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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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80
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include "LinearMath/btQuickprof.h"
#include "btMultiBodyConstraint.h"
#include "LinearMath/btIDebugDraw.h"
@@ -755,3 +755,81 @@ void btMultiBodyDynamicsWorld::removeMultiBodyConstraint( btMultiBodyConstraint*
{
m_multiBodyConstraints.remove(constraint);
}
void btMultiBodyDynamicsWorld::debugDrawWorld()
{
BT_PROFILE("btMultiBodyDynamicsWorld debugDrawWorld");
bool drawConstraints = false;
if (getDebugDrawer())
{
int mode = getDebugDrawer()->getDebugMode();
if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
{
drawConstraints = true;
}
if (drawConstraints)
{
BT_PROFILE("btMultiBody stepPositions");
//integrate and update the Featherstone hierarchies
btAlignedObjectArray<btQuaternion> world_to_local;
btAlignedObjectArray<btVector3> local_origin;
for (int b = 0; b<m_multiBodies.size(); b++)
{
btMultiBody* bod = m_multiBodies[b];
int nLinks = bod->getNumLinks();
///base + num m_links
world_to_local.resize(nLinks + 1);
local_origin.resize(nLinks + 1);
world_to_local[0] = bod->getWorldToBaseRot();
local_origin[0] = bod->getBasePos();
{
btVector3 posr = local_origin[0];
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
btScalar quat[4] = { -world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w() };
btTransform tr;
tr.setIdentity();
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
getDebugDrawer()->drawTransform(tr, 0.1);
}
for (int k = 0; k<bod->getNumLinks(); k++)
{
const int parent = bod->getParent(k);
world_to_local[k + 1] = bod->getParentToLocalRot(k) * world_to_local[parent + 1];
local_origin[k + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[k + 1].inverse(), bod->getRVector(k)));
}
for (int m = 0; m<bod->getNumLinks(); m++)
{
int link = m;
int index = link + 1;
btVector3 posr = local_origin[index];
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
btScalar quat[4] = { -world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w() };
btTransform tr;
tr.setIdentity();
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
getDebugDrawer()->drawTransform(tr, 0.1);
}
}
}
}
btDiscreteDynamicsWorld::debugDrawWorld();
}