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Improved URDF support for btMultiBody and separate graphics/collision/inertial frames and shapes

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Fix WinXP GetTickCount64 with a typedef
Expose debug drawing mode/flags in UI (hot keys A,D,L,W for now, buttons later)
GLInstancingRenderer: tweak near/far planes to allow closer approach of camera
btDiscreteDynamicsWorld: enable debug drawing for btGeneric6DofSpring2Constraint
btMultiBodyDynamicsWorld: enable basic debug drawing for btMultiBody
btMultibody: allow center-of-mass shift for prismatic and fixed constraint
This commit is contained in:
erwincoumans
2015-01-22 17:56:24 -08:00
parent 6e70f285e1
commit a159fbac69
28 changed files with 1022 additions and 674 deletions
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52
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -34,6 +34,7 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
@@ -1306,6 +1307,57 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
}
}
break;
///note: the code for D6_SPRING_2_CONSTRAINT_TYPE is identical to D6_CONSTRAINT_TYPE, the D6_CONSTRAINT_TYPE+D6_SPRING_CONSTRAINT_TYPE will likely become obsolete/deprecated at some stage
case D6_SPRING_2_CONSTRAINT_TYPE:
{
{
btGeneric6DofSpring2Constraint* p6DOF = (btGeneric6DofSpring2Constraint*)constraint;
btTransform tr = p6DOF->getCalculatedTransformA();
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
tr = p6DOF->getCalculatedTransformB();
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
if (drawLimits)
{
tr = p6DOF->getCalculatedTransformA();
const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
btVector3 up = tr.getBasis().getColumn(2);
btVector3 axis = tr.getBasis().getColumn(0);
btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
axis = tr.getBasis().getColumn(1);
btScalar ay = p6DOF->getAngle(1);
btScalar az = p6DOF->getAngle(2);
btScalar cy = btCos(ay);
btScalar sy = btSin(ay);
btScalar cz = btCos(az);
btScalar sz = btSin(az);
btVector3 ref;
ref[0] = cy*cz*axis[0] + cy*sz*axis[1] - sy*axis[2];
ref[1] = -sz*axis[0] + cz*axis[1];
ref[2] = cz*sy*axis[0] + sz*sy*axis[1] + cy*axis[2];
tr = p6DOF->getCalculatedTransformB();
btVector3 normal = -tr.getBasis().getColumn(0);
btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
if (minFi > maxFi)
{
getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0, 0, 0), false);
}
else if (minFi < maxFi)
{
getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0, 0, 0), true);
}
tr = p6DOF->getCalculatedTransformA();
btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0, 0, 0));
}
}
break;
}
case SLIDER_CONSTRAINT_TYPE:
{
btSliderConstraint* pSlider = (btSliderConstraint*)constraint;

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -151,7 +151,7 @@ public:
virtual void removeCollisionObject(btCollisionObject* collisionObject);
void debugDrawConstraint(btTypedConstraint* constraint);
virtual void debugDrawConstraint(btTypedConstraint* constraint);
virtual void debugDrawWorld();