Merge remote-tracking branch 'upstream/master

examples/ExampleBrowser/CMakeLists.txt

@@ -208,7 +208,10 @@ SET(BulletExampleBrowser_SRCS
 	../RenderingExamples/TimeSeriesCanvas.h
 	../RenderingExamples/TimeSeriesFontData.cpp
 	../RenderingExamples/TimeSeriesFontData.h
-
+	../RoboticsLearning/b3RobotSimAPI.cpp
+	../RoboticsLearning/b3RobotSimAPI.h
+	../RoboticsLearning/R2D2GraspExample.cpp
+	../RoboticsLearning/R2D2GraspExample.h
 	../RenderingExamples/CoordinateSystemDemo.cpp
 	../RenderingExamples/CoordinateSystemDemo.h
 	../RenderingExamples/RaytracerSetup.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -45,6 +45,8 @@
 #include "../Tutorial/Dof6ConstraintTutorial.h"
 #include "../MultiThreading/MultiThreadingExample.h"
 #include "../InverseDynamics/InverseDynamicsExample.h"
+#include "../RoboticsLearning/R2D2GraspExample.h"
+
 #ifdef ENABLE_LUA
 #include "../LuaDemo/LuaPhysicsSetup.h"
 #endif
@@ -93,11 +95,11 @@ struct ExampleEntry
 static ExampleEntry gDefaultExamples[]=
 {
 
+
 	ExampleEntry(0,"API"),
 
 	ExampleEntry(1,"Basic Example","Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc),
 
-
 	ExampleEntry(1,"Rolling Friction", "Damping is often not good enough to keep rounded objects from rolling down a sloped surface. Instead, you can set the rolling friction of a rigid body. Generally it is best to leave the rolling friction to zero, to avoid artifacts.", RollingFrictionCreateFunc),
 
 	ExampleEntry(1,"Constraints","Show the use of the various constraints in Bullet. Press the L key to visualize the constraint limits. Press the C key to visualize the constraint frames.",
@@ -117,8 +119,6 @@ static ExampleEntry gDefaultExamples[]=
 
 	ExampleEntry(1,"Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",RigidBodySoftContactCreateFunc),
 
-
-
 	ExampleEntry(0,"MultiBody"),
 	ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
 	ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),
@@ -244,11 +244,12 @@ static ExampleEntry gDefaultExamples[]=
 			PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
 	ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
 			PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
-
 	ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
 	ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
 
-		
+	ExampleEntry(1,"R2D2 Grasp","Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP),
+	ExampleEntry(1,"URDF Compliant Contact","Experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_COMPLIANT_CONTACT),
+	
 
 
 #ifdef ENABLE_LUA

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -226,7 +226,7 @@ enum TestExampleBrowserCommunicationEnums
 
 void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 {
-	printf("thread started\n");
+	printf("ExampleBrowserThreadFunc started\n");
 
 	ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
 
@@ -369,7 +369,7 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
                         }
                 };
 
-	printf("stopping threads\n");
+	printf("btShutDownExampleBrowser stopping threads\n");
 	delete data->m_threadSupport;
 	delete data->m_sharedMem;
 	delete data;

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -399,7 +399,6 @@ static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& ar
 	FILE* f = fopen(startFileName,"r");
 	if (f)
 	{
-		int result;
 		char oneline[1024];
 		char* argv[] = {0,&oneline[0]};
 		

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -199,9 +199,16 @@ void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* bod
 	}
 }
 
-int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+int	OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int height)
 {
-	int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices);
+	int textureId = m_data->m_glApp->m_renderer->registerTexture(texels,width,height);
+	return textureId;
+}
+
+
+int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
+{
+	int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
 	return shapeId;
 }
 
@@ -210,6 +217,10 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit
 	return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
 }
 
+void OpenGLGuiHelper::removeAllGraphicsInstances()
+{
+    m_data->m_glApp->m_renderer->removeAllInstances();
+}
 
 void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
 {
@@ -247,7 +258,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 
 	if (gfxVertices.size() && indices.size())
 	{
-		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
+		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,-1);
 		collisionShape->setUserIndex(shapeId);
 	}
 		

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -20,12 +20,11 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 
 	virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices);
-
+	virtual int	registerTexture(const unsigned char* texels, int width, int height);
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
-
+	virtual void removeAllGraphicsInstances();
 	
-
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);

examples/ExampleBrowser/premake4.lua

@@ -88,6 +88,7 @@ project "App_BulletExampleBrowser"
 		"../Tutorial/*",
 		"../ExtendedTutorials/*",
 		"../Collision/*",
+		"../RoboticsLearning/*",
 		"../Collision/Internal/*",
 		"../Benchmarks/*",
 		"../CommonInterfaces/*",