allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE
fix quadruped.py example. add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
This commit is contained in:
Erwin Coumans
@@ -15,7 +15,7 @@
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<mesh filename="plane.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 .9"/>
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<color rgba="1 1 1 .7"/>
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</material>
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</visual>
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<collision>
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Binary file not shown.
@@ -139,7 +139,7 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
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btConvexShape* convex = (btConvexShape*)collisionShape;
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{
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btShapeHull* hull = new btShapeHull(convex);
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hull->buildHull(0.0);
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hull->buildHull(0.0, 1);
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{
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//int strideInBytes = 9*sizeof(float);
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@@ -301,6 +301,15 @@ void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* rg
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int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
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{
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if (textureId == -2)
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{
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if (m_data->m_checkedTextureGrey<0)
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{
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m_data->m_checkedTextureGrey = createCheckeredTexture(192, 192, 192);
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}
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textureId = m_data->m_checkedTextureGrey;
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}
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int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
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return shapeId;
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}
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@@ -2,7 +2,10 @@
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#include "../../ThirdPartyLibs/tinyxml/tinyxml.h"
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#include "Bullet3Common/b3FileUtils.h"
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#include "Bullet3Common/b3HashMap.h"
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#include "LinearMath/btQuickprof.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"
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#include "../../CommonInterfaces/CommonRenderInterface.h"
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#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
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#include <string>
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#include "../../Utils/b3ResourcePath.h"
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#include <iostream>
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@@ -13,6 +16,9 @@
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#include "../ImportURDFDemo/urdfLexicalCast.h"
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#include "../ImportObjDemo/LoadMeshFromObj.h"
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#include "../ImportSTLDemo/LoadMeshFromSTL.h"
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#include "../ImportColladaDemo/LoadMeshFromCollada.h"
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#include "../OpenGLWindow/ShapeData.h"
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#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
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#include "../ImportMeshUtility/b3ImportMeshUtility.h"
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@@ -31,6 +37,20 @@
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#define mjcf_sphere_indiced textured_detailed_sphere_indices
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#define mjcf_sphere_vertices textured_detailed_sphere_vertices
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static btVector4 sGoogleColors[4] =
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{
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btVector4(60. / 256., 186. / 256., 84. / 256., 1),
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btVector4(244. / 256., 194. / 256., 13. / 256., 1),
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btVector4(219. / 256., 50. / 256., 54. / 256., 1),
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btVector4(72. / 256., 133. / 256., 237. / 256., 1),
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};
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#include <vector>
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enum ePARENT_LINK_ENUMS
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@@ -192,12 +212,14 @@ struct BulletMJCFImporterInternalData
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mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
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int m_flags;
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int m_textureId;
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BulletMJCFImporterInternalData()
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:m_inertiaFromGeom(true),
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m_activeModel(-1),
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m_activeBodyUniqueId(-1),
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m_flags(0)
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m_flags(0),
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m_textureId(-1)
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{
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m_pathPrefix[0] = 0;
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}
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@@ -705,6 +727,12 @@ struct BulletMJCFImporterInternalData
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linkPtr->m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
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}
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{
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geom.m_localMaterial.m_matColor.m_rgbaColor = sGoogleColors[linkIndex & 3];
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geom.m_localMaterial.m_matColor.m_specularColor.setValue(1, 1, 1);
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geom.m_hasLocalMaterial = true;
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}
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std::string rgba = defaults.m_defaultGeomRgba;
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if (const char* rgbattr = link_xml->Attribute("rgba"))
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{
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@@ -713,11 +741,16 @@ struct BulletMJCFImporterInternalData
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if (!rgba.empty())
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{
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// "0 0.7 0.7 1"
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parseVector4(geom.m_localMaterial.m_matColor.m_rgbaColor, rgba);
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geom.m_hasLocalMaterial = true;
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geom.m_localMaterial.m_name = rgba;
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if ((m_flags&CUF_MJCF_COLORS_FROM_FILE))
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{
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parseVector4(geom.m_localMaterial.m_matColor.m_rgbaColor, rgba);
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geom.m_hasLocalMaterial = true;
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geom.m_localMaterial.m_name = rgba;
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}
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}
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const char* posS = link_xml->Attribute("pos");
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if (posS)
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{
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@@ -880,31 +913,43 @@ struct BulletMJCFImporterInternalData
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if (handledGeomType)
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{
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UrdfCollision col;
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col.m_flags |= URDF_HAS_COLLISION_GROUP;
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col.m_collisionGroup = defaults.m_defaultCollisionGroup;
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col.m_flags |= URDF_HAS_COLLISION_MASK;
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col.m_collisionMask = defaults.m_defaultCollisionMask;
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//contype, conaffinity
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const char* conTypeStr = link_xml->Attribute("contype");
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if (conTypeStr)
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{
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UrdfCollision col;
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col.m_flags |= URDF_HAS_COLLISION_GROUP;
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col.m_collisionGroup = urdfLexicalCast<int>(conTypeStr);
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}
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const char* conAffinityStr = link_xml->Attribute("conaffinity");
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if (conAffinityStr)
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{
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col.m_collisionGroup = defaults.m_defaultCollisionGroup;
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col.m_flags |= URDF_HAS_COLLISION_MASK;
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col.m_collisionMask = urdfLexicalCast<int>(conAffinityStr);
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col.m_collisionMask = defaults.m_defaultCollisionMask;
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//contype, conaffinity
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const char* conTypeStr = link_xml->Attribute("contype");
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if (conTypeStr)
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{
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col.m_flags |= URDF_HAS_COLLISION_GROUP;
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col.m_collisionGroup = urdfLexicalCast<int>(conTypeStr);
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}
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const char* conAffinityStr = link_xml->Attribute("conaffinity");
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if (conAffinityStr)
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{
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col.m_flags |= URDF_HAS_COLLISION_MASK;
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col.m_collisionMask = urdfLexicalCast<int>(conAffinityStr);
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}
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col.m_geometry = geom;
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col.m_linkLocalFrame = linkLocalFrame;
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col.m_sourceFileLocation = sourceFileLocation(link_xml);
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linkPtr->m_collisionArray.push_back(col);
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}
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{
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UrdfVisual vis;
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vis.m_geometry = geom;
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vis.m_linkLocalFrame = linkLocalFrame;
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vis.m_sourceFileLocation = sourceFileLocation(link_xml);
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linkPtr->m_visualArray.push_back(vis);
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}
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col.m_geometry = geom;
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col.m_linkLocalFrame = linkLocalFrame;
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col.m_sourceFileLocation = sourceFileLocation(link_xml);
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linkPtr->m_collisionArray.push_back(col);
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} else
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{
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@@ -1380,6 +1425,7 @@ BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVi
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m_data->m_guiHelper = helper;
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m_data->m_customVisualShapesConverter = customConverter;
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m_data->m_flags = flags;
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m_data->m_textureId = -1;
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}
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BulletMJCFImporter::~BulletMJCFImporter()
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@@ -1525,6 +1571,49 @@ std::string BulletMJCFImporter::getBodyName() const
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return m_data->m_fileModelName;
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}
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bool BulletMJCFImporter::getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const
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{
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bool hasLinkColor = false;
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{
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const UrdfLink* link = m_data->getLink(m_data->m_activeModel, linkIndex);
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if (link)
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{
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for (int i = 0; i < link->m_visualArray.size(); i++)
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{
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if (link->m_visualArray[i].m_geometry.m_hasLocalMaterial)
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{
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matCol = link->m_visualArray[i].m_geometry.m_localMaterial.m_matColor;
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hasLinkColor = true;
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break;
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}
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}
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if (!hasLinkColor)
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{
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for (int i = 0; i < link->m_collisionArray.size(); i++)
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{
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if (link->m_collisionArray[i].m_geometry.m_hasLocalMaterial)
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{
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matCol = link->m_collisionArray[0].m_geometry.m_localMaterial.m_matColor;
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hasLinkColor = true;
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}
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break;
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}
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}
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}
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}
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if (!hasLinkColor)
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{
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matCol.m_rgbaColor = sGoogleColors[linkIndex & 3];
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matCol.m_specularColor.setValue(1, 1, 1);
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hasLinkColor = true;
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}
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return hasLinkColor;
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}
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bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
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{
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// UrdfLink* link = m_data->getLink(linkIndex);
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@@ -1664,9 +1753,512 @@ bool BulletMJCFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
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return true;
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}
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void BulletMJCFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const
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{
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GLInstanceGraphicsShape* glmesh = 0;
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int strideInBytes = 9 * sizeof(float);
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btConvexShape* convexColShape = 0;
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switch (visual->m_geometry.m_type)
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{
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case URDF_GEOM_CAPSULE:
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{
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#if 1
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btScalar height = visual->m_geometry.m_capsuleHeight;
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btTransform capsuleTrans;
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capsuleTrans.setIdentity();
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if (visual->m_geometry.m_hasFromTo)
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{
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btVector3 f = visual->m_geometry.m_capsuleFrom;
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btVector3 t = visual->m_geometry.m_capsuleTo;
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//compute the local 'fromto' transform
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btVector3 localPosition = btScalar(0.5)*(t + f);
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btQuaternion localOrn;
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localOrn = btQuaternion::getIdentity();
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btVector3 diff = t - f;
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btScalar lenSqr = diff.length2();
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height = 0.f;
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if (lenSqr > SIMD_EPSILON)
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{
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height = btSqrt(lenSqr);
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btVector3 ax = diff / height;
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btVector3 zAxis(0, 0, 1);
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localOrn = shortestArcQuat(zAxis, ax);
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}
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capsuleTrans.setOrigin(localPosition);
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capsuleTrans.setRotation(localOrn);
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}
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btScalar diam = 2.*visual->m_geometry.m_capsuleRadius;
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b3AlignedObjectArray<GLInstanceVertex> transformedVertices;
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int numVertices = sizeof(mjcf_sphere_vertices) / strideInBytes;
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transformedVertices.resize(numVertices);
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for (int i = 0; i<numVertices; i++)
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{
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btVector3 vert;
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vert.setValue(mjcf_sphere_vertices[i * 9 + 0],
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mjcf_sphere_vertices[i * 9 + 1],
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mjcf_sphere_vertices[i * 9 + 2]);
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btScalar halfHeight = 0.5*height;
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btVector3 trVer = (diam*vert);
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int up = 2; //default to z axis up for capsule
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if (trVer[up]>0)
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trVer[up] += halfHeight;
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else
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trVer[up] -= halfHeight;
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trVer = capsuleTrans*trVer;
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transformedVertices[i].xyzw[0] = trVer[0];
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transformedVertices[i].xyzw[1] = trVer[1];
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transformedVertices[i].xyzw[2] = trVer[2];
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transformedVertices[i].xyzw[3] = 0;
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transformedVertices[i].normal[0] = mjcf_sphere_vertices[i * 9 + 4];
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transformedVertices[i].normal[1] = mjcf_sphere_vertices[i * 9 + 5];
|
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transformedVertices[i].normal[2] = mjcf_sphere_vertices[i * 9 + 6];
|
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//transformedVertices[i].uv[0] = mjcf_sphere_vertices[i * 9 + 7];
|
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//transformedVertices[i].uv[1] = mjcf_sphere_vertices[i * 9 + 8];
|
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|
||||
btScalar u = btAtan2(transformedVertices[i].normal[0], transformedVertices[i].normal[2]) / (2 * SIMD_PI) + 0.5;
|
||||
btScalar v = transformedVertices[i].normal[1] * 0.5 + 0.5;
|
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transformedVertices[i].uv[0] = u;
|
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transformedVertices[i].uv[1] = v;
|
||||
}
|
||||
|
||||
glmesh = new GLInstanceGraphicsShape;
|
||||
// int index = 0;
|
||||
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
||||
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
||||
|
||||
int numIndices = sizeof(mjcf_sphere_indiced) / sizeof(int);
|
||||
for (int i = 0; i < numIndices; i++)
|
||||
{
|
||||
glmesh->m_indices->push_back(mjcf_sphere_indiced[i]);
|
||||
}
|
||||
for (int i = 0; i < transformedVertices.size(); i++)
|
||||
{
|
||||
glmesh->m_vertices->push_back(transformedVertices[i]);
|
||||
}
|
||||
glmesh->m_numIndices = numIndices;
|
||||
glmesh->m_numvertices = transformedVertices.size();
|
||||
glmesh->m_scaling[0] = 1;
|
||||
glmesh->m_scaling[1] = 1;
|
||||
glmesh->m_scaling[2] = 1;
|
||||
glmesh->m_scaling[3] = 1;
|
||||
#else
|
||||
if (visual->m_geometry.m_hasFromTo)
|
||||
{
|
||||
btVector3 f = visual->m_geometry.m_capsuleFrom;
|
||||
btVector3 t = visual->m_geometry.m_capsuleTo;
|
||||
btVector3 fromto[2] = { f, t };
|
||||
btScalar radii[2] = { btScalar(visual->m_geometry.m_capsuleRadius)
|
||||
, btScalar(visual->m_geometry.m_capsuleRadius) };
|
||||
|
||||
btMultiSphereShape* ms = new btMultiSphereShape(fromto, radii, 2);
|
||||
convexColShape = ms;
|
||||
}
|
||||
else
|
||||
{
|
||||
btCapsuleShapeZ* cap = new btCapsuleShapeZ(visual->m_geometry.m_capsuleRadius,
|
||||
visual->m_geometry.m_capsuleHeight);
|
||||
convexColShape = cap;
|
||||
}
|
||||
#endif
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case URDF_GEOM_CYLINDER:
|
||||
{
|
||||
btAlignedObjectArray<btVector3> vertices;
|
||||
|
||||
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
|
||||
int numSteps = 32;
|
||||
for (int i = 0; i<numSteps; i++)
|
||||
{
|
||||
|
||||
btScalar cylRadius = visual->m_geometry.m_capsuleRadius;
|
||||
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);
|
||||
vert[2] = -cylLength / 2.;
|
||||
vertices.push_back(vert);
|
||||
}
|
||||
|
||||
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
|
||||
cylZShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
|
||||
cylZShape->recalcLocalAabb();
|
||||
convexColShape = cylZShape;
|
||||
break;
|
||||
}
|
||||
|
||||
case URDF_GEOM_BOX:
|
||||
{
|
||||
btVector3 extents = visual->m_geometry.m_boxSize;
|
||||
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
|
||||
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
|
||||
convexColShape = boxShape;
|
||||
convexColShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
|
||||
break;
|
||||
}
|
||||
|
||||
case URDF_GEOM_SPHERE:
|
||||
{
|
||||
#if 1
|
||||
btScalar sphereSize = 2.*visual->m_geometry.m_sphereRadius;
|
||||
b3AlignedObjectArray<GLInstanceVertex> transformedVertices;
|
||||
int numVertices = sizeof(mjcf_sphere_vertices) / strideInBytes;
|
||||
transformedVertices.resize(numVertices);
|
||||
|
||||
|
||||
glmesh = new GLInstanceGraphicsShape;
|
||||
// int index = 0;
|
||||
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
||||
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
||||
printf("vertices:\n");
|
||||
for (int i = 0; i<numVertices; i++)
|
||||
{
|
||||
btVector3 vert;
|
||||
vert.setValue(mjcf_sphere_vertices[i * 9 + 0],
|
||||
mjcf_sphere_vertices[i * 9 + 1],
|
||||
mjcf_sphere_vertices[i * 9 + 2]);
|
||||
|
||||
btVector3 trVer = sphereSize*vert;
|
||||
transformedVertices[i].xyzw[0] = trVer[0];
|
||||
transformedVertices[i].xyzw[1] = trVer[1];
|
||||
transformedVertices[i].xyzw[2] = trVer[2];
|
||||
transformedVertices[i].xyzw[3] = 0;
|
||||
transformedVertices[i].normal[0] = mjcf_sphere_vertices[i * 9 + 4];
|
||||
transformedVertices[i].normal[1] = mjcf_sphere_vertices[i * 9 + 5];
|
||||
transformedVertices[i].normal[2] = mjcf_sphere_vertices[i * 9 + 6];
|
||||
//transformedVertices[i].uv[0] = mjcf_sphere_vertices[i * 9 + 7];
|
||||
//transformedVertices[i].uv[1] = mjcf_sphere_vertices[i * 9 + 8];
|
||||
|
||||
btScalar u = btAtan2(transformedVertices[i].normal[0], transformedVertices[i].normal[2]) / (2 * SIMD_PI) + 0.5;
|
||||
btScalar v = transformedVertices[i].normal[1] * 0.5 + 0.5;
|
||||
transformedVertices[i].uv[0] = u;
|
||||
transformedVertices[i].uv[1] = v;
|
||||
|
||||
}
|
||||
int numIndices = sizeof(mjcf_sphere_indiced) / sizeof(int);
|
||||
for (int i = 0; i < numIndices; i++)
|
||||
{
|
||||
glmesh->m_indices->push_back(mjcf_sphere_indiced[i]);
|
||||
}
|
||||
for (int i = 0; i < transformedVertices.size(); i++)
|
||||
{
|
||||
glmesh->m_vertices->push_back(transformedVertices[i]);
|
||||
}
|
||||
glmesh->m_numIndices = numIndices;
|
||||
glmesh->m_numvertices = transformedVertices.size();
|
||||
glmesh->m_scaling[0] = 1;
|
||||
glmesh->m_scaling[1] = 1;
|
||||
glmesh->m_scaling[2] = 1;
|
||||
glmesh->m_scaling[3] = 1;
|
||||
|
||||
#else
|
||||
|
||||
btScalar radius = visual->m_geometry.m_sphereRadius;
|
||||
btSphereShape* sphereShape = new btSphereShape(radius);
|
||||
convexColShape = sphereShape;
|
||||
convexColShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
|
||||
case URDF_GEOM_MESH:
|
||||
{
|
||||
switch (visual->m_geometry.m_meshFileType)
|
||||
{
|
||||
case UrdfGeometry::FILE_OBJ:
|
||||
{
|
||||
b3ImportMeshData meshData;
|
||||
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
|
||||
{
|
||||
|
||||
if (meshData.m_textureImage1)
|
||||
{
|
||||
MJCFURDFTexture texData;
|
||||
texData.m_width = meshData.m_textureWidth;
|
||||
texData.m_height = meshData.m_textureHeight;
|
||||
texData.textureData1 = meshData.m_textureImage1;
|
||||
texData.m_isCached = meshData.m_isCached;
|
||||
texturesOut.push_back(texData);
|
||||
}
|
||||
glmesh = meshData.m_gfxShape;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case UrdfGeometry::FILE_STL:
|
||||
{
|
||||
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
|
||||
break;
|
||||
}
|
||||
|
||||
case UrdfGeometry::FILE_COLLADA:
|
||||
{
|
||||
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
|
||||
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
|
||||
btTransform upAxisTrans; upAxisTrans.setIdentity();
|
||||
float unitMeterScaling = 1;
|
||||
int upAxis = 2;
|
||||
|
||||
LoadMeshFromCollada(visual->m_geometry.m_meshFileName.c_str(),
|
||||
visualShapes,
|
||||
visualShapeInstances,
|
||||
upAxisTrans,
|
||||
unitMeterScaling,
|
||||
upAxis);
|
||||
|
||||
glmesh = new GLInstanceGraphicsShape;
|
||||
// int index = 0;
|
||||
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
||||
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
||||
|
||||
for (int i = 0; i<visualShapeInstances.size(); i++)
|
||||
{
|
||||
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
|
||||
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
|
||||
|
||||
b3AlignedObjectArray<GLInstanceVertex> verts;
|
||||
verts.resize(gfxShape->m_vertices->size());
|
||||
|
||||
int baseIndex = glmesh->m_vertices->size();
|
||||
|
||||
for (int i = 0; i<gfxShape->m_vertices->size(); i++)
|
||||
{
|
||||
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
|
||||
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
|
||||
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
|
||||
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
|
||||
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
|
||||
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
|
||||
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
|
||||
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
|
||||
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
|
||||
|
||||
}
|
||||
|
||||
int curNumIndices = glmesh->m_indices->size();
|
||||
int additionalIndices = gfxShape->m_indices->size();
|
||||
glmesh->m_indices->resize(curNumIndices + additionalIndices);
|
||||
for (int k = 0; k<additionalIndices; k++)
|
||||
{
|
||||
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
|
||||
}
|
||||
|
||||
//compensate upAxisTrans and unitMeterScaling here
|
||||
btMatrix4x4 upAxisMat;
|
||||
upAxisMat.setIdentity();
|
||||
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
|
||||
btMatrix4x4 unitMeterScalingMat;
|
||||
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
|
||||
btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
|
||||
//btMatrix4x4 worldMat = instance->m_worldTransform;
|
||||
int curNumVertices = glmesh->m_vertices->size();
|
||||
int additionalVertices = verts.size();
|
||||
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
|
||||
|
||||
for (int v = 0; v<verts.size(); v++)
|
||||
{
|
||||
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
|
||||
pos = worldMat*pos;
|
||||
verts[v].xyzw[0] = float(pos[0]);
|
||||
verts[v].xyzw[1] = float(pos[1]);
|
||||
verts[v].xyzw[2] = float(pos[2]);
|
||||
glmesh->m_vertices->push_back(verts[v]);
|
||||
}
|
||||
}
|
||||
glmesh->m_numIndices = glmesh->m_indices->size();
|
||||
glmesh->m_numvertices = glmesh->m_vertices->size();
|
||||
//glmesh = LoadMeshFromCollada(visual->m_geometry.m_meshFileName);
|
||||
|
||||
break;
|
||||
}
|
||||
} // switch file type
|
||||
|
||||
if (!glmesh || !glmesh->m_vertices || glmesh->m_numvertices <= 0)
|
||||
{
|
||||
b3Warning("%s: cannot extract anything useful from mesh '%s'\n", urdfPathPrefix, visual->m_geometry.m_meshFileName.c_str());
|
||||
break;
|
||||
}
|
||||
|
||||
//apply the geometry scaling
|
||||
for (int i = 0; i<glmesh->m_vertices->size(); i++)
|
||||
{
|
||||
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
|
||||
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
|
||||
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
|
||||
}
|
||||
break;
|
||||
}
|
||||
case URDF_GEOM_PLANE:
|
||||
{
|
||||
b3Warning("No default visual for URDF_GEOM_PLANE");
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
b3Warning("Error: unknown visual geometry type %i\n", visual->m_geometry.m_type);
|
||||
}
|
||||
}
|
||||
|
||||
//if we have a convex, tesselate into localVertices/localIndices
|
||||
if ((glmesh == 0) && convexColShape)
|
||||
{
|
||||
BT_PROFILE("convexColShape");
|
||||
|
||||
btShapeHull* hull = new btShapeHull(convexColShape);
|
||||
hull->buildHull(0.0);
|
||||
{
|
||||
// int strideInBytes = 9*sizeof(float);
|
||||
int numVertices = hull->numVertices();
|
||||
int numIndices = hull->numIndices();
|
||||
|
||||
|
||||
glmesh = new GLInstanceGraphicsShape;
|
||||
// int index = 0;
|
||||
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
||||
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
||||
|
||||
|
||||
|
||||
|
||||
for (int i = 0; i < numVertices; i++)
|
||||
{
|
||||
GLInstanceVertex vtx;
|
||||
btVector3 pos = hull->getVertexPointer()[i];
|
||||
vtx.xyzw[0] = pos.x();
|
||||
vtx.xyzw[1] = pos.y();
|
||||
vtx.xyzw[2] = pos.z();
|
||||
vtx.xyzw[3] = 1.f;
|
||||
btVector3 normal = pos.normalized();
|
||||
vtx.normal[0] = normal.x();
|
||||
vtx.normal[1] = normal.y();
|
||||
vtx.normal[2] = normal.z();
|
||||
btScalar u = btAtan2(normal[0], normal[2]) / (2 * SIMD_PI) + 0.5;
|
||||
btScalar v = normal[1] * 0.5 + 0.5;
|
||||
vtx.uv[0] = u;
|
||||
vtx.uv[1] = v;
|
||||
glmesh->m_vertices->push_back(vtx);
|
||||
}
|
||||
|
||||
btAlignedObjectArray<int> indices;
|
||||
for (int i = 0; i < numIndices; i++)
|
||||
{
|
||||
glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
|
||||
}
|
||||
|
||||
glmesh->m_numvertices = glmesh->m_vertices->size();
|
||||
glmesh->m_numIndices = glmesh->m_indices->size();
|
||||
}
|
||||
delete hull;
|
||||
delete convexColShape;
|
||||
convexColShape = 0;
|
||||
|
||||
}
|
||||
|
||||
if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
|
||||
{
|
||||
BT_PROFILE("glmesh");
|
||||
int baseIndex = verticesOut.size();
|
||||
|
||||
|
||||
|
||||
for (int i = 0; i < glmesh->m_indices->size(); i++)
|
||||
{
|
||||
indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
|
||||
}
|
||||
|
||||
for (int i = 0; i < glmesh->m_vertices->size(); i++)
|
||||
{
|
||||
GLInstanceVertex& v = glmesh->m_vertices->at(i);
|
||||
btVector3 vert(v.xyzw[0], v.xyzw[1], v.xyzw[2]);
|
||||
btVector3 vt = visualTransform*vert;
|
||||
v.xyzw[0] = vt[0];
|
||||
v.xyzw[1] = vt[1];
|
||||
v.xyzw[2] = vt[2];
|
||||
btVector3 triNormal(v.normal[0], v.normal[1], v.normal[2]);
|
||||
triNormal = visualTransform.getBasis()*triNormal;
|
||||
v.normal[0] = triNormal[0];
|
||||
v.normal[1] = triNormal[1];
|
||||
v.normal[2] = triNormal[2];
|
||||
verticesOut.push_back(v);
|
||||
}
|
||||
}
|
||||
delete glmesh;
|
||||
}
|
||||
|
||||
int BulletMJCFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const
|
||||
{
|
||||
return -1;
|
||||
int graphicsIndex = -1;
|
||||
if (m_data->m_flags&CUF_MJCF_COLORS_FROM_FILE)
|
||||
{
|
||||
btAlignedObjectArray<GLInstanceVertex> vertices;
|
||||
btAlignedObjectArray<int> indices;
|
||||
btTransform startTrans; startTrans.setIdentity();
|
||||
btAlignedObjectArray<MJCFURDFTexture> textures;
|
||||
|
||||
const UrdfModel& model = *m_data->m_models[m_data->m_activeModel];
|
||||
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
|
||||
if (linkPtr)
|
||||
{
|
||||
|
||||
const UrdfLink* link = *linkPtr;
|
||||
|
||||
for (int v = 0; v < link->m_visualArray.size(); v++)
|
||||
{
|
||||
const UrdfVisual& vis = link->m_visualArray[v];
|
||||
btTransform childTrans = vis.m_linkLocalFrame;
|
||||
btHashString matName(vis.m_materialName.c_str());
|
||||
UrdfMaterial *const * matPtr = model.m_materials[matName];
|
||||
|
||||
convertURDFToVisualShapeInternal(&vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices, textures);
|
||||
|
||||
}
|
||||
}
|
||||
if (vertices.size() && indices.size())
|
||||
{
|
||||
if (1)
|
||||
{
|
||||
int textureIndex = -2;
|
||||
if (textures.size())
|
||||
{
|
||||
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1, textures[0].m_width, textures[0].m_height);
|
||||
}
|
||||
{
|
||||
B3_PROFILE("registerGraphicsShape");
|
||||
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
//delete textures
|
||||
for (int i = 0; i < textures.size(); i++)
|
||||
{
|
||||
B3_PROFILE("free textureData");
|
||||
if (!textures[i].m_isCached)
|
||||
{
|
||||
free(textures[i].textureData1);
|
||||
}
|
||||
}
|
||||
}
|
||||
return graphicsIndex;
|
||||
}
|
||||
|
||||
bool BulletMJCFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const
|
||||
|
||||
@@ -12,12 +12,20 @@ struct MJCFErrorLogger
|
||||
virtual void printMessage(const char* msg)=0;
|
||||
};
|
||||
|
||||
|
||||
struct MJCFURDFTexture
|
||||
{
|
||||
int m_width;
|
||||
int m_height;
|
||||
unsigned char* textureData1;
|
||||
bool m_isCached;
|
||||
};
|
||||
|
||||
class BulletMJCFImporter : public URDFImporterInterface
|
||||
{
|
||||
struct BulletMJCFImporterInternalData* m_data;
|
||||
|
||||
void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const;
|
||||
|
||||
public:
|
||||
BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags);
|
||||
virtual ~BulletMJCFImporter();
|
||||
@@ -46,6 +54,7 @@ public:
|
||||
|
||||
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
|
||||
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
|
||||
bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const;
|
||||
|
||||
//optional method to get collision group (type) and mask (affinity)
|
||||
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const ;
|
||||
|
||||
@@ -25,6 +25,7 @@ enum ConvertURDFFlags {
|
||||
CUF_RESERVED=64,
|
||||
CUF_USE_IMPLICIT_CYLINDER=128,
|
||||
CUF_GLOBAL_VELOCITIES_MB=256,
|
||||
CUF_MJCF_COLORS_FROM_FILE=512,
|
||||
};
|
||||
|
||||
void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
|
||||
|
||||
@@ -674,6 +674,7 @@ enum eURDF_Flags
|
||||
URDF_RESERVED=64,
|
||||
URDF_USE_IMPLICIT_CYLINDER =128,
|
||||
URDF_GLOBAL_VELOCITIES_MB =256,
|
||||
MJCF_COLORS_FROM_FILE=512,
|
||||
};
|
||||
|
||||
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
|
||||
|
||||
@@ -470,12 +470,14 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
|
||||
vtx.xyzw[1] = pos.y();
|
||||
vtx.xyzw[2] = pos.z();
|
||||
vtx.xyzw[3] = 1.f;
|
||||
pos.normalize();
|
||||
vtx.normal[0] = pos.x();
|
||||
vtx.normal[1] = pos.y();
|
||||
vtx.normal[2] = pos.z();
|
||||
vtx.uv[0] = 0.5f;
|
||||
vtx.uv[1] = 0.5f;
|
||||
btVector3 normal = pos.safeNormalize();
|
||||
vtx.normal[0] = normal.x();
|
||||
vtx.normal[1] = normal.y();
|
||||
vtx.normal[2] = normal.z();
|
||||
btScalar u = btAtan2(normal[0], normal[2]) / (2 * SIMD_PI) + 0.5;
|
||||
btScalar v = normal[1] * 0.5 + 0.5;
|
||||
vtx.uv[0] = u;
|
||||
vtx.uv[1] = v;
|
||||
glmesh->m_vertices->push_back(vtx);
|
||||
}
|
||||
|
||||
@@ -586,18 +588,33 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
|
||||
{
|
||||
color.setValue(1,1,1,1);
|
||||
}
|
||||
if (model && useVisual)
|
||||
if (model)
|
||||
{
|
||||
btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str());
|
||||
UrdfMaterial*const* matPtr = model->m_materials[matName];
|
||||
if (matPtr)
|
||||
if (useVisual)
|
||||
{
|
||||
for (int i=0; i<4; i++)
|
||||
btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str());
|
||||
UrdfMaterial*const* matPtr = model->m_materials[matName];
|
||||
if (matPtr)
|
||||
{
|
||||
rgbaColor[i] = (*matPtr)->m_matColor.m_rgbaColor[i];
|
||||
for (int i = 0; i < 4; i++)
|
||||
{
|
||||
rgbaColor[i] = (*matPtr)->m_matColor.m_rgbaColor[i];
|
||||
}
|
||||
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
|
||||
//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
if (vis && vis->m_geometry.m_hasLocalMaterial)
|
||||
{
|
||||
for (int i = 0; i < 4; i++)
|
||||
{
|
||||
rgbaColor[i] = vis->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[i];
|
||||
}
|
||||
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
|
||||
//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -4,7 +4,10 @@ import math
|
||||
|
||||
|
||||
def drawInertiaBox(parentUid, parentLinkIndex, color):
|
||||
mass,frictionCoeff, inertia =p.getDynamicsInfo(bodyUniqueId=parentUid,linkIndex=parentLinkIndex, flags = p.DYNAMICS_INFO_REPORT_INERTIA)
|
||||
dyn = p.getDynamicsInfo(parentUid, parentLinkIndex)
|
||||
mass=dyn[0]
|
||||
frictionCoeff=dyn[1]
|
||||
inertia = dyn[2]
|
||||
if (mass>0):
|
||||
Ixx = inertia[0]
|
||||
Iyy = inertia[1]
|
||||
@@ -79,7 +82,7 @@ p.setTimeStep(fixedTimeStep)
|
||||
|
||||
orn = p.getQuaternionFromEuler([0,0,0.4])
|
||||
p.setRealTimeSimulation(0)
|
||||
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates)
|
||||
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates, flags=p.URDF_USE_IMPLICIT_CYLINDER)
|
||||
nJoints = p.getNumJoints(quadruped)
|
||||
|
||||
jointNameToId = {}
|
||||
@@ -123,7 +126,11 @@ halfpi = 1.57079632679
|
||||
twopi = 4*halfpi
|
||||
kneeangle = -2.1834
|
||||
|
||||
mass, friction, localInertiaDiagonal = p.getDynamicsInfo(quadruped,-1, flags=p.DYNAMICS_INFO_REPORT_INERTIA )
|
||||
dyn = p.getDynamicsInfo(quadruped,-1)
|
||||
mass=dyn[0]
|
||||
friction=dyn[1]
|
||||
localInertiaDiagonal = dyn[2]
|
||||
|
||||
print("localInertiaDiagonal",localInertiaDiagonal)
|
||||
|
||||
#this is a no-op, just to show the API
|
||||
|
||||
@@ -526,6 +526,33 @@ void b3pybulletExitFunc(void)
|
||||
}
|
||||
}
|
||||
|
||||
static PyObject* pybullet_isConnected(PyObject* self, PyObject* args, PyObject* keywds)
|
||||
{
|
||||
int physicsClientId = 0;
|
||||
int isConnected = 0;
|
||||
int method = 0;
|
||||
PyObject* pylist = 0;
|
||||
PyObject* val = 0;
|
||||
b3PhysicsClientHandle sm = 0;
|
||||
static char* kwlist[] = { "physicsClientId", NULL };
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
sm = getPhysicsClient(physicsClientId);
|
||||
if (sm != 0)
|
||||
{
|
||||
if (b3CanSubmitCommand(sm))
|
||||
{
|
||||
isConnected = 1;
|
||||
method = sPhysicsClientsGUI[physicsClientId];
|
||||
}
|
||||
}
|
||||
|
||||
return PyLong_FromLong(isConnected);
|
||||
}
|
||||
|
||||
|
||||
|
||||
static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyObject* keywds)
|
||||
{
|
||||
@@ -8249,6 +8276,10 @@ static PyMethodDef SpamMethods[] = {
|
||||
"getConnectionInfo(physicsClientId=0)\n"
|
||||
"Return if a given client id is connected, and using what method."},
|
||||
|
||||
{ "isConnected", (PyCFunction)pybullet_isConnected, METH_VARARGS | METH_KEYWORDS,
|
||||
"isConnected(physicsClientId=0)\n"
|
||||
"Return if a given client id is connected." },
|
||||
|
||||
{"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS,
|
||||
"resetSimulation(physicsClientId=0)\n"
|
||||
"Reset the simulation: remove all objects and start from an empty world."},
|
||||
@@ -8818,7 +8849,8 @@ initpybullet(void)
|
||||
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
|
||||
PyModule_AddIntConstant(m, "URDF_USE_IMPLICIT_CYLINDER", URDF_USE_IMPLICIT_CYLINDER);
|
||||
PyModule_AddIntConstant(m, "URDF_GLOBAL_VELOCITIES_MB", URDF_GLOBAL_VELOCITIES_MB);
|
||||
|
||||
PyModule_AddIntConstant(m, "MJCF_COLORS_FROM_FILE", MJCF_COLORS_FROM_FILE);
|
||||
|
||||
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
|
||||
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
|
||||
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);
|
||||
|
||||
@@ -20,6 +20,8 @@ subject to the following restrictions:
|
||||
#include "LinearMath/btConvexHull.h"
|
||||
|
||||
#define NUM_UNITSPHERE_POINTS 42
|
||||
#define NUM_UNITSPHERE_POINTS_HIGHRES 256
|
||||
|
||||
|
||||
btShapeHull::btShapeHull (const btConvexShape* shape)
|
||||
{
|
||||
@@ -36,9 +38,9 @@ btShapeHull::~btShapeHull ()
|
||||
}
|
||||
|
||||
bool
|
||||
btShapeHull::buildHull (btScalar /*margin*/)
|
||||
btShapeHull::buildHull (btScalar /*margin*/, int highres)
|
||||
{
|
||||
int numSampleDirections = NUM_UNITSPHERE_POINTS;
|
||||
int numSampleDirections = highres? NUM_UNITSPHERE_POINTS_HIGHRES:NUM_UNITSPHERE_POINTS;
|
||||
{
|
||||
int numPDA = m_shape->getNumPreferredPenetrationDirections();
|
||||
if (numPDA)
|
||||
@@ -53,11 +55,11 @@ btShapeHull::buildHull (btScalar /*margin*/)
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
int i;
|
||||
for (i = 0; i < numSampleDirections; i++)
|
||||
{
|
||||
supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
|
||||
supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);
|
||||
}
|
||||
|
||||
HullDesc hd;
|
||||
@@ -118,9 +120,268 @@ btShapeHull::numIndices () const
|
||||
}
|
||||
|
||||
|
||||
btVector3* btShapeHull::getUnitSpherePoints()
|
||||
btVector3* btShapeHull::getUnitSpherePoints(int highres)
|
||||
{
|
||||
static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
|
||||
static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
|
||||
{
|
||||
btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)),
|
||||
btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)),
|
||||
btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)),
|
||||
btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)),
|
||||
btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)),
|
||||
btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)),
|
||||
btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)),
|
||||
btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)),
|
||||
btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)),
|
||||
btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)),
|
||||
btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)),
|
||||
btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)),
|
||||
btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)),
|
||||
btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)),
|
||||
btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)),
|
||||
btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)),
|
||||
btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)),
|
||||
btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)),
|
||||
btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)),
|
||||
btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)),
|
||||
btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)),
|
||||
btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)),
|
||||
btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)),
|
||||
btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)),
|
||||
btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)),
|
||||
btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)),
|
||||
btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)),
|
||||
btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)),
|
||||
btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)),
|
||||
btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)),
|
||||
btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)),
|
||||
btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)),
|
||||
btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)),
|
||||
btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)),
|
||||
btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)),
|
||||
btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)),
|
||||
btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)),
|
||||
btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)),
|
||||
btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)),
|
||||
btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)),
|
||||
btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)),
|
||||
btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)),
|
||||
btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)),
|
||||
btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)),
|
||||
btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)),
|
||||
btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)),
|
||||
btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)),
|
||||
btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)),
|
||||
btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)),
|
||||
btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)),
|
||||
btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)),
|
||||
btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)),
|
||||
btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)),
|
||||
btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)),
|
||||
btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)),
|
||||
btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)),
|
||||
btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)),
|
||||
btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)),
|
||||
btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)),
|
||||
btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)),
|
||||
btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)),
|
||||
btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)),
|
||||
btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)),
|
||||
btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)),
|
||||
btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)),
|
||||
btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)),
|
||||
btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)),
|
||||
btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)),
|
||||
btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)),
|
||||
btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)),
|
||||
btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)),
|
||||
btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)),
|
||||
btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)),
|
||||
btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)),
|
||||
btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)),
|
||||
btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)),
|
||||
btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)),
|
||||
btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)),
|
||||
btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)),
|
||||
btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)),
|
||||
btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)),
|
||||
btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)),
|
||||
btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)),
|
||||
btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)),
|
||||
btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)),
|
||||
btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)),
|
||||
btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)),
|
||||
btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)),
|
||||
btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)),
|
||||
btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)),
|
||||
btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)),
|
||||
btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)),
|
||||
btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)),
|
||||
btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)),
|
||||
btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)),
|
||||
btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)),
|
||||
btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)),
|
||||
btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)),
|
||||
btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)),
|
||||
btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)),
|
||||
btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)),
|
||||
btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)),
|
||||
btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)),
|
||||
btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)),
|
||||
btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)),
|
||||
btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)),
|
||||
btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)),
|
||||
btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)),
|
||||
btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)),
|
||||
btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)),
|
||||
btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)),
|
||||
btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)),
|
||||
btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)),
|
||||
btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)),
|
||||
btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)),
|
||||
btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)),
|
||||
btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)),
|
||||
btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)),
|
||||
btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)),
|
||||
btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)),
|
||||
btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)),
|
||||
btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)),
|
||||
btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)),
|
||||
btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)),
|
||||
btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)),
|
||||
btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)),
|
||||
btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)),
|
||||
btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)),
|
||||
btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)),
|
||||
btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)),
|
||||
btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)),
|
||||
btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)),
|
||||
btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)),
|
||||
btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)),
|
||||
btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)),
|
||||
btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)),
|
||||
btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)),
|
||||
btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)),
|
||||
btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)),
|
||||
btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)),
|
||||
btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)),
|
||||
btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)),
|
||||
btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)),
|
||||
btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)),
|
||||
btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)),
|
||||
btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)),
|
||||
btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)),
|
||||
btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)),
|
||||
btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)),
|
||||
btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)),
|
||||
btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)),
|
||||
btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)),
|
||||
btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)),
|
||||
btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)),
|
||||
btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)),
|
||||
btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)),
|
||||
btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)),
|
||||
btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)),
|
||||
btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)),
|
||||
btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)),
|
||||
btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)),
|
||||
btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)),
|
||||
btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)),
|
||||
btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)),
|
||||
btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)),
|
||||
btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)),
|
||||
btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)),
|
||||
btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)),
|
||||
btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)),
|
||||
btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)),
|
||||
btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)),
|
||||
btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)),
|
||||
btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)),
|
||||
btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)),
|
||||
btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)),
|
||||
btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)),
|
||||
btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)),
|
||||
btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)),
|
||||
btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)),
|
||||
btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)),
|
||||
btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)),
|
||||
btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)),
|
||||
btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)),
|
||||
btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)),
|
||||
btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)),
|
||||
btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)),
|
||||
btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)),
|
||||
btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)),
|
||||
btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)),
|
||||
btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)),
|
||||
btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)),
|
||||
btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)),
|
||||
btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)),
|
||||
btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)),
|
||||
btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)),
|
||||
btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)),
|
||||
btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)),
|
||||
btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)),
|
||||
btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)),
|
||||
btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)),
|
||||
btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)),
|
||||
btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)),
|
||||
btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)),
|
||||
btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)),
|
||||
btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)),
|
||||
btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)),
|
||||
btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)),
|
||||
btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)),
|
||||
btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)),
|
||||
btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)),
|
||||
btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)),
|
||||
btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)),
|
||||
btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)),
|
||||
btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)),
|
||||
btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)),
|
||||
btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)),
|
||||
btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)),
|
||||
btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)),
|
||||
btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)),
|
||||
btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)),
|
||||
btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)),
|
||||
btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)),
|
||||
btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)),
|
||||
btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)),
|
||||
btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)),
|
||||
btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)),
|
||||
btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)),
|
||||
btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)),
|
||||
btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)),
|
||||
btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)),
|
||||
btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)),
|
||||
btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)),
|
||||
btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)),
|
||||
btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)),
|
||||
btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)),
|
||||
btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)),
|
||||
btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)),
|
||||
btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)),
|
||||
btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)),
|
||||
btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)),
|
||||
btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)),
|
||||
btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)),
|
||||
btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)),
|
||||
btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)),
|
||||
btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)),
|
||||
btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)),
|
||||
btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)),
|
||||
btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)),
|
||||
btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)),
|
||||
btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)),
|
||||
btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)),
|
||||
btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)),
|
||||
btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)),
|
||||
btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)),
|
||||
btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)),
|
||||
btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)),
|
||||
};
|
||||
static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
|
||||
{
|
||||
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
|
||||
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
|
||||
@@ -165,6 +426,8 @@ btVector3* btShapeHull::getUnitSpherePoints()
|
||||
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
|
||||
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
|
||||
};
|
||||
if (highres)
|
||||
return sUnitSpherePointsHighres;
|
||||
return sUnitSpherePoints;
|
||||
}
|
||||
|
||||
|
||||
@@ -34,7 +34,7 @@ protected:
|
||||
unsigned int m_numIndices;
|
||||
const btConvexShape* m_shape;
|
||||
|
||||
static btVector3* getUnitSpherePoints();
|
||||
static btVector3* getUnitSpherePoints(int highres=0);
|
||||
|
||||
public:
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
@@ -42,7 +42,7 @@ public:
|
||||
btShapeHull (const btConvexShape* shape);
|
||||
~btShapeHull ();
|
||||
|
||||
bool buildHull (btScalar margin);
|
||||
bool buildHull (btScalar margin, int highres=0);
|
||||
|
||||
int numTriangles () const;
|
||||
int numVertices () const;
|
||||
|
||||
Reference in New Issue
Block a user