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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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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);
}