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Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure.

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Add several MSVC optimization flags to cmake.
Bump up VERSION because serialization format changed
Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo.

pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity
fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
This commit is contained in:
Erwin Coumans
2017-03-26 13:06:46 -07:00
parent ed6530264f
commit 7503418c72
32 changed files with 1412 additions and 1026 deletions
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18
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -1398,12 +1398,14 @@ 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;
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)
@@ -1421,7 +1423,9 @@ 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
{
@@ -1432,6 +1436,14 @@ 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
{

3
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -60,7 +60,8 @@ 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;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;

15
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -360,12 +360,14 @@ 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);
@@ -384,7 +386,8 @@ 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
{
@@ -394,6 +397,14 @@ 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);
}

3
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -46,7 +46,8 @@ 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;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;

9
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -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)
@@ -375,7 +377,10 @@ void ConvertURDF2BulletInternal(
-offsetInB.getOrigin(),
disableParentCollision);
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction = jointFriction;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointLowerLimit = jointLowerLimit;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointUpperLimit = jointUpperLimit;
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) {
//std::string name = u2b.getLinkName(urdfLinkIndex);

8
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -43,6 +43,14 @@ public:
virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const =0;
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;