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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2017-04-17 19:58:24 -07:00
parent e8a07e31e6 73b4c0092c
commit 8cc1f51862
14 changed files with 65 additions and 38 deletions
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2
examples/BasicDemo/CMakeLists.txt
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@@ -84,7 +84,7 @@ ELSE(WIN32)
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
LINK_LIBRARIES( pthread dl )
LINK_LIBRARIES( pthread ${DL} )
ENDIF(APPLE)
ENDIF(WIN32)

11
examples/CMakeLists.txt
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@@ -1,5 +1,16 @@
SUBDIRS( HelloWorld BasicDemo )
IF(BUILD_BULLET3)
SET(DL dl)
IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
SET(OSDEF -D_LINUX)
ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
IF(APPLE)
SET(OSDEF -D_DARWIN)
ELSE(APPLE)
SET(OSDEF -D_BSD)
SET(DL "")
ENDIF(APPLE)
ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow )
ENDIF()
IF(BUILD_PYBULLET)

4
examples/ExampleBrowser/CMakeLists.txt
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@@ -65,7 +65,7 @@ IF (BUILD_SHARED_LIBS)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
pthread dl
pthread ${DL}
)
ENDIF(APPLE)
ENDIF(WIN32)
@@ -106,7 +106,7 @@ ELSE(WIN32)
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
LINK_LIBRARIES( pthread dl)
LINK_LIBRARIES( pthread ${DL})
ENDIF(APPLE)
ENDIF(WIN32)

2
examples/OpenGLWindow/CMakeLists.txt
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@@ -61,7 +61,7 @@ if (BUILD_SHARED_LIBS)
else()
set (CMAKE_THREAD_PREFER_PTHREAD TRUE)
FIND_PACKAGE(Threads)
target_link_libraries(OpenGLWindow dl ${CMAKE_THREAD_LIBS_INIT})
target_link_libraries(OpenGLWindow ${DL} ${CMAKE_THREAD_LIBS_INIT})
endif()
endif()

8
examples/RobotSimulator/CMakeLists.txt
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@@ -99,11 +99,7 @@ ELSE(WIN32)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
IF(APPLE)
ADD_DEFINITIONS(-D_DARWIN)
ELSE()
ADD_DEFINITIONS(-D_LINUX)
ENDIF()
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_CLSOCKET)
ENDIF(WIN32)
@@ -160,7 +156,7 @@ ELSE(WIN32)
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
LINK_LIBRARIES( pthread dl )
LINK_LIBRARIES( pthread ${DL} )
ENDIF(APPLE)
ENDIF(WIN32)

4
examples/SharedMemory/CMakeLists.txt
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@@ -114,7 +114,7 @@ ELSE(WIN32)
)
ELSE(APPLE)
LINK_LIBRARIES( pthread dl )
LINK_LIBRARIES( pthread ${DL} )
ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
${SharedMemory_SRCS}
../MultiThreading/b3PosixThreadSupport.cpp
@@ -181,7 +181,7 @@ ELSE(WIN32)
)
ELSE(APPLE)
LINK_LIBRARIES( pthread dl )
LINK_LIBRARIES( pthread ${DL} )
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")

11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4639,7 +4639,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
// Set jacobian value
tree->calculateJacobians(q);
btInverseDynamics::mat3x jac_t(3, num_dofs);
tree->getBodyJacobianTrans(clientCmd.m_calculateJacobianArguments.m_linkIndex, &jac_t);
tree->getBodyJacobianTrans(clientCmd.m_calculateJacobianArguments.m_linkIndex+1, &jac_t);
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < num_dofs; ++j)
@@ -5065,8 +5065,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
tree->calculateJacobians(q);
btInverseDynamics::mat3x jac_t(3, numDofs);
btInverseDynamics::mat3x jac_r(3,numDofs);
tree->getBodyJacobianTrans(endEffectorLinkIndex, &jac_t);
tree->getBodyJacobianRot(endEffectorLinkIndex, &jac_r);
// Note that inverse dynamics uses zero-based indexing of bodies, not starting from -1 for the base link.
tree->getBodyJacobianTrans(endEffectorLinkIndex+1, &jac_t);
tree->getBodyJacobianRot(endEffectorLinkIndex+1, &jac_r);
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < numDofs; ++j)
@@ -6235,8 +6236,8 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
tree->calculateJacobians(q);
btInverseDynamics::mat3x jac_t(3,numDofs);
btInverseDynamics::mat3x jac_r(3,numDofs);
tree->getBodyJacobianTrans(endEffectorLinkIndex, &jac_t);
tree->getBodyJacobianRot(endEffectorLinkIndex, &jac_r);
tree->getBodyJacobianTrans(endEffectorLinkIndex+1, &jac_t);
tree->getBodyJacobianRot(endEffectorLinkIndex+1, &jac_r);
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < numDofs; ++j)

2
examples/SimpleOpenGL3/CMakeLists.txt
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@@ -37,7 +37,7 @@ ELSE(WIN32)
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
LINK_LIBRARIES( X11 pthread dl Xext)
LINK_LIBRARIES( X11 pthread ${DL} Xext)
ENDIF(APPLE)
ENDIF(WIN32)

4
examples/ThirdPartyLibs/Gwen/Macros.h
View File

@@ -4,7 +4,7 @@
#define GWEN_MACROS_H
#include <stdlib.h>
#include <stdarg.h>
#ifndef __APPLE__
#if !defined(__APPLE__) && !defined(__OpenBSD__)
#include <malloc.h>
#endif //__APPLE__
#include <memory.h>
@@ -38,7 +38,7 @@
#define GwenUtil_OutputDebugWideString( lpOutputString ) //wprintf( lpOutputString )
#define GwenUtil_WideStringToFloat( _Str ) wcstof(_Str, NULL)
#elif defined(__linux__)
#elif defined(__linux__) || defined(__OpenBSD__)
#define GwenUtil_VSNPrintFSafe( _DstBuf, _DstSize, _MaxCount, _Format, _ArgList ) vsnprintf( _DstBuf, _DstSize, _Format, _ArgList )
#define GwenUtil_VSWPrintFSafe( _DstBuf, _SizeInWords, _Format, _ArgList ) vswprintf( _DstBuf, _SizeInWords, _Format, _ArgList )

9
examples/ThirdPartyLibs/clsocket/CMakeLists.txt
View File

@@ -30,14 +30,7 @@ LIST(APPEND CLSOCKET_SOURCES ${CLSOCKET_HEADERS})
# OS and compiler checks.
if(UNIX)
# linux / normal unix
add_definitions(-D_LINUX)
if(CYGWIN)
# Special Cygwin stuff here
elseif(APPLE)
# Special Apple stuff here
remove_definitions(-D_LINUX)
add_definitions(-D_DARWIN)
endif()
add_definitions(${OSDEF})
elseif(WIN32)
add_definitions(-DWIN32)
SET(PROJECT_LIBS Ws2_32.lib)

4
examples/ThirdPartyLibs/clsocket/src/Host.h
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@@ -61,7 +61,7 @@ extern "C"
#define __WORDSIZE 32
#endif
#if defined(_LINUX) || defined(_DARWIN)
#if defined(_LINUX) || defined(_DARWIN) || defined(_BSD)
typedef unsigned char uint8;
typedef char int8;
typedef unsigned short uint16;
@@ -176,7 +176,7 @@ extern "C"
#define GETHOSTBYNAME(a) gethostbyname(a)
#endif
#if defined(_LINUX) || defined(_DARWIN)
#if defined(_LINUX) || defined(_DARWIN) || defined(_BSD)
#define ACCEPT(a,b,c) accept(a,b,c)
#define CONNECT(a,b,c) connect(a,b,c)
#define CLOSE(a) close(a)

4
examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h
View File

@@ -49,7 +49,7 @@
#include <stdarg.h>
#include <errno.h>
#if defined(_LINUX) || defined (_DARWIN)
#if defined(_LINUX) || defined (_DARWIN) || defined(_BSD)
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
@@ -66,7 +66,7 @@
#ifdef _DARWIN
#include <net/if.h>
#endif
#if defined(_LINUX) || defined (_DARWIN)
#if defined(_LINUX) || defined (_DARWIN) || defined(_BSD)
#include <sys/time.h>
#include <sys/uio.h>
#include <unistd.h>

6
examples/pybullet/CMakeLists.txt
View File

@@ -101,11 +101,7 @@ ELSE(WIN32)
ENDIF(BUILD_PYBULLET_ENET)
IF(BUILD_PYBULLET_CLSOCKET)
IF(APPLE)
ADD_DEFINITIONS(-D_DARWIN)
ELSE()
ADD_DEFINITIONS(-D_LINUX)
ENDIF()
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_PYBULLET_CLSOCKET)
ENDIF(WIN32)

30
examples/pybullet/examples/ik_end_effector_orientation.py Normal file
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@@ -0,0 +1,30 @@
import pybullet as p
import time
import math
from datetime import datetime
from time import sleep
p.connect(p.GUI)
p.loadURDF("plane.urdf",[0,0,-0.3])
kukaId = p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
p.resetBasePositionAndOrientation(kukaId,[0,0,0],[0,0,0,1])
kukaEndEffectorIndex = 6
numJoints = p.getNumJoints(kukaId)
#Joint damping coefficents. Using large values for the joints that we don't want to move.
jd=[100.0,100.0,100.0,100.0,100.0,100.0,0.5]
#jd=[0.5,0.5,0.5,0.5,0.5,0.5,0.5]
p.setGravity(0,0,0)
while 1:
p.stepSimulation()
for i in range (1):
pos = [0,0,1.26]
orn = p.getQuaternionFromEuler([0,0,3.14])
jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,orn,jointDamping=jd)
for i in range (numJoints):
p.setJointMotorControl2(bodyIndex=kukaId,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=500,positionGain=0.03,velocityGain=1)
sleep(0.05)