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

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This commit is contained in:
Erwin Coumans
2018-05-18 16:25:27 -07:00
parent 0abe4151e5 ff646fbef2
commit 701b50ec12
10 changed files with 77 additions and 35 deletions
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8
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -241,7 +241,11 @@ struct BulletMJCFImporterInternalData
return buf; return buf;
#else #else
char row[1024]; char row[1024];
#ifdef G3_TINYXML2
sprintf(row,"unknown line, upgrade tinyxml2 version!");
#else
sprintf(row,"%d",e->GetLineNum()); sprintf(row,"%d",e->GetLineNum());
#endif
std::string str = m_sourceFileName.c_str() + std::string(":") + std::string(row); std::string str = m_sourceFileName.c_str() + std::string(":") + std::string(row);
return str; return str;
#endif #endif
@@ -1491,8 +1495,12 @@ bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* l
xml_doc.Parse(xmlText); xml_doc.Parse(xmlText);
if (xml_doc.Error()) if (xml_doc.Error())
{ {
#ifdef G3_TINYXML2
logger->reportError("xml reading error (upgrade tinyxml2 version!");
#else
logger->reportError(xml_doc.ErrorStr()); logger->reportError(xml_doc.ErrorStr());
xml_doc.ClearError(); xml_doc.ClearError();
#endif
return false; return false;
} }

17
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -1,5 +1,4 @@
#include "UrdfParser.h" #include "UrdfParser.h"
#include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h" #include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
#include "urdfStringSplit.h" #include "urdfStringSplit.h"
#include "urdfLexicalCast.h" #include "urdfLexicalCast.h"
@@ -1504,8 +1503,12 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
xml_doc.Parse(urdfText); xml_doc.Parse(urdfText);
if (xml_doc.Error()) if (xml_doc.Error())
{ {
#ifdef G3_TINYXML2
logger->reportError("xml reading error");
#else
logger->reportError(xml_doc.ErrorStr()); logger->reportError(xml_doc.ErrorStr());
xml_doc.ClearError(); xml_doc.ClearError();
#endif
return false; return false;
} }
@@ -1664,9 +1667,13 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
xml_doc.Parse(sdfText); xml_doc.Parse(sdfText);
if (xml_doc.Error()) if (xml_doc.Error())
{ {
#ifdef G3_TINYXML2
logger->reportError("xml reading error");
#else
logger->reportError(xml_doc.ErrorStr()); logger->reportError(xml_doc.ErrorStr());
xml_doc.ClearError(); xml_doc.ClearError();
return false; #endif
return false;
} }
XMLElement *sdf_xml = xml_doc.FirstChildElement("sdf"); XMLElement *sdf_xml = xml_doc.FirstChildElement("sdf");
@@ -1847,8 +1854,12 @@ std::string UrdfParser::sourceFileLocation(XMLElement* e)
return buf; return buf;
#else #else
char row[1024]; char row[1024];
#ifdef G3_TINYXML2
sprintf(row,"unknown line");
#else
sprintf(row,"%d",e->GetLineNum()); sprintf(row,"%d",e->GetLineNum());
std::string str = m_urdf2Model.m_sourceFile.c_str() + std::string(":") + std::string(row); #endif
std::string str = m_urdf2Model.m_sourceFile.c_str() + std::string(":") + std::string(row);
return str; return str;
#endif #endif

3
examples/MultiThreading/b3PosixThreadSupport.cpp
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@@ -268,7 +268,8 @@ void b3PosixThreadSupport::stopThreads()
for(size_t t=0; t < size_t(m_activeThreadStatus.size()); ++t) for(size_t t=0; t < size_t(m_activeThreadStatus.size()); ++t)
{ {
b3ThreadStatus& spuStatus = m_activeThreadStatus[t]; b3ThreadStatus& spuStatus = m_activeThreadStatus[t];
printf("%s: Thread %i used: %ld\n", __FUNCTION__, int(t), spuStatus.threadUsed);
// printf("%s: Thread %i used: %ld\n", __FUNCTION__, int(t), spuStatus.threadUsed);
spuStatus.m_userPtr = 0; spuStatus.m_userPtr = 0;
checkPThreadFunction(sem_post(spuStatus.startSemaphore)); checkPThreadFunction(sem_post(spuStatus.startSemaphore));

2
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -1618,7 +1618,7 @@ void GLInstancingRenderer::renderScene()
{ {
renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE); renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT);
if (m_planeReflectionShapeIndex>=0) if (m_planeReflectionShapeIndex>=0)
{ {

6
examples/OpenGLWindow/Win32OpenGLWindow.cpp
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@@ -119,9 +119,9 @@ void Win32OpenGLWindow::closeWindow()
void Win32OpenGLWindow::startRendering() void Win32OpenGLWindow::startRendering()
{ {
pumpMessage(); pumpMessage();
//don't clear all 3 buffers because some AMD drivers are buggy
//glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//glCullFace(GL_BACK); //glCullFace(GL_BACK);

46
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -1,10 +1,10 @@
#include "PhysicsClientSharedMemory.h" #include "PhysicsClientSharedMemory.h"
#include "PosixSharedMemory.h" #include "PosixSharedMemory.h"
#include "Win32SharedMemory.h" #include "Win32SharedMemory.h"
#include "LinearMath/btAlignedObjectArray.h" #include "Bullet3Common/b3AlignedObjectArray.h"
#include "LinearMath/btVector3.h" #include "Bullet3Common/b3Vector3.h"
#include <string.h> #include <string.h>
#include "Bullet3Common/b3HashMap.h"
#include "Bullet3Common/b3Logging.h" #include "Bullet3Common/b3Logging.h"
#include "../Utils/b3ResourcePath.h" #include "../Utils/b3ResourcePath.h"
#include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h" #include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h"
@@ -19,7 +19,7 @@
struct BodyJointInfoCache struct BodyJointInfoCache
{ {
std::string m_baseName; std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo; b3AlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName; std::string m_bodyName;
}; };
@@ -28,32 +28,32 @@ struct PhysicsClientSharedMemoryInternalData {
bool m_ownsSharedMemory; bool m_ownsSharedMemory;
SharedMemoryBlock* m_testBlock1; SharedMemoryBlock* m_testBlock1;
btHashMap<btHashInt,BodyJointInfoCache*> m_bodyJointMap; b3HashMap<b3HashInt,BodyJointInfoCache*> m_bodyJointMap;
btHashMap<btHashInt,b3UserConstraint> m_userConstraintInfoMap; b3HashMap<b3HashInt,b3UserConstraint> m_userConstraintInfoMap;
btAlignedObjectArray<TmpFloat3> m_debugLinesFrom; b3AlignedObjectArray<TmpFloat3> m_debugLinesFrom;
btAlignedObjectArray<TmpFloat3> m_debugLinesTo; b3AlignedObjectArray<TmpFloat3> m_debugLinesTo;
btAlignedObjectArray<TmpFloat3> m_debugLinesColor; b3AlignedObjectArray<TmpFloat3> m_debugLinesColor;
int m_cachedCameraPixelsWidth; int m_cachedCameraPixelsWidth;
int m_cachedCameraPixelsHeight; int m_cachedCameraPixelsHeight;
btAlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA; b3AlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
btAlignedObjectArray<float> m_cachedCameraDepthBuffer; b3AlignedObjectArray<float> m_cachedCameraDepthBuffer;
btAlignedObjectArray<int> m_cachedSegmentationMaskBuffer; b3AlignedObjectArray<int> m_cachedSegmentationMaskBuffer;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints; b3AlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
btAlignedObjectArray<b3OverlappingObject> m_cachedOverlappingObjects; b3AlignedObjectArray<b3OverlappingObject> m_cachedOverlappingObjects;
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes; b3AlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes; b3AlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents; b3AlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents; b3AlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
btAlignedObjectArray<b3MouseEvent> m_cachedMouseEvents; b3AlignedObjectArray<b3MouseEvent> m_cachedMouseEvents;
btAlignedObjectArray<double> m_cachedMassMatrix; b3AlignedObjectArray<double> m_cachedMassMatrix;
btAlignedObjectArray<b3RayHitInfo> m_raycastHits; b3AlignedObjectArray<b3RayHitInfo> m_raycastHits;
btAlignedObjectArray<int> m_bodyIdsRequestInfo; b3AlignedObjectArray<int> m_bodyIdsRequestInfo;
btAlignedObjectArray<int> m_constraintIdsRequestInfo; b3AlignedObjectArray<int> m_constraintIdsRequestInfo;
SharedMemoryStatus m_tempBackupServerStatus; SharedMemoryStatus m_tempBackupServerStatus;

12
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -260,6 +260,8 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
if (init) if (init)
{ {
unsigned int cachedSharedParam = eMotionIsInitialized;
args->m_cs->lock(); args->m_cs->lock();
args->m_cs->setSharedParam(0,eMotionIsInitialized); args->m_cs->setSharedParam(0,eMotionIsInitialized);
args->m_cs->unlock(); args->m_cs->unlock();
@@ -269,6 +271,8 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
int numCmdSinceSleep1ms = 0; int numCmdSinceSleep1ms = 0;
unsigned long long int prevTime = clock.getTimeMicroseconds(); unsigned long long int prevTime = clock.getTimeMicroseconds();
do do
{ {
{ {
@@ -468,7 +472,11 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
numCmdSinceSleep1ms++; numCmdSinceSleep1ms++;
} }
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion); args->m_cs->lock();
cachedSharedParam = args->m_cs->getSharedParam(0);
args->m_cs->unlock();
} while (cachedSharedParam!=eRequestTerminateMotion);
} else } else
{ {
args->m_cs->lock(); args->m_cs->lock();
@@ -1749,7 +1757,7 @@ void PhysicsServerExample::initPhysics()
m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper); m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
for (int i=0;i<m_threadSupport->getNumTasks();i++) for (int i=0;i<m_threadSupport->getNumTasks();i++)
{ {

4
examples/SharedMemory/Win32SharedMemory.cpp
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@@ -2,7 +2,7 @@
#include "Win32SharedMemory.h" #include "Win32SharedMemory.h"
#include "Bullet3Common/b3Logging.h" #include "Bullet3Common/b3Logging.h"
#include "Bullet3Common/b3Scalar.h" #include "Bullet3Common/b3Scalar.h"
#include "LinearMath/btAlignedObjectArray.h" #include "Bullet3Common/b3AlignedObjectArray.h"
#include <windows.h> #include <windows.h>
#include <stdio.h> #include <stdio.h>
@@ -29,7 +29,7 @@ struct Win32SharedMemorySegment
struct Win32SharedMemoryInteralData struct Win32SharedMemoryInteralData
{ {
btAlignedObjectArray<Win32SharedMemorySegment> m_segments; b3AlignedObjectArray<Win32SharedMemorySegment> m_segments;
Win32SharedMemoryInteralData() Win32SharedMemoryInteralData()
{ {

6
examples/pybullet/pybullet.c
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@@ -937,6 +937,12 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
return NULL; return NULL;
} }
if ((contactStiffness>=0 && contactDamping <0)||(contactStiffness<0 && contactDamping >=0))
{
PyErr_SetString(SpamError, "Both contactStiffness and contactDamping needs to be set together.");
return NULL;
}
{ {
b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(sm); b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(sm);
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;

8
src/Bullet3Common/b3AlignedObjectArray.h
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@@ -528,6 +528,14 @@ protected:
otherArray.copy(0, otherSize, m_data); otherArray.copy(0, otherSize, m_data);
} }
void removeAtIndex(int index)
{
if (index<size())
{
swap( index,size()-1);
pop_back();
}
}
}; };
#endif //B3_OBJECT_ARRAY__ #endif //B3_OBJECT_ARRAY__