halfheight)").c_str() );
} else
{
handledGeomType = true;
@@ -725,13 +742,11 @@ struct BulletMJCFImporterInternalData
} else
{
char warn[1024];
sprintf(warn,"Unknown/unhandled geom type: %s", geomType.c_str());
logger->reportWarning(warn);
logger->reportWarning( (sourceFileLocation(link_xml) + ": unhandled geom type '" + geomType + "'").c_str() );
}
} else
{
logger->reportWarning("geom requires type");
logger->reportWarning( (sourceFileLocation(link_xml) + ": geom requires type").c_str() );
}
return handledGeomType;
@@ -1013,10 +1028,7 @@ struct BulletMJCFImporterInternalData
}
if (!handled)
{
char warn[1024];
std::string n = xml->Value();
sprintf(warn,"Unknown/unhandled field: %s", n.c_str());
logger->reportWarning(warn);
logger->reportWarning( (sourceFileLocation(xml) + ": unknown field '" + n + "'").c_str() );
}
}
@@ -1395,12 +1407,14 @@ void BulletMJCFImporter::getLinkChildIndices(int urdfLinkIndex, btAlignedObjectA
}
}
bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
bool BulletMJCFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const
{
jointLowerLimit = 0.f;
jointUpperLimit = 0.f;
jointDamping = 0.f;
jointFriction = 0.f;
jointMaxForce = 0;
jointMaxVelocity = 0;
const UrdfLink* link = m_data->getLink(m_data->m_activeModel,urdfLinkIndex);
if (link)
@@ -1418,6 +1432,8 @@ bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
jointUpperLimit = pj->m_upperLimit;
jointDamping = pj->m_jointDamping;
jointFriction = pj->m_jointFriction;
jointMaxForce = pj->m_effortLimit;
jointMaxVelocity = pj->m_velocityLimit;
return true;
} else
@@ -1430,6 +1446,14 @@ bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
return false;
}
bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
{
//backwards compatibility for custom file importers
btScalar jointMaxForce = 0;
btScalar jointMaxVelocity = 0;
return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction,jointMaxForce, jointMaxVelocity);
}
bool BulletMJCFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
{
rootTransformInWorld.setIdentity();
@@ -1662,7 +1686,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
} else
{
btCapsuleShapeZ* cap = new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,
2.*col->m_geometry.m_capsuleHalfHeight);
col->m_geometry.m_capsuleHeight);
childShape = cap;
}
break;
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
+1
View File
@@ -62,6 +62,7 @@ public:
virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+16 -5
View File
@@ -365,12 +365,14 @@ void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVect
}
}
bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
bool BulletURDFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const
{
jointLowerLimit = 0.f;
jointUpperLimit = 0.f;
jointDamping = 0.f;
jointFriction = 0.f;
jointMaxForce = 0.f;
jointMaxVelocity = 0.f;
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdfLinkIndex);
btAssert(linkPtr);
@@ -389,7 +391,8 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
jointUpperLimit = pj->m_upperLimit;
jointDamping = pj->m_jointDamping;
jointFriction = pj->m_jointFriction;
jointMaxForce = pj->m_effortLimit;
jointMaxVelocity = pj->m_velocityLimit;
return true;
} else
{
@@ -400,6 +403,14 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
return false;
};
bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
{
btScalar jointMaxForce;
btScalar jointMaxVelocity;
return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction,jointMaxForce,jointMaxVelocity);
}
bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
@@ -558,7 +569,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
case URDF_GEOM_CAPSULE:
{
btScalar radius = collision->m_geometry.m_capsuleRadius;
btScalar height = btScalar(2.f)*collision->m_geometry.m_capsuleHalfHeight;
btScalar height = collision->m_geometry.m_capsuleHeight;
btCapsuleShapeZ* capsuleShape = new btCapsuleShapeZ(radius,height);
shape = capsuleShape;
shape ->setMargin(gUrdfDefaultCollisionMargin);
@@ -568,7 +579,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
case URDF_GEOM_CYLINDER:
{
btScalar cylRadius = collision->m_geometry.m_capsuleRadius;
btScalar cylLength = collision->m_geometry.m_capsuleHalfHeight;
btScalar cylLength = collision->m_geometry.m_capsuleHeight;
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
@@ -791,7 +802,7 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
{
btScalar cylRadius = visual->m_geometry.m_capsuleRadius;
btScalar cylLength = visual->m_geometry.m_capsuleHalfHeight;
btScalar cylLength = visual->m_geometry.m_capsuleHeight;
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
vertices.push_back(vert);
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+1
View File
@@ -48,6 +48,7 @@ public:
virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+14 -3
View File
@@ -232,9 +232,11 @@ void ConvertURDF2BulletInternal(
btScalar jointUpperLimit;
btScalar jointDamping;
btScalar jointFriction;
btScalar jointMaxForce;
btScalar jointMaxVelocity;
bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction);
bool hasParentJoint = u2b.getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction,jointMaxForce,jointMaxVelocity);
std::string linkName = u2b.getLinkName(urdfLinkIndex);
if (flags & CUF_USE_SDF)
@@ -344,6 +346,17 @@ void ConvertURDF2BulletInternal(
btQuaternion parentRotToThis = offsetInB.getRotation() * offsetInA.inverse().getRotation();
bool disableParentCollision = true;
if (createMultiBody && cache.m_bulletMultiBody)
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction = jointFriction;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointLowerLimit = jointLowerLimit;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointUpperLimit = jointUpperLimit;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointMaxForce = jointMaxForce;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointMaxVelocity = jointMaxVelocity;
}
switch (jointType)
{
case URDFFixedJoint:
@@ -374,8 +387,6 @@ void ConvertURDF2BulletInternal(
parentRotToThis, quatRotate(offsetInB.getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
-offsetInB.getOrigin(),
disableParentCollision);
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) {
//std::string name = u2b.getLinkName(urdfLinkIndex);
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+8
View File
@@ -47,6 +47,14 @@ public:
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const =0;
virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const
{
//backwards compatibility for custom file importers
jointMaxForce = 0;
jointMaxVelocity = 0;
return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction);
};
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
///quick hack: need to rethink the API/dependencies of this
examples/Importers/ImportURDFDemo/UrdfParser.cpp
+12 -2
View File
@@ -403,7 +403,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
}
geom.m_hasFromTo = false;
geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHalfHeight = urdfLexicalCast<double>(shape->Attribute("length"));
geom.m_capsuleHeight = urdfLexicalCast<double>(shape->Attribute("length"));
}
else if (type_name == "capsule")
@@ -417,7 +417,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
}
geom.m_hasFromTo = false;
geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHalfHeight = btScalar(0.5)*urdfLexicalCast<double>(shape->Attribute("length"));
geom.m_capsuleHeight = urdfLexicalCast<double>(shape->Attribute("length"));
}
else if (type_name == "mesh")
{
@@ -1679,7 +1679,17 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
std::string UrdfParser::sourceFileLocation(TiXmlElement* e)
{
#if 0
//no C++11 etc, no snprintf
char buf[1024];
snprintf(buf, sizeof(buf), "%s:%i", m_urdf2Model.m_sourceFile.c_str(), e->Row());
return buf;
#else
char row[1024];
sprintf(row,"%d",e->Row());
std::string str = m_urdf2Model.m_sourceFile.c_str() + std::string(":") + std::string(row);
return str;
#endif
}
examples/Importers/ImportURDFDemo/UrdfParser.h
+1 -1
View File
@@ -65,7 +65,7 @@ struct UrdfGeometry
btVector3 m_boxSize;
double m_capsuleRadius;
double m_capsuleHalfHeight;
double m_capsuleHeight;
int m_hasFromTo;
btVector3 m_capsuleFrom;
btVector3 m_capsuleTo;
examples/OpenGLWindow/SimpleOpenGL2App.cpp
+107 -7
View File
@@ -1,13 +1,15 @@
#include "SimpleOpenGL2App.h"
#define USE_OPENGL2
#include "OpenGLInclude.h"
#include "ShapeData.h"
#include "Bullet3Common/b3Logging.h"//b3Assert?
#include "Bullet3Common/b3Scalar.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../OpenGLWindow/GLPrimitiveRenderer.h"
#include "GLInstanceGraphicsShape.h"
#include "stdlib.h"
#include "TwFonts.h"
#ifdef __APPLE__
@@ -161,13 +163,13 @@ SimpleOpenGL2App::SimpleOpenGL2App(const char* title, int width, int height)
b3Assert(glGetError() ==GL_NO_ERROR);
//m_instancingRenderer = new GLInstancingRenderer(128*1024,32*1024*1024);
//m_instancingRenderer->init();
//m_instancingRenderer->resize(width,height);
//m_renderer = new GLInstancingRenderer(128*1024,32*1024*1024);
//m_renderer->init();
//m_renderer->resize(width,height);
b3Assert(glGetError() ==GL_NO_ERROR);
//m_instancingRenderer->InitShaders();
//m_renderer->InitShaders();
m_window->setMouseMoveCallback(Simple2MouseMoveCallback);
m_window->setMouseButtonCallback(Simple2MouseButtonCallback);
@@ -275,7 +277,7 @@ void SimpleOpenGL2App::drawGrid(DrawGridData data)
//we don't use drawPoints because all points would have the same color
// b3Vector3 points[3] = { b3MakeVector3(1, 0, 0), b3MakeVector3(0, 1, 0), b3MakeVector3(0, 0, 1) };
// m_instancingRenderer->drawPoints(&points[0].x, b3MakeVector3(1, 0, 0), 3, sizeof(b3Vector3), 6);
// m_renderer->drawPoints(&points[0].x, b3MakeVector3(1, 0, 0), 3, sizeof(b3Vector3), 6);
}
void SimpleOpenGL2App::setUpAxis(int axis)
{
@@ -466,8 +468,106 @@ void SimpleOpenGL2App::drawText3D( const char* txt, float worldPosX, float world
restoreOpenGLState();
}
void SimpleOpenGL2App::registerGrid(int xres, int yres, float color0[4], float color1[4])
void SimpleOpenGL2App::registerGrid(int cells_x, int cells_z, float color0[4], float color1[4])
{
b3Vector3 cubeExtents=b3MakeVector3(0.5,0.5,0.5);
cubeExtents[m_data->m_upAxis] = 0;
int cubeId = registerCubeShape(cubeExtents[0],cubeExtents[1],cubeExtents[2]);
b3Quaternion orn(0,0,0,1);
b3Vector3 center=b3MakeVector3(0,0,0,1);
b3Vector3 scaling=b3MakeVector3(1,1,1,1);
for ( int i = 0; i < cells_x; i++)
{
for (int j = 0; j < cells_z; j++)
{
float* color =0;
if ((i + j) % 2 == 0)
{
color = (float*)color0;
} else {
color = (float*)color1;
}
if (this->m_data->m_upAxis==1)
{
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, 0.f, (j + 0.5f) - cells_z * 0.5f);
} else
{
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,0.f );
}
m_renderer->registerGraphicsInstance(cubeId,center,orn,color,scaling);
}
}
}
int SimpleOpenGL2App::registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId)
{
int strideInBytes = 9*sizeof(float);
int graphicsShapeIndex = -1;
switch (lod)
{
case SPHERE_LOD_POINT_SPRITE:
{
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
int numIndices = sizeof(point_sphere_indices)/sizeof(int);
graphicsShapeIndex = m_renderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS,textureId);
break;
}
case SPHERE_LOD_LOW:
{
int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
int numIndices = sizeof(low_sphere_indices)/sizeof(int);
graphicsShapeIndex = m_renderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
break;
}
case SPHERE_LOD_MEDIUM:
{
int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
graphicsShapeIndex = m_renderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
break;
}
case SPHERE_LOD_HIGH:
default:
{
int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
graphicsShapeIndex = m_renderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
break;
}
};
return graphicsShapeIndex;
}
int SimpleOpenGL2App::registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex, float textureScaling )
{
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices_textured)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(numVertices);
for (int i=0;i<numVertices;i++)
{
verts[i].xyzw[0] = halfExtentsX*cube_vertices_textured[i*9];
verts[i].xyzw[1] = halfExtentsY*cube_vertices_textured[i*9+1];
verts[i].xyzw[2] = halfExtentsZ*cube_vertices_textured[i*9+2];
verts[i].xyzw[3] = cube_vertices_textured[i*9+3];
verts[i].normal[0] = cube_vertices_textured[i*9+4];
verts[i].normal[1]= cube_vertices_textured[i*9+5];
verts[i].normal[2] = cube_vertices_textured[i*9+6];
verts[i].uv[0] = cube_vertices_textured[i*9+7]*textureScaling;
verts[i].uv[1] = cube_vertices_textured[i*9+8]*textureScaling;
}
int shapeId = m_renderer->registerShape(&verts[0].xyzw[0],numVertices,cube_indices,numIndices,B3_GL_TRIANGLES,textureIndex);
return shapeId;
}
examples/OpenGLWindow/SimpleOpenGL2App.h
+3 -8
View File
@@ -20,14 +20,9 @@ public:
virtual void drawText( const char* txt, int posX, int posY, float size);
virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA){};
virtual void setBackgroundColor(float red, float green, float blue);
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1)
{
return 0;
}
virtual int registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1)
{
return 0;
}
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1);
virtual int registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1);
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size);
virtual void registerGrid(int xres, int yres, float color0[4], float color1[4]);
examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
+458 -15
View File
@@ -2,13 +2,63 @@
#include "SimpleOpenGL2Renderer.h"
#include "OpenGL2Include.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "GLInstanceGraphicsShape.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Transform.h"
B3_ATTRIBUTE_ALIGNED16(struct) SimpleGL2Shape
{
B3_DECLARE_ALIGNED_ALLOCATOR();
int m_textureIndex;
int m_primitiveType;
b3AlignedObjectArray<int> m_indices;
b3AlignedObjectArray<GLInstanceVertex> m_vertices;
b3Vector3 m_scaling;
};
B3_ATTRIBUTE_ALIGNED16(struct) SimpleGL2Instance
{
B3_DECLARE_ALIGNED_ALLOCATOR();
int m_shapeIndex;
b3Vector3 m_position;
b3Quaternion orn;
b3Vector3 m_rgbColor;
b3Vector3 m_scaling;
};
struct InternalTextureHandle2
{
GLuint m_glTexture;
int m_width;
int m_height;
};
struct SimpleOpenGL2RendererInternalData
{
int m_width;
int m_height;
SimpleCamera m_camera;
b3AlignedObjectArray<SimpleGL2Shape*> m_shapes;
b3AlignedObjectArray<SimpleGL2Instance> m_graphicsInstances;
b3AlignedObjectArray<InternalTextureHandle2> m_textureHandles;
};
SimpleOpenGL2Renderer::SimpleOpenGL2Renderer(int width, int height)
:m_width(width),
m_height(height)
{
m_data = new SimpleOpenGL2RendererInternalData;
m_data->m_width = width;
m_data->m_height = height;
}
SimpleOpenGL2Renderer::~SimpleOpenGL2Renderer()
{
delete m_data;
}
void SimpleOpenGL2Renderer::init()
@@ -17,11 +67,11 @@ void SimpleOpenGL2Renderer::init()
const CommonCameraInterface* SimpleOpenGL2Renderer::getActiveCamera() const
{
return &m_camera;
return &m_data->m_camera;
}
CommonCameraInterface* SimpleOpenGL2Renderer::getActiveCamera()
{
return &m_camera;
return &m_data->m_camera;
}
void SimpleOpenGL2Renderer::setActiveCamera(CommonCameraInterface* cam)
{
@@ -32,11 +82,11 @@ void SimpleOpenGL2Renderer::updateCamera(int upAxis)
{
float projection[16];
float view[16];
m_camera.setAspectRatio((float)m_width/(float)m_height);
m_camera.setCameraUpAxis(upAxis);
m_camera.update();
m_camera.getCameraProjectionMatrix(projection);
m_camera.getCameraViewMatrix(view);
getActiveCamera()->setAspectRatio((float)m_data->m_width/(float)m_data->m_height);
getActiveCamera()->setCameraUpAxis(upAxis);
m_data->m_camera.update(); //??
getActiveCamera()->getCameraProjectionMatrix(projection);
getActiveCamera()->getCameraViewMatrix(view);
GLfloat projMat[16];
GLfloat viewMat[16];
for (int i=0;i<16;i++)
@@ -55,6 +105,14 @@ void SimpleOpenGL2Renderer::updateCamera(int upAxis)
void SimpleOpenGL2Renderer::removeAllInstances()
{
for (int i=0;i<m_data->m_shapes.size();i++)
{
delete m_data->m_shapes[i];
}
m_data->m_shapes.clear();
m_data->m_graphicsInstances.clear();
//also destroy textures?
m_data->m_textureHandles.clear();
}
@@ -76,7 +134,7 @@ void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(double* scale, int src
int SimpleOpenGL2Renderer::getTotalNumInstances() const
{
return 0;
return m_data->m_graphicsInstances.size();
}
void SimpleOpenGL2Renderer::getCameraViewMatrix(float viewMat[16]) const
@@ -90,21 +148,323 @@ void SimpleOpenGL2Renderer::getCameraProjectionMatrix(float projMat[16]) const
}
void SimpleOpenGL2Renderer::renderScene()
void SimpleOpenGL2Renderer::drawOpenGL(int instanceIndex)
{
const SimpleGL2Instance& inst = m_data->m_graphicsInstances[instanceIndex];
const SimpleGL2Shape* shape = m_data->m_shapes[inst.m_shapeIndex];
glPushMatrix();
b3Transform tr;
tr.setOrigin(b3MakeVector3(inst.m_position[0],inst.m_position[1],inst.m_position[2]));
tr.setRotation(b3Quaternion(inst.orn[0],inst.orn[1],inst.orn[2],inst.orn[3]));
b3Scalar m[16];
tr.getOpenGLMatrix(m);
#ifdef B3_USE_DOUBLE_PRECISION
glMultMatrixd(m);
#else
glMultMatrixf(m);
#endif
#if 0
glMatrixMode(GL_TEXTURE);
glLoadIdentity();
glScalef(0.025f,0.025f,0.025f);
glMatrixMode(GL_MODELVIEW);
static const GLfloat planex[]={1,0,0,0};
// static const GLfloat planey[]={0,1,0,0};
static const GLfloat planez[]={0,0,1,0};
glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
glEnable(GL_TEXTURE_GEN_S);
glEnable(GL_TEXTURE_GEN_T);
glEnable(GL_TEXTURE_GEN_R);
m_textureinitialized=true;
#endif
//drawCoordSystem();
//glPushMatrix();
// glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
// glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
// glMatrixMode(GL_TEXTURE);
// glLoadIdentity();
glMatrixMode(GL_MODELVIEW);
glEnable(GL_COLOR_MATERIAL);
if(shape->m_textureIndex>=0)
{
glEnable(GL_TEXTURE_2D);
activateTexture(shape->m_textureIndex);
} else
{
glDisable(GL_TEXTURE_2D);
}
glColor3f(inst.m_rgbColor[0],inst.m_rgbColor[1], inst.m_rgbColor[2]);
glScalef(inst.m_scaling[0],inst.m_scaling[1],inst.m_scaling[2]);
glShadeModel(GL_SMOOTH);
glBegin (GL_TRIANGLES);
for (int i=0;i<shape->m_indices.size();i+=3)
{
for (int v=0;v<3;v++)
{
const GLInstanceVertex& vtx0 = shape->m_vertices[shape->m_indices[i+v]];
glNormal3f(vtx0.normal[0],vtx0.normal[1],vtx0.normal[2]);
glTexCoord2f(vtx0.uv[0],vtx0.uv[1]);
glVertex3f (vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
}
}
glEnd();
glPopMatrix();
}
void SimpleOpenGL2Renderer::drawSceneInternal(int pass, int cameraUpAxis)
{
for (int i=0;i<m_data->m_graphicsInstances.size();i++)
{
drawOpenGL(i);
}
#if 0
b3Scalar m[16];
b3Matrix3x3 rot;rot.setIdentity();
const int numObjects=dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
//glDisable(GL_CULL_FACE);
for(int i=0;i<numObjects;i++)
{
const btCollisionObject* colObj=dynamicsWorld->getCollisionObjectArray()[i];
const btRigidBody* body=btRigidBody::upcast(colObj);
if(body&&body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
rot=myMotionState->m_graphicsWorldTrans.getBasis();
}
else
{
colObj->getWorldTransform().getOpenGLMatrix(m);
rot=colObj->getWorldTransform().getBasis();
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
///color differently for active, sleeping, wantsdeactivation states
if (colObj->getActivationState() == 1) //active
{
if (i & 1)
{
wireColor += btVector3 (1.f,0.f,0.f);
}
else
{
wireColor += btVector3 (.5f,0.f,0.f);
}
}
if(colObj->getActivationState()==2) //ISLAND_SLEEPING
{
if(i&1)
{
wireColor += btVector3 (0.f,1.f, 0.f);
}
else
{
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
btVector3 aabbMin(0,0,0),aabbMax(0,0,0);
//m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
// printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
// printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
// m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
//switch(pass)
//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)
{
case 0: drawOpenGL(m,colObj->getCollisionShape(),wireColor,debugMode,aabbMin,aabbMax);break;
case 1: drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
case 2: drawOpenGL(m,colObj->getCollisionShape(),wireColor*b3Scalar(0.3),0,aabbMin,aabbMax);break;
}
}
#endif
}
void SimpleOpenGL2Renderer::renderScene()
{
GLfloat light_ambient[] = { b3Scalar(0.2), b3Scalar(0.2), b3Scalar(0.2), b3Scalar(1.0) };
GLfloat light_diffuse[] = { b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0) };
GLfloat light_specular[] = { b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0 )};
/* light_position is NOT default value */
GLfloat light_position0[] = { b3Scalar(1.0), b3Scalar(10.0), b3Scalar(1.0), b3Scalar(0.0 )};
GLfloat light_position1[] = { b3Scalar(-1.0), b3Scalar(-10.0), b3Scalar(-1.0), b3Scalar(0.0) };
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
drawSceneInternal(0,0);
}
int SimpleOpenGL2Renderer::registerTexture(const unsigned char* texels, int width, int height)
{
b3Assert(glGetError() ==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE0);
int textureIndex = m_data->m_textureHandles.size();
// const GLubyte* image= (const GLubyte*)texels;
GLuint textureHandle;
glGenTextures(1,(GLuint*)&textureHandle);
glBindTexture(GL_TEXTURE_2D,textureHandle);
b3Assert(glGetError() ==GL_NO_ERROR);
InternalTextureHandle2 h;
h.m_glTexture = textureHandle;
h.m_width = width;
h.m_height = height;
m_data->m_textureHandles.push_back(h);
updateTexture(textureIndex, texels);
return textureIndex;
}
void SimpleOpenGL2Renderer::updateTexture(int textureIndex, const unsigned char* texels)
{
if (textureIndex>=0)
{
glActiveTexture(GL_TEXTURE0);
b3Assert(glGetError() ==GL_NO_ERROR);
InternalTextureHandle2& h = m_data->m_textureHandles[textureIndex];
//textures need to be flipped for OpenGL...
b3AlignedObjectArray<unsigned char> flippedTexels;
flippedTexels.resize(h.m_width* h.m_height * 3);
for (int i = 0; i < h.m_width; i++)
{
for (int j = 0; j < h.m_height; j++)
{
flippedTexels[(i + j*h.m_width) * 3] = texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
flippedTexels[(i + j*h.m_width) * 3+1] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
flippedTexels[(i + j*h.m_width) * 3+2] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
}
}
glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
b3Assert(glGetError() ==GL_NO_ERROR);
// const GLubyte* image= (const GLubyte*)texels;
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
b3Assert(glGetError() ==GL_NO_ERROR);
glGenerateMipmap(GL_TEXTURE_2D);
b3Assert(glGetError() ==GL_NO_ERROR);
}
}
void SimpleOpenGL2Renderer::activateTexture(int textureIndex)
{
glActiveTexture(GL_TEXTURE0);
if (textureIndex>=0)
{
glBindTexture(GL_TEXTURE_2D,m_data->m_textureHandles[textureIndex].m_glTexture);
} else
{
glBindTexture(GL_TEXTURE_2D,0);
}
}
int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling)
{
return 0;
int sz = m_data->m_graphicsInstances.size();
SimpleGL2Instance& instance = m_data->m_graphicsInstances.expand();
instance.m_shapeIndex = shapeIndex;
instance.m_position[0] = position[0];
instance.m_position[1] = position[1];
instance.m_position[2] = position[2];
instance.orn[0] = quaternion[0];
instance.orn[1] = quaternion[1];
instance.orn[2] = quaternion[2];
instance.orn[3] = quaternion[3];
instance.m_rgbColor[0] = color[0];
instance.m_rgbColor[1] = color[1];
instance.m_rgbColor[2] = color[2];
instance.m_scaling[0] = scaling[0];
instance.m_scaling[1] = scaling[1];
instance.m_scaling[2] = scaling[2];
return sz;
}
int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
return 0;
int sz = m_data->m_graphicsInstances.size();
SimpleGL2Instance& instance = m_data->m_graphicsInstances.expand();
instance.m_shapeIndex = shapeIndex;
instance.m_position[0] = position[0];
instance.m_position[1] = position[1];
instance.m_position[2] = position[2];
instance.orn[0] = quaternion[0];
instance.orn[1] = quaternion[1];
instance.orn[2] = quaternion[2];
instance.orn[3] = quaternion[3];
instance.m_rgbColor[0] = color[0];
instance.m_rgbColor[1] = color[1];
instance.m_rgbColor[2] = color[2];
instance.m_scaling[0] = scaling[0];
instance.m_scaling[1] = scaling[1];
instance.m_scaling[2] = scaling[2];
return sz;
}
void SimpleOpenGL2Renderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float pointDrawSize)
@@ -141,25 +501,91 @@ void SimpleOpenGL2Renderer::drawLine(const float from[4], const float to[4], con
glVertex3d(to[0],to[1],to[2]);
glEnd();
}
int SimpleOpenGL2Renderer::registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureIndex)
{
return 0;
SimpleGL2Shape* shape = new SimpleGL2Shape();
shape->m_textureIndex = textureIndex;
shape->m_indices.resize(numIndices);
for (int i=0;i<numIndices;i++)
{
shape->m_indices[i]=indices[i];
}
shape->m_vertices.resize(numvertices);
for (int v=0;v<numvertices;v++)
{
GLInstanceVertex& vtx = shape->m_vertices[v];
vtx.xyzw[0] = vertices[9*v+0];
vtx.xyzw[1] = vertices[9*v+1];
vtx.xyzw[2] = vertices[9*v+2];
vtx.xyzw[3] = vertices[9*v+3];
vtx.normal[0] = vertices[9*v+4];
vtx.normal[1] = vertices[9*v+5];
vtx.normal[2] = vertices[9*v+6];
vtx.uv[0] = vertices[9*v+7];
vtx.uv[1] = vertices[9*v+8];
}
int sz = m_data->m_shapes.size();
m_data->m_shapes.push_back(shape);
return sz;
}
void SimpleOpenGL2Renderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)
{
m_data->m_graphicsInstances[srcIndex].m_position[0] = position[0];
m_data->m_graphicsInstances[srcIndex].m_position[1] = position[1];
m_data->m_graphicsInstances[srcIndex].m_position[2] = position[2];
m_data->m_graphicsInstances[srcIndex].orn[0] = orientation[0];
m_data->m_graphicsInstances[srcIndex].orn[1] = orientation[1];
m_data->m_graphicsInstances[srcIndex].orn[2] = orientation[2];
m_data->m_graphicsInstances[srcIndex].orn[3] = orientation[3];
}
void SimpleOpenGL2Renderer::writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)
{
m_data->m_graphicsInstances[srcIndex].m_position[0] = position[0];
m_data->m_graphicsInstances[srcIndex].m_position[1] = position[1];
m_data->m_graphicsInstances[srcIndex].m_position[2] = position[2];
m_data->m_graphicsInstances[srcIndex].orn[0] = orientation[0];
m_data->m_graphicsInstances[srcIndex].orn[1] = orientation[1];
m_data->m_graphicsInstances[srcIndex].orn[2] = orientation[2];
m_data->m_graphicsInstances[srcIndex].orn[3] = orientation[3];
}
void SimpleOpenGL2Renderer::writeTransforms()
{
}
void SimpleOpenGL2Renderer::resize(int width, int height)
{
m_data->m_width = width;
m_data->m_height = height;
}
int SimpleOpenGL2Renderer::getScreenWidth()
{
return m_data->m_width;
}
int SimpleOpenGL2Renderer::getScreenHeight()
{
return m_data->m_height;
}
void SimpleOpenGL2Renderer::drawLine(const double from[4], const double to[4], const double color[4], double lineWidth)
{
glLineWidth(lineWidth);
glBegin(GL_LINES);
glColor3f(color[0],color[1],color[2]);
glVertex3d(from[0],from[1],from[2]);
glVertex3d(to[0],to[1],to[2]);
glEnd();
}
void SimpleOpenGL2Renderer::drawPoint(const float* position, const float color[4], float pointDrawSize)
{
@@ -170,6 +596,23 @@ void SimpleOpenGL2Renderer::drawPoint(const double* position, const double color
void SimpleOpenGL2Renderer::updateShape(int shapeIndex, const float* vertices)
{
SimpleGL2Shape* shape = m_data->m_shapes[shapeIndex];
int numvertices = shape->m_vertices.size();
for (int i=0;i<numvertices;i++)
{
shape->m_vertices[i].xyzw[0] = vertices[9*i+0];
shape->m_vertices[i].xyzw[1] = vertices[9*i+1];
shape->m_vertices[i].xyzw[2] = vertices[9*i+2];
shape->m_vertices[i].xyzw[3] = vertices[9*i+3];
shape->m_vertices[i].normal[0] = vertices[9*i+4];
shape->m_vertices[i].normal[1] = vertices[9*i+5];
shape->m_vertices[i].normal[2] = vertices[9*i+6];
shape->m_vertices[i].uv[0] = vertices[9*i+7];
shape->m_vertices[i].uv[1] = vertices[9*i+8];
}
}
void SimpleOpenGL2Renderer::enableBlend(bool blend)
examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+14 -23
View File
@@ -5,13 +5,17 @@
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "SimpleCamera.h"
struct SimpleOpenGL2Renderer : public CommonRenderInterface
class SimpleOpenGL2Renderer : public CommonRenderInterface
{
int m_width;
int m_height;
SimpleCamera m_camera;
struct SimpleOpenGL2RendererInternalData* m_data;
void drawSceneInternal(int pass, int cameraUpAxis);
void drawOpenGL(int instanceIndex);
public:
SimpleOpenGL2Renderer(int width, int height);
virtual ~SimpleOpenGL2Renderer();
virtual void init();
@@ -21,11 +25,7 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
virtual CommonCameraInterface* getActiveCamera();
virtual void setActiveCamera(CommonCameraInterface* cam);
virtual void resize(int width, int height)
{
m_width = width;
m_height = height;
}
virtual void resize(int width, int height);
virtual void removeAllInstances();
@@ -40,20 +40,11 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
virtual void renderScene();
virtual int getScreenWidth()
{
return m_width;
}
virtual int getScreenHeight()
{
return m_height;
}
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
return -1;
}
virtual void updateTexture(int textureIndex, const unsigned char* texels) {}
virtual void activateTexture(int textureIndex) {}
virtual int getScreenWidth();
virtual int getScreenHeight();
virtual int registerTexture(const unsigned char* texels, int width, int height);
virtual void updateTexture(int textureIndex, const unsigned char* texels);
virtual void activateTexture(int textureIndex);
virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling);
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+2
View File
@@ -260,6 +260,8 @@ int b3RobotSimulatorClientAPI::loadURDF(const std::string& fileName, const struc
//setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetFlags(command,args.m_flags);
b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
args.m_startPosition[1],
args.m_startPosition[2]);
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
+3 -1
View File
@@ -15,12 +15,14 @@ struct b3RobotSimulatorLoadUrdfFileArgs
b3Quaternion m_startOrientation;
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
int m_flags;
b3RobotSimulatorLoadUrdfFileArgs()
: m_startPosition(b3MakeVector3(0, 0, 0)),
m_startOrientation(b3Quaternion(0, 0, 0, 1)),
m_forceOverrideFixedBase(false),
m_useMultiBody(true)
m_useMultiBody(true),
m_flags(0)
{
}
};
examples/SharedMemory/BodyJointInfoUtility.h
+4
View File
@@ -61,6 +61,10 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
info.m_jointType = mb->m_links[link].m_jointType;
info.m_jointDamping = mb->m_links[link].m_jointDamping;
info.m_jointFriction = mb->m_links[link].m_jointFriction;
info.m_jointLowerLimit = mb->m_links[link].m_jointLowerLimit;
info.m_jointUpperLimit = mb->m_links[link].m_jointUpperLimit;
info.m_jointMaxForce = mb->m_links[link].m_jointMaxForce;
info.m_jointMaxVelocity = mb->m_links[link].m_jointMaxVelocity;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {
examples/SharedMemory/PhysicsClientC_API.cpp
+37 -1
View File
@@ -238,6 +238,19 @@ int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
return -1;
}
int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_URDF);
if (command && (command->m_type == CMD_LOAD_URDF))
{
command->m_updateFlags |= URDF_ARGS_HAS_CUSTOM_URDF_FLAGS;
command->m_urdfArguments.m_urdfFlags = flags;
}
return 0;
}
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -547,10 +560,24 @@ b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandl
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_ACTUAL_STATE;
command->m_updateFlags = 0;
command->m_requestActualStateInformationCommandArgument.m_bodyUniqueId = bodyUniqueId;
return (b3SharedMemoryCommandHandle) command;
}
int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle commandHandle, int computeLinkVelocity)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
btAssert(command->m_type == CMD_REQUEST_ACTUAL_STATE);
if (computeLinkVelocity && command->m_type == CMD_REQUEST_ACTUAL_STATE)
{
command->m_updateFlags |= ACTUAL_STATE_COMPUTE_LINKVELOCITY;
}
return 0;
}
int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, b3JointSensorState *state)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
@@ -604,6 +631,8 @@ int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle
{
state->m_worldPosition[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + i];
state->m_localInertialPosition[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[7 * linkIndex + i];
state->m_worldLinearVelocity[i] = status->m_sendActualStateArgs.m_linkWorldVelocities[6*linkIndex+i];
state->m_worldAngularVelocity[i] = status->m_sendActualStateArgs.m_linkWorldVelocities[6*linkIndex+i+3];
}
for (int i = 0; i < 4; ++i)
{
@@ -1085,6 +1114,7 @@ int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
{
B3_PROFILE("b3SubmitClientCommandAndWaitStatus");
b3Clock clock;
double startTime = clock.getTimeInSeconds();
@@ -1098,12 +1128,18 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan
double timeOutInSeconds = cl->getTimeOut();
{
B3_PROFILE("b3SubmitClientCommand");
b3SubmitClientCommand(physClient, commandHandle);
}
{
B3_PROFILE("b3ProcessServerStatus");
while (cl->isConnected() && (statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
clock.usleep(0);
statusHandle = b3ProcessServerStatus(physClient);
}
}
return (b3SharedMemoryStatusHandle)statusHandle;
}
examples/SharedMemory/PhysicsClientC_API.h
+3
View File
@@ -217,6 +217,7 @@ int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle,
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
b3SharedMemoryCommandHandle b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
b3SharedMemoryCommandHandle b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
@@ -313,6 +314,8 @@ int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle c
int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle commandHandle, int computeLinkVelocity);
int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state);
examples/SharedMemory/PhysicsClientSharedMemory.cpp
+84 -23
View File
@@ -358,7 +358,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
if (m_data->m_testBlock1->m_numServerCommands >
m_data->m_testBlock1->m_numProcessedServerCommands) {
m_data->m_testBlock1->m_numProcessedServerCommands)
{
B3_PROFILE("processServerCMD");
btAssert(m_data->m_testBlock1->m_numServerCommands ==
m_data->m_testBlock1->m_numProcessedServerCommands + 1);
@@ -368,8 +370,13 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
// EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// consume the command
switch (serverCmd.m_type) {
case CMD_CLIENT_COMMAND_COMPLETED: {
switch (serverCmd.m_type)
{
case CMD_CLIENT_COMMAND_COMPLETED:
{
B3_PROFILE("CMD_CLIENT_COMMAND_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server completed command");
}
@@ -378,12 +385,16 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_MJCF_LOADING_COMPLETED:
{
B3_PROFILE("CMD_MJCF_LOADING_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server loading the MJCF OK\n");
}
break;
}
case CMD_SDF_LOADING_COMPLETED: {
case CMD_SDF_LOADING_COMPLETED:
{
B3_PROFILE("CMD_SDF_LOADING_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server loading the SDF OK\n");
@@ -392,7 +403,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break;
}
case CMD_URDF_LOADING_COMPLETED: {
case CMD_URDF_LOADING_COMPLETED:
{
B3_PROFILE("CMD_URDF_LOADING_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server loading the URDF OK\n");
@@ -444,19 +457,28 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
break;
}
case CMD_DESIRED_STATE_RECEIVED_COMPLETED: {
case CMD_DESIRED_STATE_RECEIVED_COMPLETED:
{
B3_PROFILE("CMD_DESIRED_STATE_RECEIVED_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server received desired state");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED: {
case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
{
B3_PROFILE("CMD_STEP_FORWARD_SIMULATION_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server completed step simulation");
}
break;
}
case CMD_URDF_LOADING_FAILED: {
case CMD_URDF_LOADING_FAILED:
{
B3_PROFILE("CMD_URDF_LOADING_FAILED");
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the URDF...\n");
}
@@ -465,24 +487,30 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
case CMD_USER_CONSTRAINT_INFO_COMPLETED:
{
B3_PROFILE("CMD_USER_CONSTRAINT_INFO_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
break;
}
case CMD_USER_CONSTRAINT_COMPLETED:
{
B3_PROFILE("CMD_USER_CONSTRAINT_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
break;
}
case CMD_REMOVE_USER_CONSTRAINT_COMPLETED:
{
B3_PROFILE("CMD_REMOVE_USER_CONSTRAINT_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.remove(cid);
break;
}
case CMD_CHANGE_USER_CONSTRAINT_COMPLETED:
{
B3_PROFILE("CMD_CHANGE_USER_CONSTRAINT_COMPLETED");
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
b3UserConstraint* userConstraintPtr = m_data->m_userConstraintInfoMap[cid];
if (userConstraintPtr)
@@ -511,26 +539,31 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_USER_CONSTRAINT_FAILED:
{
B3_PROFILE("CMD_USER_CONSTRAINT_FAILED");
b3Warning("createConstraint failed");
break;
}
case CMD_REMOVE_USER_CONSTRAINT_FAILED:
{
B3_PROFILE("CMD_REMOVE_USER_CONSTRAINT_FAILED");
b3Warning("removeConstraint failed");
break;
}
case CMD_CHANGE_USER_CONSTRAINT_FAILED:
{
B3_PROFILE("CMD_CHANGE_USER_CONSTRAINT_FAILED");
b3Warning("changeConstraint failed");
break;
}
case CMD_ACTUAL_STATE_UPDATE_FAILED:
{
B3_PROFILE("CMD_ACTUAL_STATE_UPDATE_FAILED");
b3Warning("request actual state failed");
break;
}
case CMD_BODY_INFO_COMPLETED:
{
B3_PROFILE("CMD_BODY_INFO_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Received body info\n");
}
@@ -541,12 +574,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
case CMD_MJCF_LOADING_FAILED:
{
B3_PROFILE("CMD_MJCF_LOADING_FAILED");
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the MJCF...\n");
}
break;
}
case CMD_SDF_LOADING_FAILED: {
B3_PROFILE("CMD_SDF_LOADING_FAILED");
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the SDF...\n");
}
@@ -555,6 +590,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED: {
B3_PROFILE("CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Server received bullet data stream OK\n");
}
@@ -562,6 +598,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED: {
B3_PROFILE("CMD_BULLET_DATA_STREAM_RECEIVED_FAILED");
if (m_data->m_verboseOutput) {
b3Printf("Server failed receiving bullet data stream\n");
}
@@ -570,18 +607,17 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED: {
if (m_data->m_verboseOutput) {
B3_PROFILE("CMD_ACTUAL_STATE_UPDATE_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Received actual state\n");
}
SharedMemoryStatus& command = m_data->m_testBlock1->m_serverCommands[0];
int numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU;
if (m_data->m_verboseOutput) {
b3Printf("size Q = %d, size U = %d\n", numQ, numU);
}
char msg[1024];
{
sprintf(msg, "Q=[");
@@ -596,11 +632,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
sprintf(msg, "%s]", msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
}
{
sprintf(msg, "U=[");
for (int i = 0; i < numU; i++) {
@@ -613,17 +646,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
}
sprintf(msg, "%s]", msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
}
if (m_data->m_verboseOutput) {
b3Printf(msg);
b3Printf("\n");
}
break;
}
case CMD_RESET_SIMULATION_COMPLETED: {
B3_PROFILE("CMD_RESET_SIMULATION_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
}
@@ -632,6 +662,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break;
}
case CMD_DEBUG_LINES_COMPLETED: {
B3_PROFILE("CMD_DEBUG_LINES_COMPLETED");
if (m_data->m_verboseOutput) {
b3Printf("Success receiving %d debug lines",
serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
@@ -675,10 +706,12 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
case CMD_RIGID_BODY_CREATION_COMPLETED:
{
B3_PROFILE("CMD_RIGID_BODY_CREATION_COMPLETED");
break;
}
case CMD_DEBUG_LINES_OVERFLOW_FAILED: {
B3_PROFILE("CMD_DEBUG_LINES_OVERFLOW_FAILED");
b3Warning("Error receiving debug lines");
m_data->m_debugLinesFrom.resize(0);
m_data->m_debugLinesTo.resize(0);
@@ -689,6 +722,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_CAMERA_IMAGE_COMPLETED:
{
B3_PROFILE("CMD_CAMERA_IMAGE_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Camera image OK\n");
@@ -738,6 +772,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_CAMERA_IMAGE_FAILED:
{
B3_PROFILE("CMD_CAMERA_IMAGE_FAILED");
b3Warning("Camera image FAILED\n");
break;
}
@@ -772,6 +807,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_REQUEST_VR_EVENTS_DATA_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_VR_EVENTS_DATA_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Request VR Events completed");
@@ -786,6 +822,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Request keyboard events completed");
@@ -800,6 +837,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_REQUEST_AABB_OVERLAP_COMPLETED:
{
B3_PROFILE("CMD_REQUEST_AABB_OVERLAP_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Overlapping object request completed");
@@ -819,6 +857,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
case CMD_CONTACT_POINT_INFORMATION_COMPLETED:
{
B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Contact Point Information Request OK\n");
@@ -839,29 +878,37 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
case CMD_CONTACT_POINT_INFORMATION_FAILED:
{
B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_FAILED");
b3Warning("Contact Point Information Request failed");
break;
}
case CMD_SAVE_WORLD_COMPLETED:
{
B3_PROFILE("CMD_SAVE_WORLD_COMPLETED");
break;
}
case CMD_SAVE_WORLD_FAILED:
{
B3_PROFILE("CMD_SAVE_WORLD_FAILED");
b3Warning("Saving world failed");
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED:
{
B3_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED");
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_FAILED:
{
B3_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS_FAILED");
b3Warning("Calculate Inverse Kinematics Request failed");
break;
}
case CMD_VISUAL_SHAPE_INFO_COMPLETED:
{
B3_PROFILE("CMD_VISUAL_SHAPE_INFO_COMPLETED");
if (m_data->m_verboseOutput)
{
b3Printf("Visual Shape Information Request OK\n");
@@ -949,6 +996,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
};
m_data->m_testBlock1->m_numProcessedServerCommands++;
// we don't have more than 1 command outstanding (in total, either server or client)
btAssert(m_data->m_testBlock1->m_numProcessedServerCommands ==
@@ -964,6 +1012,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if ((serverCmd.m_type == CMD_SDF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_MJCF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED))
{
B3_PROFILE("CMD_LOADING_COMPLETED");
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
for (int i=0;i<numConstraints;i++)
{
@@ -994,6 +1043,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (serverCmd.m_type == CMD_USER_CONSTRAINT_INFO_COMPLETED)
{
B3_PROFILE("CMD_USER_CONSTRAINT_INFO_COMPLETED");
if (m_data->m_constraintIdsRequestInfo.size())
{
int cid = m_data->m_constraintIdsRequestInfo[m_data->m_constraintIdsRequestInfo.size()-1];
@@ -1013,6 +1064,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (serverCmd.m_type == CMD_BODY_INFO_COMPLETED)
{
B3_PROFILE("CMD_BODY_INFO_COMPLETED");
//are there any bodies left to be processed?
if (m_data->m_bodyIdsRequestInfo.size())
{
@@ -1046,6 +1098,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (serverCmd.m_type == CMD_REQUEST_AABB_OVERLAP_COMPLETED)
{
B3_PROFILE("CMD_REQUEST_AABB_OVERLAP_COMPLETED2");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied)
{
@@ -1058,6 +1111,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (serverCmd.m_type == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
{
B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_COMPLETED2");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints>0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied)
{
@@ -1072,6 +1126,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (serverCmd.m_type == CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
B3_PROFILE("CMD_VISUAL_SHAPE_INFO_COMPLETED2");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes >0 && serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied)
{
@@ -1087,6 +1142,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED)
{
B3_PROFILE("CMD_CAMERA_IMAGE_COMPLETED2");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied)
@@ -1110,7 +1166,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
if ((serverCmd.m_type == CMD_DEBUG_LINES_COMPLETED) &&
(serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0)) {
(serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0))
{
B3_PROFILE("CMD_DEBUG_LINES_COMPLETED2");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
// continue requesting debug lines for drawing
@@ -1125,7 +1183,10 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
return &m_data->m_lastServerStatus;
} else {
if (m_data->m_verboseOutput) {
if (m_data->m_verboseOutput)
{
B3_PROFILE("m_verboseOutput");
b3Printf("m_numServerStatus = %d, processed = %d\n",
m_data->m_testBlock1->m_numServerCommands,
m_data->m_testBlock1->m_numProcessedServerCommands);
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+116 -12
View File
@@ -1399,8 +1399,8 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
int rootLinkIndex = u2b.getRootLinkIndex();
b3Printf("urdf root link index = %d\n",rootLinkIndex);
//int rootLinkIndex = u2b.getRootLinkIndex();
//b3Printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_data->m_guiHelper);
u2b.getRootTransformInWorld(rootTrans);
@@ -1540,7 +1540,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes)
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags)
{
BT_PROFILE("loadURDF");
btAssert(m_data->m_dynamicsWorld);
@@ -1598,7 +1598,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
// printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_data->m_guiHelper);
ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
{
@@ -1761,6 +1761,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
{
BT_PROFILE("processCommand");
bool hasStatus = false;
@@ -1821,6 +1822,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
#endif
case CMD_STATE_LOGGING:
{
BT_PROFILE("CMD_STATE_LOGGING");
serverStatusOut.m_type = CMD_STATE_LOGGING_FAILED;
hasStatus = true;
@@ -1937,6 +1940,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_SET_VR_CAMERA_STATE:
{
BT_PROFILE("CMD_SET_VR_CAMERA_STATE");
if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_POSITION)
{
@@ -1963,6 +1967,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_REQUEST_VR_EVENTS_DATA:
{
BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA");
serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{
@@ -1984,6 +1990,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_KEYBOARD_EVENTS_DATA:
{
BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents = m_data->m_keyboardEvents.size();
if (serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents>MAX_KEYBOARD_EVENTS)
{
@@ -2019,6 +2027,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_RAY_CAST_INTERSECTIONS:
{
BT_PROFILE("CMD_REQUEST_RAY_CAST_INTERSECTIONS");
btVector3 rayFromWorld(clientCmd.m_requestRaycastIntersections.m_rayFromPosition[0],
clientCmd.m_requestRaycastIntersections.m_rayFromPosition[1],
clientCmd.m_requestRaycastIntersections.m_rayFromPosition[2]);
@@ -2078,6 +2088,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
};
case CMD_REQUEST_DEBUG_LINES:
{
BT_PROFILE("CMD_REQUEST_DEBUG_LINES");
int curFlags =m_data->m_remoteDebugDrawer->getDebugMode();
int debugMode = clientCmd.m_requestDebugLinesArguments.m_debugMode;//clientCmd.btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb;
@@ -2147,7 +2159,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_CAMERA_IMAGE_DATA:
{
BT_PROFILE("CMD_REQUEST_CAMERA_IMAGE_DATA");
int startPixelIndex = clientCmd.m_requestPixelDataArguments.m_startPixelIndex;
int width = clientCmd.m_requestPixelDataArguments.m_pixelWidth;
int height = clientCmd.m_requestPixelDataArguments.m_pixelHeight;
@@ -2276,6 +2288,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_SYNC_BODY_INFO:
{
BT_PROFILE("CMD_SYNC_BODY_INFO");
int numHandles = m_data->getNumHandles();
int actualNumBodies = 0;
for (int i=0;i<numHandles;i++)
@@ -2304,6 +2318,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_REQUEST_BODY_INFO:
{
BT_PROFILE("CMD_REQUEST_BODY_INFO");
const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs;
//stream info into memory
int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
@@ -2317,6 +2333,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_SAVE_WORLD:
{
BT_PROFILE("CMD_SAVE_WORLD");
///this is a very rudimentary way to save the state of the world, for scene authoring
///many todo's, for example save the state of motor controllers etc.
@@ -2552,6 +2570,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_LOAD_SDF:
{
BT_PROFILE("CMD_LOAD_SDF");
const SdfArgs& sdfArgs = clientCmd.m_sdfArguments;
if (m_data->m_verboseOutput)
{
@@ -2584,7 +2604,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_LOAD_URDF:
{
BT_PROFILE("CMD_LOAD_URDF");
const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments;
if (m_data->m_verboseOutput)
{
@@ -2600,6 +2620,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
initialPos[1] = urdfArgs.m_initialPosition[1];
initialPos[2] = urdfArgs.m_initialPosition[2];
}
int urdfFlags = 0;
if (clientCmd.m_updateFlags & URDF_ARGS_HAS_CUSTOM_URDF_FLAGS)
{
urdfFlags = urdfArgs.m_urdfFlags;
}
if (clientCmd.m_updateFlags & URDF_ARGS_INITIAL_ORIENTATION)
{
initialOrn[0] = urdfArgs.m_initialOrientation[0];
@@ -2613,8 +2638,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//load the actual URDF and send a report: completed or failed
bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
initialPos,initialOrn,
useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes, urdfFlags);
if (completedOk)
{
@@ -2691,6 +2715,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_CREATE_SENSOR:
{
BT_PROFILE("CMD_CREATE_SENSOR");
if (m_data->m_verboseOutput)
{
b3Printf("Processed CMD_CREATE_SENSOR");
@@ -2759,6 +2785,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_SEND_DESIRED_STATE:
{
BT_PROFILE("CMD_SEND_DESIRED_STATE");
if (m_data->m_verboseOutput)
{
b3Printf("Processed CMD_SEND_DESIRED_STATE");
@@ -2951,6 +2978,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_REQUEST_ACTUAL_STATE:
{
BT_PROFILE("CMD_REQUEST_ACTUAL_STATE");
if (m_data->m_verboseOutput)
{
b3Printf("Sending the actual state (Q,U)");
@@ -3024,6 +3052,20 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = mb->getBaseOmega()[2];
totalDegreeOfFreedomU += 6;//3 linear and 3 angular DOF
}
btAlignedObjectArray<btVector3> omega;
btAlignedObjectArray<btVector3> linVel;
bool computeLinkVelocities = ((clientCmd.m_updateFlags & ACTUAL_STATE_COMPUTE_LINKVELOCITY)!=0);
if (computeLinkVelocities)
{
omega.resize(mb->getNumLinks()+1);
linVel.resize(mb->getNumLinks()+1);
{
B3_PROFILE("compTreeLinkVelocities");
mb->compTreeLinkVelocities(&omega[0], &linVel[0]);
}
}
for (int l=0;l<mb->getNumLinks();l++)
{
for (int d=0;d<mb->getLink(l).m_posVarCount;d++)
@@ -3087,6 +3129,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkCOMRotation.z();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkCOMRotation.w();
btVector3 worldLinVel(0,0,0);
btVector3 worldAngVel(0,0,0);
if (computeLinkVelocities)
{
const btMatrix3x3& linkRotMat = mb->getLink(l).m_cachedWorldTransform.getBasis();
worldLinVel = linkRotMat * linVel[l+1];
worldAngVel = linkRotMat * omega[l+1];
}
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+0] = worldLinVel[0];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+1] = worldLinVel[1];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+2] = worldLinVel[2];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+3] = worldAngVel[0];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+4] = worldAngVel[1];
serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+5] = worldAngVel[2];
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+0] = linkLocalInertialOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+1] = linkLocalInertialOrigin.getY();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+2] = linkLocalInertialOrigin.getZ();
@@ -3157,6 +3217,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_STEP_FORWARD_SIMULATION:
{
BT_PROFILE("CMD_STEP_FORWARD_SIMULATION");
if (m_data->m_verboseOutput)
{
@@ -3191,6 +3253,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_INTERNAL_DATA:
{
BT_PROFILE("CMD_REQUEST_INTERNAL_DATA");
//todo: also check version etc?
SharedMemoryStatus& serverCmd = serverStatusOut;
@@ -3213,6 +3277,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
};
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS");
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)
{
m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;
@@ -3288,6 +3354,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
};
case CMD_INIT_POSE:
{
BT_PROFILE("CMD_INIT_POSE");
if (m_data->m_verboseOutput)
{
b3Printf("Server Init Pose not implemented yet");
@@ -3436,6 +3504,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_RESET_SIMULATION:
{
BT_PROFILE("CMD_RESET_SIMULATION");
resetSimulation();
@@ -3447,6 +3516,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_CREATE_RIGID_BODY:
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
BT_PROFILE("CMD_CREATE_RIGID_BODY");
btVector3 halfExtents(1,1,1);
if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_HALF_EXTENTS)
{
@@ -3581,6 +3652,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_PICK_BODY:
{
BT_PROFILE("CMD_PICK_BODY");
pickBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0],
clientCmd.m_pickBodyArguments.m_rayFromWorld[1],
clientCmd.m_pickBodyArguments.m_rayFromWorld[2]),
@@ -3596,6 +3669,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_MOVE_PICKED_BODY:
{
BT_PROFILE("CMD_MOVE_PICKED_BODY");
movePickedBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0],
clientCmd.m_pickBodyArguments.m_rayFromWorld[1],
clientCmd.m_pickBodyArguments.m_rayFromWorld[2]),
@@ -3610,6 +3685,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_REMOVE_PICKING_CONSTRAINT_BODY:
{
BT_PROFILE("CMD_REMOVE_PICKING_CONSTRAINT_BODY");
removePickingConstraint();
SharedMemoryStatus& serverCmd =serverStatusOut;
@@ -3619,6 +3695,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_REQUEST_AABB_OVERLAP:
{
BT_PROFILE("CMD_REQUEST_AABB_OVERLAP");
SharedMemoryStatus& serverCmd = serverStatusOut;
int curObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex;
@@ -3676,6 +3753,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_CONFIGURE_OPENGL_VISUALIZER:
{
BT_PROFILE("CMD_CONFIGURE_OPENGL_VISUALIZER");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type =CMD_CLIENT_COMMAND_COMPLETED;
@@ -3699,6 +3777,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_CONTACT_POINT_INFORMATION:
{
BT_PROFILE("CMD_REQUEST_CONTACT_POINT_INFORMATION");
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_sendContactPointArgs.m_numContactPointsCopied = 0;
@@ -3738,6 +3817,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
linkIndexB = mblB->m_link;
objectIndexB = mblB->m_multiBody->getUserIndex2();
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
{
continue;
}
}
int objectIndexA = -1;
@@ -3750,8 +3835,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (mblA && mblA->m_multiBody)
{
linkIndexA = mblA->m_link;
objectIndexA = mblA->m_multiBody->getUserIndex2();
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
{
continue;
}
}
btAssert(bodyA || mblA);
@@ -4009,6 +4099,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_CALCULATE_INVERSE_DYNAMICS:
{
BT_PROFILE("CMD_CALCULATE_INVERSE_DYNAMICS");
SharedMemoryStatus& serverCmd = serverStatusOut;
InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
@@ -4059,6 +4150,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_CALCULATE_JACOBIAN:
{
BT_PROFILE("CMD_CALCULATE_JACOBIAN");
SharedMemoryStatus& serverCmd = serverStatusOut;
InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
@@ -4115,6 +4208,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_APPLY_EXTERNAL_FORCE:
{
BT_PROFILE("CMD_APPLY_EXTERNAL_FORCE");
if (m_data->m_verboseOutput)
{
b3Printf("CMD_APPLY_EXTERNAL_FORCE clientCmd = %d\n", clientCmd.m_sequenceNumber);
@@ -4214,6 +4309,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_USER_CONSTRAINT:
{
BT_PROFILE("CMD_USER_CONSTRAINT");
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED;
hasStatus = true;
@@ -4444,6 +4541,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_CALCULATE_INVERSE_KINEMATICS:
{
BT_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_FAILED;
@@ -4613,7 +4711,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_REQUEST_VISUAL_SHAPE_INFO:
{
BT_PROFILE("CMD_REQUEST_VISUAL_SHAPE_INFO");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED;
//retrieve the visual shape information for a specific body
@@ -4642,6 +4740,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_UPDATE_VISUAL_SHAPE:
{
BT_PROFILE("CMD_UPDATE_VISUAL_SHAPE");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
@@ -4654,6 +4753,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_LOAD_TEXTURE:
{
BT_PROFILE("CMD_LOAD_TEXTURE");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
@@ -4673,7 +4773,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_LOAD_BULLET:
{
BT_PROFILE("CMD_LOAD_BULLET");
SharedMemoryStatus& serverCmd = serverStatusOut;
btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld);
@@ -4744,6 +4844,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_SAVE_BULLET:
{
BT_PROFILE("CMD_SAVE_BULLET");
SharedMemoryStatus& serverCmd = serverStatusOut;
FILE* f = fopen(clientCmd.m_fileArguments.m_fileName, "wb");
@@ -4763,6 +4864,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_LOAD_MJCF:
{
BT_PROFILE("CMD_LOAD_MJCF");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_MJCF_LOADING_FAILED;
const MjcfArgs& mjcfArgs = clientCmd.m_mjcfArguments;
@@ -4797,6 +4899,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_USER_DEBUG_DRAW:
{
BT_PROFILE("CMD_USER_DEBUG_DRAW");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED;
hasStatus = true;
@@ -4919,6 +5022,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
default:
{
BT_PROFILE("CMD_UNKNOWN");
b3Error("Unknown command encountered");
SharedMemoryStatus& serverCmd =serverStatusOut;
@@ -5313,7 +5417,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
btVector3 spawnDir = mat.getColumn(0);
btVector3 shiftPos = spawnDir*spawnDistance;
btVector3 spawnPos = gVRGripperPos + shiftPos;
loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size(),0);
//loadUrdf("lego/lego.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_sphereId = bodyId;
InteralBodyData* parentBody = m_data->getHandle(bodyId);
examples/SharedMemory/PhysicsServerCommandProcessor.h
+1 -1
View File
@@ -35,7 +35,7 @@ protected:
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags=0);
bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
examples/SharedMemory/PhysicsServerExample.cpp
+12 -6
View File
@@ -23,7 +23,6 @@
#include "../CommonInterfaces/CommonParameterInterface.h"
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
extern btVector3 gLastPickPos;
@@ -305,16 +304,16 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
double deltaTimeInSeconds = 0;
int numCmdSinceSleep1ms = 0;
unsigned long long int prevTime = clock.getTimeMicroseconds();
do
{
BT_PROFILE("loop");
{
BT_PROFILE("usleep(0)");
b3Clock::usleep(0);
}
{
if (gMaxNumCmdPer1ms>0)
{
if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
@@ -330,8 +329,17 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
sleepClock.reset();
numCmdSinceSleep1ms = 0;
}
}
unsigned long long int curTime = clock.getTimeMicroseconds();
unsigned long long int dtMicro = curTime - prevTime;
prevTime = curTime;
#if 1
double dt = double(dtMicro)/1000000.;
#else
double dt = double(clock.getTimeMicroseconds())/1000000.;
clock.reset();
#endif
deltaTimeInSeconds+= dt;
{
@@ -440,7 +448,6 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_csGUI->unlock();
{
BT_PROFILE("stepSimulationRealTime");
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size());
}
deltaTimeInSeconds = 0;
@@ -478,7 +485,6 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_csGUI->unlock();
{
BT_PROFILE("processClientCommands");
args->m_physicsServerPtr->processClientCommands();
numCmdSinceSleep1ms++;
}
examples/SharedMemory/PhysicsServerSharedMemory.cpp
+1
View File
@@ -252,6 +252,7 @@ void PhysicsServerSharedMemory::processClientCommands()
if (m_data->m_testBlocks[block]->m_numClientCommands> m_data->m_testBlocks[block]->m_numProcessedClientCommands)
{
BT_PROFILE("processClientCommand");
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
btAssert(m_data->m_testBlocks[block]->m_numClientCommands==m_data->m_testBlocks[block]->m_numProcessedClientCommands+1);
examples/SharedMemory/SharedMemoryCommands.h
+3
View File
@@ -79,6 +79,7 @@ enum EnumUrdfArgsUpdateFlags
URDF_ARGS_INITIAL_ORIENTATION=4,
URDF_ARGS_USE_MULTIBODY=8,
URDF_ARGS_USE_FIXED_BASE=16,
URDF_ARGS_HAS_CUSTOM_URDF_FLAGS = 32
};
@@ -89,6 +90,7 @@ struct UrdfArgs
double m_initialOrientation[4];
int m_useMultiBody;
int m_useFixedBase;
int m_urdfFlags;
};
struct MjcfArgs
@@ -381,6 +383,7 @@ struct SendActualStateArgs
double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM];
double m_linkState[7*MAX_NUM_LINKS];
double m_linkWorldVelocities[6*MAX_NUM_LINKS];//linear velocity and angular velocity in world space (x/y/z each).
double m_linkLocalInertialFrames[7*MAX_NUM_LINKS];
};
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+17 -2
View File
@@ -5,7 +5,7 @@
#include "PhysicsClientSharedMemory.h"
#include"../ExampleBrowser/InProcessExampleBrowser.h"
#include "Bullet3Common/b3Logging.h"
class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory
{
btInProcessExampleBrowserMainThreadInternalData* m_data;
@@ -38,19 +38,34 @@ public:
// return non-null if there is a status, nullptr otherwise
virtual const struct SharedMemoryStatus* processServerStatus()
{
{
if (btIsExampleBrowserMainThreadTerminated(m_data))
{
PhysicsClientSharedMemory::disconnectSharedMemory();
}
}
{
unsigned long int ms = m_clock.getTimeMilliseconds();
if (ms>20)
{
B3_PROFILE("m_clock.reset()");
m_clock.reset();
btUpdateInProcessExampleBrowserMainThread(m_data);
}
}
{
b3Clock::usleep(0);
return PhysicsClientSharedMemory::processServerStatus();
}
const SharedMemoryStatus* stat = 0;
{
stat = PhysicsClientSharedMemory::processServerStatus();
}
return stat;
}
examples/SharedMemory/SharedMemoryPublic.h
+19 -1
View File
@@ -4,7 +4,7 @@
#define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201703010
#define SHARED_MEMORY_MAGIC_NUMBER 201703024
enum EnumSharedMemoryClientCommand
{
@@ -175,6 +175,10 @@ struct b3JointInfo
int m_flags;
double m_jointDamping;
double m_jointFriction;
double m_jointLowerLimit;
double m_jointUpperLimit;
double m_jointMaxForce;
double m_jointMaxVelocity;
double m_parentFrame[7]; // position and orientation (quaternion)
double m_childFrame[7]; // ^^^
double m_jointAxis[3]; // joint axis in parent local frame
@@ -378,6 +382,11 @@ struct b3VisualShapeInformation
struct b3VisualShapeData* m_visualShapeData;
};
enum eLinkStateFlags
{
ACTUAL_STATE_COMPUTE_LINKVELOCITY=1
};
///b3LinkState provides extra information such as the Cartesian world coordinates
///center of mass (COM) of the link, relative to the world reference frame.
///Orientation is a quaternion x,y,z,w
@@ -395,6 +404,10 @@ struct b3LinkState
///world position and orientation of the (URDF) link frame
double m_worldLinkFramePosition[3];
double m_worldLinkFrameOrientation[4];
double m_worldLinearVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
double m_worldAngularVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
};
//todo: discuss and decide about control mode and combinations
@@ -435,4 +448,9 @@ enum eCONNECT_METHOD {
eCONNECT_TCP = 5,
};
enum eURDF_Flags
{
URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags'
};
#endif//SHARED_MEMORY_PUBLIC_H
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+6 -1
View File
@@ -220,7 +220,7 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
rad = visual->m_geometry.m_capsuleRadius;
} else {
tr = visual->m_linkLocalFrame;
len = visual->m_geometry.m_capsuleHalfHeight;
len = visual->m_geometry.m_capsuleHeight;
rad = visual->m_geometry.m_capsuleRadius;
}
visualShapeOut.m_localVisualFrame[0] = tr.getOrigin()[0];
@@ -414,6 +414,11 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
break;
} // case mesh
case URDF_GEOM_PLANE:
// TODO: plane in tiny renderer
// TODO: export visualShapeOut for external render
break;
default:
{
b3Warning("TinyRenderer: unknown visual geometry type %i\n", visual->m_geometry.m_type);
examples/pybullet/constraint.py → examples/pybullet/examples/constraint.py
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examples/pybullet/forcetorquesensor.py → examples/pybullet/examples/forcetorquesensor.py
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examples/pybullet/hand.ino → examples/pybullet/examples/hand.ino
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examples/pybullet/hand.py → examples/pybullet/examples/hand.py
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examples/pybullet/hello_pybullet.py → examples/pybullet/examples/hello_pybullet.py
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examples/pybullet/inverse_kinematics.py → examples/pybullet/examples/inverse_kinematics.py
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examples/pybullet/kuka_with_cube.py → examples/pybullet/examples/kuka_with_cube.py
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examples/pybullet/kuka_with_cube_playback.py → examples/pybullet/examples/kuka_with_cube_playback.py
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examples/pybullet/logMinitaur.py → examples/pybullet/examples/logMinitaur.py
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examples/pybullet/manyspheres.py → examples/pybullet/examples/manyspheres.py
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examples/pybullet/minitaur.py → examples/pybullet/examples/minitaur.py
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examples/pybullet/minitaur_evaluate.py → examples/pybullet/examples/minitaur_evaluate.py
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examples/pybullet/minitaur_test.py → examples/pybullet/examples/minitaur_test.py
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examples/pybullet/mylittleminitaur.py → examples/pybullet/examples/mylittleminitaur.py
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examples/pybullet/quadruped.py → examples/pybullet/examples/quadruped.py
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examples/pybullet/quadruped_playback.py → examples/pybullet/examples/quadruped_playback.py
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examples/pybullet/quadruped_setup_playback.py → examples/pybullet/examples/quadruped_setup_playback.py
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examples/pybullet/robotcontrol.py → examples/pybullet/examples/robotcontrol.py
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examples/pybullet/rollPitchYaw.py → examples/pybullet/examples/rollPitchYaw.py
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examples/pybullet/saveWorld.py → examples/pybullet/examples/saveWorld.py
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examples/pybullet/test.py → examples/pybullet/examples/test.py
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examples/pybullet/testrender.py → examples/pybullet/examples/testrender.py
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examples/pybullet/testrender_np.py → examples/pybullet/examples/testrender_np.py
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examples/pybullet/vrEvent.py → examples/pybullet/examples/vrEvent.py
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examples/pybullet/vr_kuka_control.py → examples/pybullet/examples/vr_kuka_control.py
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examples/pybullet/vr_kuka_pr2_move.py → examples/pybullet/examples/vr_kuka_pr2_move.py
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examples/pybullet/vr_kuka_setup.py → examples/pybullet/examples/vr_kuka_setup.py
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examples/pybullet/vrhand.py → examples/pybullet/examples/vrhand.py
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examples/pybullet/vrminitaur.py → examples/pybullet/examples/vrminitaur.py
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examples/pybullet/pybullet.c
+53 -9
View File
@@ -693,8 +693,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int flags = 0;
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "physicsClientId", NULL};
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "flags","physicsClientId", NULL};
static char* kwlistBackwardCompatible4[] = {"fileName", "startPosX", "startPosY", "startPosZ", NULL};
static char* kwlistBackwardCompatible8[] = {"fileName", "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY", "startOrnZ", "startOrnW", NULL};
@@ -741,7 +742,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
double basePos[3];
double baseOrn[4];
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &flags, &physicsClientId))
{
return NULL;
}
@@ -790,6 +791,8 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
b3SharedMemoryCommandHandle command =
b3LoadUrdfCommandInit(sm, urdfFileName);
b3LoadUrdfCommandSetFlags(command,flags);
// setting the initial position, orientation and other arguments are
// optional
b3LoadUrdfCommandSetStartPosition(command, startPosX, startPosY, startPosZ);
@@ -2076,7 +2079,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
int bodyUniqueId = -1;
int jointIndex = -1;
int jointInfoSize = 8; // size of struct b3JointInfo
int jointInfoSize = 12; // size of struct b3JointInfo
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "jointIndex", "physicsClientId", NULL};
@@ -2120,6 +2123,15 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
PyFloat_FromDouble(info.m_jointDamping));
PyTuple_SetItem(pyListJointInfo, 7,
PyFloat_FromDouble(info.m_jointFriction));
PyTuple_SetItem(pyListJointInfo, 8,
PyFloat_FromDouble(info.m_jointLowerLimit));
PyTuple_SetItem(pyListJointInfo, 9,
PyFloat_FromDouble(info.m_jointUpperLimit));
PyTuple_SetItem(pyListJointInfo, 10,
PyFloat_FromDouble(info.m_jointMaxForce));
PyTuple_SetItem(pyListJointInfo, 11,
PyFloat_FromDouble(info.m_jointMaxVelocity));
return pyListJointInfo;
}
else
@@ -2247,17 +2259,21 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
PyObject* pyLinkStateLocalInertialOrientation;
PyObject* pyLinkStateWorldLinkFramePosition;
PyObject* pyLinkStateWorldLinkFrameOrientation;
PyObject* pyLinkStateWorldLinkLinearVelocity;
PyObject* pyLinkStateWorldLinkAngularVelocity;
struct b3LinkState linkState;
int bodyUniqueId = -1;
int linkIndex = -1;
int computeLinkVelocity = 0;
int i;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "computeLinkVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ii", kwlist, &bodyUniqueId, &linkIndex,&computeLinkVelocity, &physicsClientId))
{
return NULL;
}
@@ -2287,6 +2303,12 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
cmd_handle =
b3RequestActualStateCommandInit(sm, bodyUniqueId);
if (computeLinkVelocity)
{
b3RequestActualStateCommandComputeLinkVelocity(cmd_handle,computeLinkVelocity);
}
status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
@@ -2341,7 +2363,16 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
PyFloat_FromDouble(linkState.m_worldLinkFrameOrientation[i]));
}
if (computeLinkVelocity)
{
pyLinkState = PyTuple_New(8);
} else
{
pyLinkState = PyTuple_New(6);
}
PyTuple_SetItem(pyLinkState, 0, pyLinkStateWorldPosition);
PyTuple_SetItem(pyLinkState, 1, pyLinkStateWorldOrientation);
PyTuple_SetItem(pyLinkState, 2, pyLinkStateLocalInertialPosition);
@@ -2349,6 +2380,20 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
PyTuple_SetItem(pyLinkState, 4, pyLinkStateWorldLinkFramePosition);
PyTuple_SetItem(pyLinkState, 5, pyLinkStateWorldLinkFrameOrientation);
if (computeLinkVelocity)
{
pyLinkStateWorldLinkLinearVelocity = PyTuple_New(3);
pyLinkStateWorldLinkAngularVelocity = PyTuple_New(3);
for (i = 0; i < 3; ++i)
{
PyTuple_SetItem(pyLinkStateWorldLinkLinearVelocity, i,
PyFloat_FromDouble(linkState.m_worldLinearVelocity[i]));
PyTuple_SetItem(pyLinkStateWorldLinkAngularVelocity, i,
PyFloat_FromDouble(linkState.m_worldAngularVelocity[i]));
}
PyTuple_SetItem(pyLinkState, 6, pyLinkStateWorldLinkLinearVelocity);
PyTuple_SetItem(pyLinkState, 7, pyLinkStateWorldLinkAngularVelocity);
}
return pyLinkState;
}
}
@@ -3875,15 +3920,13 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
b3RequestCameraImageSelectRenderer(command, renderer);
b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
if (b3CanSubmitCommand(sm))
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
@@ -4308,7 +4351,6 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
b3SharedMemoryStatusHandle statusHandle;
int statusType;
// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
@@ -5381,6 +5423,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
PyModule_AddIntConstant(m, "B3G_F1", B3G_F1);
PyModule_AddIntConstant(m, "B3G_F2", B3G_F2);
PyModule_AddIntConstant(m, "B3G_F3", B3G_F3);
src/BulletDynamics/Featherstone/btMultiBody.cpp
+4
View File
@@ -1965,6 +1965,10 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
memPtr->m_parentIndex = getLink(i).m_parent;
memPtr->m_jointDamping = getLink(i).m_jointDamping;
memPtr->m_jointFriction = getLink(i).m_jointFriction;
memPtr->m_jointLowerLimit = getLink(i).m_jointLowerLimit;
memPtr->m_jointUpperLimit = getLink(i).m_jointUpperLimit;
memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce;
memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity;
getLink(i).m_eVector.serialize(memPtr->m_parentComToThisComOffset);
getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset);
src/BulletDynamics/Featherstone/btMultiBody.h
+8
View File
@@ -728,6 +728,10 @@ struct btMultiBodyLinkDoubleData
double m_jointDamping;
double m_jointFriction;
double m_jointLowerLimit;
double m_jointUpperLimit;
double m_jointMaxForce;
double m_jointMaxVelocity;
char *m_linkName;
char *m_jointName;
@@ -757,6 +761,10 @@ struct btMultiBodyLinkFloatData
int m_posVarCount;
float m_jointDamping;
float m_jointFriction;
float m_jointLowerLimit;
float m_jointUpperLimit;
float m_jointMaxForce;
float m_jointMaxVelocity;
char *m_linkName;
char *m_jointName;
src/BulletDynamics/Featherstone/btMultiBodyLink.h
+9 -1
View File
@@ -136,6 +136,10 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
btScalar m_jointDamping; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping.
btScalar m_jointFriction; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor.
btScalar m_jointLowerLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointUpperLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointMaxForce; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointMaxVelocity;//todo: implement this internally. It is unused for now, it is set by a URDF loader.
// ctor: set some sensible defaults
btMultibodyLink()
@@ -153,7 +157,11 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
m_jointName(0),
m_userPtr(0),
m_jointDamping(0),
m_jointFriction(0)
m_jointFriction(0),
m_jointLowerLimit(0),
m_jointUpperLimit(0),
m_jointMaxForce(0),
m_jointMaxVelocity(0)
{
m_inertiaLocal.setValue(1, 1, 1);
src/LinearMath/CMakeLists.txt
+1
View File
@@ -11,6 +11,7 @@ SET(LinearMath_SRCS
btPolarDecomposition.cpp
btQuickprof.cpp
btSerializer.cpp
btSerializer64.cpp
btThreads.cpp
btVector3.cpp
)
src/LinearMath/btQuickprof.cpp
+4 -4
View File
@@ -518,7 +518,7 @@ CProfileIterator * CProfileManager::Get_Iterator( void )
{
int threadIndex = btQuickprofGetCurrentThreadIndex2();
if (threadIndex<0)
if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
return 0;
return new CProfileIterator( &gRoots[threadIndex]);
@@ -549,7 +549,7 @@ void CProfileManager::CleanupMemory(void)
void CProfileManager::Start_Profile( const char * name )
{
int threadIndex = btQuickprofGetCurrentThreadIndex2();
if (threadIndex<0)
if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
return;
if (name != gCurrentNodes[threadIndex]->Get_Name()) {
@@ -566,7 +566,7 @@ void CProfileManager::Start_Profile( const char * name )
void CProfileManager::Stop_Profile( void )
{
int threadIndex = btQuickprofGetCurrentThreadIndex2();
if (threadIndex<0)
if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
return;
// Return will indicate whether we should back up to our parent (we may
@@ -590,7 +590,7 @@ void CProfileManager::Reset( void )
{
gProfileClock.reset();
int threadIndex = btQuickprofGetCurrentThreadIndex2();
if (threadIndex<0)
if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
return;
gRoots[threadIndex].Reset();
gRoots[threadIndex].Call();
src/LinearMath/btScalar.h
+1 -1
View File
@@ -25,7 +25,7 @@ subject to the following restrictions:
#include <float.h>
/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
#define BT_BULLET_VERSION 286
#define BT_BULLET_VERSION 287
inline int btGetVersion()
{
src/LinearMath/btSerializer.cpp
+285 -875
View File
File diff suppressed because it is too large. Load diff
src/LinearMath/btSerializer.h
+2 -2
View File
@@ -26,7 +26,7 @@ subject to the following restrictions:
///only the 32bit versions for now
extern char sBulletDNAstr[];
extern int sBulletDNAlen;
extern char sBulletDNAstr64[];
@@ -505,7 +505,7 @@ public:
buffer[9] = '2';
buffer[10] = '8';
buffer[11] = '6';
buffer[11] = '7';
}
src/LinearMath/btSerializer64.cpp
+599
View File
@@ -0,0 +1,599 @@
char sBulletDNAstr64[]= {
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char(80),char(0),char(-5),char(0),char(13),char(0),char(-4),char(0),char(13),char(0),char(-3),char(0),char(13),char(0),char(-2),char(0),char(13),char(0),char(-1),char(0),
char(13),char(0),char(0),char(1),char(7),char(0),char(-99),char(0),char(7),char(0),char(1),char(1),char(4),char(0),char(2),char(1),char(4),char(0),char(53),char(0),
char(82),char(0),char(4),char(0),char(80),char(0),char(-5),char(0),char(4),char(0),char(3),char(1),char(7),char(0),char(4),char(1),char(4),char(0),char(5),char(1),
char(83),char(0),char(4),char(0),char(13),char(0),char(0),char(1),char(80),char(0),char(-5),char(0),char(4),char(0),char(6),char(1),char(7),char(0),char(7),char(1),
char(84),char(0),char(7),char(0),char(13),char(0),char(8),char(1),char(80),char(0),char(-5),char(0),char(4),char(0),char(9),char(1),char(7),char(0),char(10),char(1),
char(7),char(0),char(11),char(1),char(7),char(0),char(12),char(1),char(4),char(0),char(53),char(0),char(85),char(0),char(6),char(0),char(17),char(0),char(13),char(1),
char(13),char(0),char(11),char(1),char(13),char(0),char(14),char(1),char(60),char(0),char(15),char(1),char(4),char(0),char(16),char(1),char(7),char(0),char(12),char(1),
char(86),char(0),char(26),char(0),char(4),char(0),char(17),char(1),char(7),char(0),char(18),char(1),char(7),char(0),char(127),char(0),char(7),char(0),char(19),char(1),
char(7),char(0),char(20),char(1),char(7),char(0),char(21),char(1),char(7),char(0),char(22),char(1),char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1),
char(7),char(0),char(25),char(1),char(7),char(0),char(26),char(1),char(7),char(0),char(27),char(1),char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1),
char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),char(7),char(0),char(32),char(1),char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1),
char(7),char(0),char(35),char(1),char(7),char(0),char(36),char(1),char(4),char(0),char(37),char(1),char(4),char(0),char(38),char(1),char(4),char(0),char(39),char(1),
char(4),char(0),char(40),char(1),char(4),char(0),char(120),char(0),char(87),char(0),char(12),char(0),char(17),char(0),char(41),char(1),char(17),char(0),char(42),char(1),
char(17),char(0),char(43),char(1),char(13),char(0),char(44),char(1),char(13),char(0),char(45),char(1),char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1),
char(4),char(0),char(48),char(1),char(4),char(0),char(49),char(1),char(4),char(0),char(50),char(1),char(7),char(0),char(10),char(1),char(4),char(0),char(53),char(0),
char(88),char(0),char(27),char(0),char(19),char(0),char(51),char(1),char(17),char(0),char(52),char(1),char(17),char(0),char(53),char(1),char(13),char(0),char(44),char(1),
char(13),char(0),char(54),char(1),char(13),char(0),char(55),char(1),char(13),char(0),char(56),char(1),char(13),char(0),char(57),char(1),char(13),char(0),char(58),char(1),
char(4),char(0),char(59),char(1),char(7),char(0),char(60),char(1),char(4),char(0),char(61),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1),
char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1),char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(7),char(0),char(68),char(1),
char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1),char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),
char(4),char(0),char(74),char(1),char(4),char(0),char(75),char(1),char(4),char(0),char(76),char(1),char(89),char(0),char(12),char(0),char(9),char(0),char(77),char(1),
char(9),char(0),char(78),char(1),char(13),char(0),char(79),char(1),char(7),char(0),char(80),char(1),char(7),char(0),char(-125),char(0),char(7),char(0),char(81),char(1),
char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1),char(4),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),
char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0),char(50),char(0),char(-109),char(0),char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1),
char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1),char(83),char(0),char(91),char(1),char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1),
char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1),char(4),char(0),char(96),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1),
char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1),char(4),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),
char(86),char(0),char(103),char(1),char(91),char(0),char(24),char(0),char(16),char(0),char(104),char(1),char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1),
char(14),char(0),char(107),char(1),char(14),char(0),char(108),char(1),char(14),char(0),char(109),char(1),char(8),char(0),char(110),char(1),char(4),char(0),char(111),char(1),
char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1),char(4),char(0),char(113),char(1),char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1),
char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1),char(8),char(0),char(118),char(1),char(8),char(0),char(119),char(1),char(8),char(0),char(120),char(1),
char(8),char(0),char(121),char(1),char(8),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(49),char(0),char(125),char(1),
char(0),char(0),char(126),char(1),char(92),char(0),char(24),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),
char(13),char(0),char(107),char(1),char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1),
char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),
char(4),char(0),char(113),char(1),char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(7),char(0),char(119),char(1),char(7),char(0),char(120),char(1),
char(7),char(0),char(121),char(1),char(7),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(50),char(0),char(125),char(1),
char(0),char(0),char(126),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(127),char(1),char(14),char(0),char(-128),char(1),char(8),char(0),char(-127),char(1),
char(0),char(0),char(-126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(-125),char(1),char(0),char(0),char(126),char(1),char(4),char(0),char(97),char(1),
char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(-126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(-125),char(1),
char(19),char(0),char(127),char(1),char(13),char(0),char(-128),char(1),char(7),char(0),char(-127),char(1),char(4),char(0),char(97),char(1),};
int sBulletDNAlen64= sizeof(sBulletDNAstr64);
test/CMakeLists.txt
+1 -1
View File
@@ -3,5 +3,5 @@ IF(BUILD_BULLET3)
SUBDIRS( InverseDynamics SharedMemory )
ENDIF(BUILD_BULLET3)
SUBDIRS( gtest-1.7.0 collision RobotLogging BulletDynamics )
SUBDIRS( gtest-1.7.0 collision BulletDynamics )