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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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12
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -355,7 +355,7 @@ struct btMultibodyLink
BT_DECLARE_ALIGNED_ALLOCATOR();
btScalar m_mass; // mass of link
btVector3 m_inertia; // inertia of link (local frame; diagonal)
btVector3 m_inertiaLocal; // inertia of link (local frame; diagonal)
int m_parent; // index of the parent link (assumed to be < index of this link), or -1 if parent is the base link.
@@ -440,15 +440,15 @@ struct btMultibodyLink
btMultibodyLink()
: m_mass(1),
m_parent(-1),
m_zeroRotParentToThis(1, 0, 0, 0),
m_cachedRotParentToThis(1, 0, 0, 0),
m_zeroRotParentToThis(0, 0, 0, 1),
m_cachedRotParentToThis(0, 0, 0, 1),
m_collider(0),
m_flags(0),
m_dofCount(0),
m_posVarCount(0),
m_jointType(btMultibodyLink::eInvalid)
{
m_inertia.setValue(1, 1, 1);
m_inertiaLocal.setValue(1, 1, 1);
setAxisTop(0, 0., 0., 0.);
setAxisBottom(0, 1., 0., 0.);
m_dVector.setValue(0, 0, 0);
@@ -493,7 +493,7 @@ struct btMultibodyLink
case ePrismatic:
{
// m_cachedRotParentToThis never changes, so no need to update
m_cachedRVector = m_eVector + pJointPos[0] * getAxisBottom(0);
m_cachedRVector = quatRotate(m_cachedRotParentToThis,m_eVector) + pJointPos[0] * getAxisBottom(0);
break;
}
@@ -516,7 +516,7 @@ struct btMultibodyLink
case eFixed:
{
m_cachedRotParentToThis = m_zeroRotParentToThis;
m_cachedRVector = quatRotate(m_cachedRotParentToThis,m_eVector);
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector);
break;
}