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Merge pull request #1424 from erwincoumans/master

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expose COV_ENABLE_Y_AXIS_UP, obj2sdf, add option to merge shapes (better performance), tiny_obj_loader support transparency ("d" and "Tr")
This commit is contained in:
erwincoumans
2017-11-07 20:29:15 -08:00
committed by GitHub
parent ee2f56875d 344005a8f0
commit 89ada39a86
10 changed files with 433 additions and 138 deletions
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474
Extras/obj2sdf/obj2sdf.cpp
View File

@@ -13,6 +13,22 @@
#include "Bullet3Common/b3FileUtils.h"
#include "../Utils/b3ResourcePath.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3Common/b3HashMap.h"
struct ShapeContainer
{
std::string m_matName;
std::string m_shapeName;
tinyobj::material_t material;
std::vector<float> positions;
std::vector<float> normals;
std::vector<float> texcoords;
std::vector<unsigned int> indices;
b3AlignedObjectArray<int> m_shapeIndices;
};
b3HashMap<b3HashString, ShapeContainer> gMaterialNames;
#define MAX_PATH_LEN 1024
@@ -53,6 +69,8 @@ int main(int argc, char* argv[])
printf("Please use --fileName=\"pathToObj\".");
exit(0);
}
bool mergeMaterials = args.CheckCmdLineFlag("mergeMaterials");
char fileNameWithPath[MAX_PATH_LEN];
bool fileFound = (b3ResourcePath::findResourcePath(fileName,fileNameWithPath,MAX_PATH_LEN))>0;
char materialPrefixPath[MAX_PATH_LEN];
@@ -72,141 +90,359 @@ int main(int argc, char* argv[])
fprintf(sdfFile, "<sdf version='1.6'>\n\t<world name='default'>\n\t<gravity>0 0 -9.8</gravity>\n");
for (int s=0;s<(int)shapes.size();s++)
for (int s = 0; s < (int)shapes.size(); s++)
{
tinyobj::shape_t& shape = shapes[s];
if (shape.name.length())
{
printf("object name = %s\n", shape.name.c_str());
}
char objFileName[MAX_PATH_LEN];
if (strlen(materialPrefixPath)>0)
{
sprintf(objFileName,"%s/part%d.obj",materialPrefixPath,s);
} else
{
sprintf(objFileName,"part%d.obj",s);
}
FILE* f = fopen(objFileName,"w");
if (f==0)
{
printf("Fatal error: cannot create part obj file %s\n",objFileName);
exit(0);
}
fprintf(f,"# Exported using automatic converter by Erwin Coumans\n");
if (matLibName.length())
{
fprintf(f,"mtllib %s.mtl\n", matLibName.c_str());
} else
{
fprintf(f,"mtllib bedroom.mtl\n");
}
int faceCount = shape.mesh.indices.size();
int vertexCount = shape.mesh.positions.size();
tinyobj::material_t mat = shape.material;
if (shape.name.length())
{
const char* objName = shape.name.c_str();
printf("mat.name = %s\n", objName);
fprintf(f,"#object %s\n\n",objName);
}
for (int v=0;v<vertexCount/3;v++)
{
fprintf(f,"v %f %f %f\n",shape.mesh.positions[v*3+0],shape.mesh.positions[v*3+1],shape.mesh.positions[v*3+2]);
}
if (mat.name.length())
b3HashString key = mat.name.length() ? mat.name.c_str() : "";
if (!gMaterialNames.find(key))
{
fprintf(f,"usemtl %s\n",mat.name.c_str());
} else
{
fprintf(f,"usemtl wire_028089177\n");
ShapeContainer container;
container.m_matName = mat.name;
container.m_shapeName = shape.name;
container.material = mat;
gMaterialNames.insert(key, container);
}
fprintf(f,"\n");
int numNormals = int(shape.mesh.normals.size());
for (int vn = 0;vn<numNormals/3;vn++)
ShapeContainer* shapeC = gMaterialNames.find(key);
if (shapeC)
{
fprintf(f,"vn %f %f %f\n",shape.mesh.normals[vn*3+0],shape.mesh.normals[vn*3+1],shape.mesh.normals[vn*3+2]);
}
shapeC->m_shapeIndices.push_back(s);
int curPositions = shapeC->positions.size()/3;
int curNormals = shapeC->normals.size()/3;
int curTexcoords = shapeC->texcoords.size()/2;
fprintf(f,"\n");
int numTexCoords = int(shape.mesh.texcoords.size());
for (int vt = 0;vt<numTexCoords/2;vt++)
{
fprintf(f,"vt %f %f\n",shape.mesh.texcoords[vt*2+0],shape.mesh.texcoords[vt*2+1]);
}
fprintf(f,"s off\n");
for (int face=0;face<faceCount;face+=3)
{
if (face<0 && face>=int(shape.mesh.indices.size()))
int faceCount = shape.mesh.indices.size();
int vertexCount = shape.mesh.positions.size();
for (int v = 0; v < vertexCount; v++)
{
continue;
shapeC->positions.push_back(shape.mesh.positions[v]);
}
int numNormals = int(shape.mesh.normals.size());
for (int vn = 0; vn < numNormals; vn++)
{
shapeC->normals.push_back(shape.mesh.normals[vn]);
}
int numTexCoords = int(shape.mesh.texcoords.size());
for (int vt = 0; vt < numTexCoords; vt++)
{
shapeC->texcoords.push_back(shape.mesh.texcoords[vt]);
}
for (int face = 0; face < faceCount; face += 3)
{
if (face < 0 && face >= int(shape.mesh.indices.size()))
{
continue;
}
shapeC->indices.push_back(shape.mesh.indices[face] + curPositions);
shapeC->indices.push_back(shape.mesh.indices[face+1] + curPositions);
shapeC->indices.push_back(shape.mesh.indices[face + 2] + curPositions);
}
fprintf(f,"f %d/%d/%d %d/%d/%d %d/%d/%d\n",
shape.mesh.indices[face]+1,shape.mesh.indices[face]+1,shape.mesh.indices[face]+1,
shape.mesh.indices[face+1]+1,shape.mesh.indices[face+1]+1,shape.mesh.indices[face+1]+1,
shape.mesh.indices[face+2]+1,shape.mesh.indices[face+2]+1,shape.mesh.indices[face+2]+1);
}
fclose(f);
}
printf("unique materials=%d\n", gMaterialNames.size());
float kdRed=mat.diffuse[0];
float kdGreen=mat.diffuse[1];
float kdBlue=mat.diffuse[2];
if (mergeMaterials)
{
for (int m = 0; m < gMaterialNames.size();m++)
{
if (gMaterialNames.getAtIndex(m)->m_shapeIndices.size() == 0)
continue;
char objSdfPartFileName[MAX_PATH_LEN];
sprintf(objSdfPartFileName,"part%d.obj",s);
fprintf(sdfFile,"\t\t<model name='%s'>\n"
"\t\t\t<static>1</static>\n"
"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
"\t\t\t<link name='link_d%d'>\n"
"\t\t\t<inertial>\n"
"\t\t\t<mass>0</mass>\n"
"\t\t\t<inertia>\n"
"\t\t\t<ixx>0.166667</ixx>\n"
"\t\t\t<ixy>0</ixy>\n"
"\t\t\t<ixz>0</ixz>\n"
"\t\t\t<iyy>0.166667</iyy>\n"
"\t\t\t<iyz>0</iyz>\n"
"\t\t\t<izz>0.166667</izz>\n"
"\t\t\t</inertia>\n"
"\t\t\t</inertial>\n"
"\t\t\t<collision name='collision_%d'>\n"
"\t\t\t<geometry>\n"
"\t\t\t<mesh>\n"
"\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t<uri>%s</uri>\n"
"\t\t\t</mesh>\n"
"\t\t\t</geometry>\n"
"\t\t\t </collision>\n"
"\t\t\t<visual name='visual'>\n"
"\t\t\t\t<geometry>\n"
"\t\t\t\t<mesh>\n"
"\t\t\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t\t<uri>%s</uri>\n"
"\t\t\t\t</mesh>\n"
"\t\t\t\t</geometry>\n"
"\t\t\t<material>\n"
"\t\t\t\t<ambient>1 0 0 1</ambient>\n"
"\t\t\t\t<diffuse>%f %f %f 1</diffuse>\n"
"\t\t\t\t<specular>0.1 0.1 0.1 1</specular>\n"
"\t\t\t\t<emissive>0 0 0 0</emissive>\n"
"\t\t\t </material>\n"
"\t\t\t </visual>\n"
"\t\t\t </link>\n"
"\t\t\t</model>\n",objSdfPartFileName,s,s,
objSdfPartFileName,objSdfPartFileName,
kdRed, kdGreen, kdBlue);
ShapeContainer* shapeCon =gMaterialNames.getAtIndex(m);
printf("object name = %s\n", shapeCon->m_shapeName.c_str());
char objSdfPartFileName[MAX_PATH_LEN];
sprintf(objSdfPartFileName, "part%d.obj", m);
char objFileName[MAX_PATH_LEN];
if (strlen(materialPrefixPath) > 0)
{
sprintf(objFileName, "%s/part%d.obj", materialPrefixPath, m);
}
else
{
sprintf(objFileName, "part%d.obj", m);
}
FILE* f = fopen(objFileName, "w");
if (f == 0)
{
printf("Fatal error: cannot create part obj file %s\n", objFileName);
exit(0);
}
fprintf(f, "# Exported using automatic converter by Erwin Coumans\n");
if (matLibName.length())
{
fprintf(f, "mtllib %s.mtl\n", matLibName.c_str());
}
else
{
fprintf(f, "mtllib bedroom.mtl\n");
}
int faceCount = shapeCon->indices.size();
int vertexCount = shapeCon->positions.size();
tinyobj::material_t mat = shapeCon->material;
if (shapeCon->m_matName.length())
{
const char* objName = shapeCon->m_matName.c_str();
printf("mat.name = %s\n", objName);
fprintf(f, "#object %s\n\n", objName);
}
for (int v = 0; v < vertexCount / 3; v++)
{
fprintf(f, "v %f %f %f\n", shapeCon->positions[v * 3 + 0], shapeCon->positions[v * 3 + 1], shapeCon->positions[v * 3 + 2]);
}
if (mat.name.length())
{
fprintf(f, "usemtl %s\n", mat.name.c_str());
}
else
{
fprintf(f, "usemtl wire_028089177\n");
}
fprintf(f, "\n");
int numNormals = int(shapeCon->normals.size());
for (int vn = 0; vn < numNormals / 3; vn++)
{
fprintf(f, "vn %f %f %f\n", shapeCon->normals[vn * 3 + 0], shapeCon->normals[vn * 3 + 1], shapeCon->normals[vn * 3 + 2]);
}
fprintf(f, "\n");
int numTexCoords = int(shapeCon->texcoords.size());
for (int vt = 0; vt < numTexCoords / 2; vt++)
{
fprintf(f, "vt %f %f\n", shapeCon->texcoords[vt * 2 + 0], shapeCon->texcoords[vt * 2 + 1]);
}
fprintf(f, "s off\n");
for (int face = 0; face < faceCount; face += 3)
{
if (face < 0 && face >= int(shapeCon->indices.size()))
{
continue;
}
fprintf(f, "f %d/%d/%d %d/%d/%d %d/%d/%d\n",
shapeCon->indices[face] + 1, shapeCon->indices[face] + 1, shapeCon->indices[face] + 1,
shapeCon->indices[face + 1] + 1, shapeCon->indices[face + 1] + 1, shapeCon->indices[face + 1] + 1,
shapeCon->indices[face + 2] + 1, shapeCon->indices[face + 2] + 1, shapeCon->indices[face + 2] + 1);
}
fclose(f);
float kdRed = mat.diffuse[0];
float kdGreen = mat.diffuse[1];
float kdBlue = mat.diffuse[2];
float transparency = mat.transparency;
fprintf(sdfFile, "\t\t<model name='%s'>\n"
"\t\t\t<static>1</static>\n"
"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
"\t\t\t<link name='link_d%d'>\n"
"\t\t\t<inertial>\n"
"\t\t\t<mass>0</mass>\n"
"\t\t\t<inertia>\n"
"\t\t\t<ixx>0.166667</ixx>\n"
"\t\t\t<ixy>0</ixy>\n"
"\t\t\t<ixz>0</ixz>\n"
"\t\t\t<iyy>0.166667</iyy>\n"
"\t\t\t<iyz>0</iyz>\n"
"\t\t\t<izz>0.166667</izz>\n"
"\t\t\t</inertia>\n"
"\t\t\t</inertial>\n"
"\t\t\t<collision concave='yes' name='collision_%d'>\n"
"\t\t\t<geometry>\n"
"\t\t\t<mesh>\n"
"\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t<uri>%s</uri>\n"
"\t\t\t</mesh>\n"
"\t\t\t</geometry>\n"
"\t\t\t </collision>\n"
"\t\t\t<visual name='visual'>\n"
"\t\t\t\t<geometry>\n"
"\t\t\t\t<mesh>\n"
"\t\t\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t\t<uri>%s</uri>\n"
"\t\t\t\t</mesh>\n"
"\t\t\t\t</geometry>\n"
"\t\t\t<material>\n"
"\t\t\t\t<ambient>1 0 0 1</ambient>\n"
"\t\t\t\t<diffuse>%f %f %f %f</diffuse>\n"
"\t\t\t\t<specular>0.1 0.1 0.1 1</specular>\n"
"\t\t\t\t<emissive>0 0 0 0</emissive>\n"
"\t\t\t </material>\n"
"\t\t\t </visual>\n"
"\t\t\t </link>\n"
"\t\t\t</model>\n", objSdfPartFileName, m, m,
objSdfPartFileName, objSdfPartFileName,
kdRed, kdGreen, kdBlue, transparency);
}
}
else
{
for (int s = 0; s < (int)shapes.size(); s++)
{
tinyobj::shape_t& shape = shapes[s];
if (shape.name.length())
{
printf("object name = %s\n", shape.name.c_str());
}
char objFileName[MAX_PATH_LEN];
if (strlen(materialPrefixPath) > 0)
{
sprintf(objFileName, "%s/part%d.obj", materialPrefixPath, s);
}
else
{
sprintf(objFileName, "part%d.obj", s);
}
FILE* f = fopen(objFileName, "w");
if (f == 0)
{
printf("Fatal error: cannot create part obj file %s\n", objFileName);
exit(0);
}
fprintf(f, "# Exported using automatic converter by Erwin Coumans\n");
if (matLibName.length())
{
fprintf(f, "mtllib %s.mtl\n", matLibName.c_str());
}
else
{
fprintf(f, "mtllib bedroom.mtl\n");
}
int faceCount = shape.mesh.indices.size();
int vertexCount = shape.mesh.positions.size();
tinyobj::material_t mat = shape.material;
if (shape.name.length())
{
const char* objName = shape.name.c_str();
printf("mat.name = %s\n", objName);
fprintf(f, "#object %s\n\n", objName);
}
for (int v = 0; v < vertexCount / 3; v++)
{
fprintf(f, "v %f %f %f\n", shape.mesh.positions[v * 3 + 0], shape.mesh.positions[v * 3 + 1], shape.mesh.positions[v * 3 + 2]);
}
if (mat.name.length())
{
fprintf(f, "usemtl %s\n", mat.name.c_str());
}
else
{
fprintf(f, "usemtl wire_028089177\n");
}
fprintf(f, "\n");
int numNormals = int(shape.mesh.normals.size());
for (int vn = 0; vn < numNormals / 3; vn++)
{
fprintf(f, "vn %f %f %f\n", shape.mesh.normals[vn * 3 + 0], shape.mesh.normals[vn * 3 + 1], shape.mesh.normals[vn * 3 + 2]);
}
fprintf(f, "\n");
int numTexCoords = int(shape.mesh.texcoords.size());
for (int vt = 0; vt < numTexCoords / 2; vt++)
{
fprintf(f, "vt %f %f\n", shape.mesh.texcoords[vt * 2 + 0], shape.mesh.texcoords[vt * 2 + 1]);
}
fprintf(f, "s off\n");
for (int face = 0; face < faceCount; face += 3)
{
if (face < 0 && face >= int(shape.mesh.indices.size()))
{
continue;
}
fprintf(f, "f %d/%d/%d %d/%d/%d %d/%d/%d\n",
shape.mesh.indices[face] + 1, shape.mesh.indices[face] + 1, shape.mesh.indices[face] + 1,
shape.mesh.indices[face + 1] + 1, shape.mesh.indices[face + 1] + 1, shape.mesh.indices[face + 1] + 1,
shape.mesh.indices[face + 2] + 1, shape.mesh.indices[face + 2] + 1, shape.mesh.indices[face + 2] + 1);
}
fclose(f);
float kdRed = mat.diffuse[0];
float kdGreen = mat.diffuse[1];
float kdBlue = mat.diffuse[2];
float transparency = mat.transparency;
char objSdfPartFileName[MAX_PATH_LEN];
sprintf(objSdfPartFileName, "part%d.obj", s);
fprintf(sdfFile, "\t\t<model name='%s'>\n"
"\t\t\t<static>1</static>\n"
"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
"\t\t\t<link name='link_d%d'>\n"
"\t\t\t<inertial>\n"
"\t\t\t<mass>0</mass>\n"
"\t\t\t<inertia>\n"
"\t\t\t<ixx>0.166667</ixx>\n"
"\t\t\t<ixy>0</ixy>\n"
"\t\t\t<ixz>0</ixz>\n"
"\t\t\t<iyy>0.166667</iyy>\n"
"\t\t\t<iyz>0</iyz>\n"
"\t\t\t<izz>0.166667</izz>\n"
"\t\t\t</inertia>\n"
"\t\t\t</inertial>\n"
"\t\t\t<collision name='collision_%d'>\n"
"\t\t\t<geometry>\n"
"\t\t\t<mesh>\n"
"\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t<uri>%s</uri>\n"
"\t\t\t</mesh>\n"
"\t\t\t</geometry>\n"
"\t\t\t </collision>\n"
"\t\t\t<visual name='visual'>\n"
"\t\t\t\t<geometry>\n"
"\t\t\t\t<mesh>\n"
"\t\t\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t\t<uri>%s</uri>\n"
"\t\t\t\t</mesh>\n"
"\t\t\t\t</geometry>\n"
"\t\t\t<material>\n"
"\t\t\t\t<ambient>1 0 0 1</ambient>\n"
"\t\t\t\t<diffuse>%f %f %f %f</diffuse>\n"
"\t\t\t\t<specular>0.1 0.1 0.1 1</specular>\n"
"\t\t\t\t<emissive>0 0 0 0</emissive>\n"
"\t\t\t </material>\n"
"\t\t\t </visual>\n"
"\t\t\t </link>\n"
"\t\t\t</model>\n", objSdfPartFileName, s, s,
objSdfPartFileName, objSdfPartFileName,
kdRed, kdGreen, kdBlue, transparency);
}
}
fprintf(sdfFile,"\t</world>\n</sdf>\n");

BIN
data/multibody.bullet
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Binary file not shown.

4
examples/RobotSimulator/MinitaurSetup.cpp
View File

@@ -128,7 +128,7 @@ int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3V
{
b3JointInfo jointInfo;
sim->getJointInfo(m_data->m_quadrupedUniqueId,i,&jointInfo);
if (jointInfo.m_jointName)
if (jointInfo.m_jointName[0])
{
m_data->m_jointNameToId.insert(jointInfo.m_jointName,i);
}
@@ -137,4 +137,4 @@ int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3V
resetPose(sim);
return m_data->m_quadrupedUniqueId;
}
}

1
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -32,7 +32,6 @@
#define MAX_SDF_FILENAME_LENGTH 1024
#define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
#define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM
#define MAX_SDF_BODIES 512
struct TmpFloat3
{

2
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -355,6 +355,8 @@ enum b3VREventType
#define MAX_KEYBOARD_EVENTS 256
#define MAX_MOUSE_EVENTS 256
#define MAX_SDF_BODIES 1024
enum b3VRButtonInfo
{

15
examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
View File

@@ -328,6 +328,7 @@ void InitMaterial(material_t& material) {
material.emission[i] = 0.f;
}
material.shininess = 1.f;
material.transparency = 1.f;
}
std::string LoadMtl (
@@ -465,6 +466,20 @@ std::string LoadMtl (
continue;
}
// transparency
if (token[0] == 'T' && token[1] == 'r' && isSpace(token[2])) {
token += 2;
material.transparency = parseFloat(token);
continue;
}
// transparency
if (token[0] == 'd' && isSpace(token[1])) {
token += 1;
material.transparency = parseFloat(token);
continue;
}
// ambient texture
if ((0 == strncmp(token, "map_Ka", 6)) && isSpace(token[6])) {
token += 7;

1
examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
View File

@@ -22,6 +22,7 @@ typedef struct
float transmittance[3];
float emission[3];
float shininess;
float transparency;
std::string ambient_texname;
std::string diffuse_texname;

11
examples/pybullet/pybullet.c
View File

@@ -1,5 +1,4 @@
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
@@ -571,7 +570,6 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args, PyObject* ke
return NULL;
}
#define MAX_SDF_BODIES 512
static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args, PyObject* keywds)
{
const char* bulletFileName = "";
@@ -701,7 +699,9 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES);
if (numBodies > MAX_SDF_BODIES)
{
PyErr_SetString(SpamError, "SDF exceeds body capacity");
char str[1024];
sprintf(str,"SDF exceeds body capacity: %d > %d", numBodies, MAX_SDF_BODIES);
PyErr_SetString(SpamError, str);
return NULL;
}
@@ -1197,7 +1197,9 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES);
if (numBodies > MAX_SDF_BODIES)
{
PyErr_SetString(SpamError, "SDF exceeds body capacity");
char str[1024];
sprintf(str,"SDF exceeds body capacity: %d > %d", numBodies, MAX_SDF_BODIES);
PyErr_SetString(SpamError, str);
return NULL;
}
@@ -8191,6 +8193,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "COV_ENABLE_VR_TELEPORTING", COV_ENABLE_VR_TELEPORTING);
PyModule_AddIntConstant(m, "COV_ENABLE_RENDERING", COV_ENABLE_RENDERING);
PyModule_AddIntConstant(m, "COV_ENABLE_TINY_RENDERER", COV_ENABLE_TINY_RENDERER);
PyModule_AddIntConstant(m, "COV_ENABLE_Y_AXIS_UP", COV_ENABLE_Y_AXIS_UP);
PyModule_AddIntConstant(m, "COV_ENABLE_VR_RENDER_CONTROLLERS", COV_ENABLE_VR_RENDER_CONTROLLERS);
PyModule_AddIntConstant(m, "COV_ENABLE_KEYBOARD_SHORTCUTS", COV_ENABLE_KEYBOARD_SHORTCUTS);

8
src/BulletCollision/CollisionShapes/btConvexShape.cpp
View File

@@ -118,9 +118,13 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector
return supVec;
#else
btScalar maxDot;
long ptIndex = vec.maxDot( points, numPoints, maxDot);
btScalar maxDot;
long ptIndex = vec.maxDot( points, numPoints, maxDot);
btAssert(ptIndex >= 0);
if (ptIndex<0)
{
ptIndex = 0;
}
btVector3 supVec = points[ptIndex] * localScaling;
return supVec;
#endif //__SPU__

55
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@@ -983,7 +983,13 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
case btMultibodyLink::ePrismatic:
case btMultibodyLink::eRevolute:
{
invDi[0] = 1.0f / D[0];
if (D[0]>=SIMD_EPSILON)
{
invDi[0] = 1.0f / D[0];
} else
{
invDi[0] = 0;
}
break;
}
case btMultibodyLink::eSpherical:
@@ -1266,12 +1272,29 @@ void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bo
if (num_links == 0)
{
// in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier
result[0] = rhs_bot[0] / m_baseInertia[0];
result[1] = rhs_bot[1] / m_baseInertia[1];
result[2] = rhs_bot[2] / m_baseInertia[2];
result[3] = rhs_top[0] / m_baseMass;
result[4] = rhs_top[1] / m_baseMass;
result[5] = rhs_top[2] / m_baseMass;
if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON))
{
result[0] = rhs_bot[0] / m_baseInertia[0];
result[1] = rhs_bot[1] / m_baseInertia[1];
result[2] = rhs_bot[2] / m_baseInertia[2];
} else
{
result[0] = 0;
result[1] = 0;
result[2] = 0;
}
if (m_baseMass>=SIMD_EPSILON)
{
result[3] = rhs_top[0] / m_baseMass;
result[4] = rhs_top[1] / m_baseMass;
result[5] = rhs_top[2] / m_baseMass;
} else
{
result[3] = 0;
result[4] = 0;
result[5] = 0;
}
} else
{
if (!m_cachedInertiaValid)
@@ -1322,9 +1345,21 @@ void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionV
if (num_links == 0)
{
// in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier
result.setAngular(rhs.getAngular() / m_baseInertia);
result.setLinear(rhs.getLinear() / m_baseMass);
} else
if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON))
{
result.setAngular(rhs.getAngular() / m_baseInertia);
} else
{
result.setAngular(btVector3(0,0,0));
}
if (m_baseMass>=SIMD_EPSILON)
{
result.setLinear(rhs.getLinear() / m_baseMass);
} else
{
result.setLinear(btVector3(0,0,0));
}
} else
{
/// Special routine for calculating the inverse of a spatial inertia matrix
///the 6x6 matrix is stored as 4 blocks of 3x3 matrices