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Merge pull request #917 from erwincoumans/master

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add --disable_desktop_gl for Virtual Reality server (App_SharedMemory…
This commit is contained in:
erwincoumans
2017-01-16 19:55:17 -08:00
committed by GitHub
parent 42ef8f538e 12a391e1f9
commit b9b958ec9c
174 changed files with 8687 additions and 6047 deletions
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26
Extras/ConvexDecomposition/concavity.cpp
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@@ -705,6 +705,7 @@ float computeConcavity(unsigned int vcount,
}
}
#if 0
if ( ftris.size() && 0 )
{
@@ -725,17 +726,17 @@ float computeConcavity(unsigned int vcount,
do
{
found = false;
CTriVector::iterator i;
for (i=ftris.begin(); i!=ftris.end(); ++i)
{
CTri &t = (*i);
if ( isFeatureTri(t,flist,maxc,callback,color) )
{
found = true;
totalarea+=t.area();
}
}
found = false;
CTriVector::iterator i;
for (i=ftris.begin(); i!=ftris.end(); ++i)
{
CTri &t = (*i);
if ( isFeatureTri(t,flist,maxc,callback,color) )
{
found = true;
totalarea+=t.area();
}
}
} while ( found );
@@ -759,6 +760,7 @@ float computeConcavity(unsigned int vcount,
}
}
}
}
unsigned int color = getDebugColor();
@@ -786,7 +788,7 @@ float computeConcavity(unsigned int vcount,
hl.ReleaseResult(result);
}
#endif
return cret;
}

3
Extras/Serialize/BulletFileLoader/bDNA.cpp
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@@ -349,7 +349,8 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
void bDNA::init(char *data, int len, bool swap)
{
int *intPtr=0;short *shtPtr=0;
char *cp = 0;int dataLen =0;long nr=0;
char *cp = 0;int dataLen =0;
//long nr=0;
intPtr = (int*)data;
/*

10
Extras/Serialize/BulletFileLoader/bFile.cpp
View File

@@ -411,7 +411,7 @@ void bFile::swapDNA(char* ptr)
// void bDNA::init(char *data, int len, bool swap)
int *intPtr=0;short *shtPtr=0;
char *cp = 0;int dataLen =0;long nr=0;
char *cp = 0;int dataLen =0;
intPtr = (int*)data;
/*
@@ -573,7 +573,7 @@ void bFile::writeFile(const char* fileName)
void bFile::preSwap()
{
const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
//const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
//FD_ENDIAN_SWAP
//byte 8 determines the endianness of the file, little (v) versus big (V)
int littleEndian= 1;
@@ -1285,7 +1285,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
}
//skip the *
printf("<%s type=\"pointer\"> ",&memName[1]);
printf("%d ", array[a]);
printf("%p ", array[a]);
printf("</%s>\n",&memName[1]);
}
@@ -1303,7 +1303,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
printf(" ");
}
printf("<%s type=\"pointer\"> ",&memName[1]);
printf("%d ", ptr);
printf("%p ", ptr);
printf("</%s>\n",&memName[1]);
}
ptr = findLibPointer(ptr);
@@ -1484,7 +1484,7 @@ void bFile::resolvePointers(int verboseMode)
char* oldType = fileDna->getType(oldStruct[0]);
if (verboseMode & FD_VERBOSE_EXPORT_XML)
printf(" <%s pointer=%d>\n",oldType,dataChunk.oldPtr);
printf(" <%s pointer=%p>\n",oldType,dataChunk.oldPtr);
resolvePointersChunk(dataChunk, verboseMode);

2
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@@ -307,8 +307,6 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
for (i=0;i<bulletFile2->m_constraints.size();i++)
{
btTypedConstraintData2* constraintData = (btTypedConstraintData2*)bulletFile2->m_constraints[i];
btTypedConstraintFloatData* singleC = (btTypedConstraintFloatData*)bulletFile2->m_constraints[i];
btTypedConstraintDoubleData* doubleC = (btTypedConstraintDoubleData*)bulletFile2->m_constraints[i];
btCollisionObject** colAptr = m_bodyMap.find(constraintData->m_rbA);
btCollisionObject** colBptr = m_bodyMap.find(constraintData->m_rbB);

17
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
View File

@@ -468,14 +468,11 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
btCompoundShape* compoundShape = createCompoundShape();
btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
btAlignedObjectArray<btCollisionShape*> childShapes;
for (int i=0;i<compoundData->m_numChildShapes;i++)
{
btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
btCollisionShape* childShape = convertCollisionShape(cd);
@@ -997,11 +994,11 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i],dofData->m_linearSpringStiffnessLimited[i]!=0);
dof->setEquilibriumPoint(i,dofData->m_linearEquilibriumPoint.m_floats[i]);
dof->enableSpring(i,dofData->m_linearEnableSpring[i]!=0);
dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],dofData->m_linearSpringDampingLimited[i]);
dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],(dofData->m_linearSpringDampingLimited[i]!=0));
}
for (i=0;i<3;i++)
{
dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],dofData->m_angularSpringStiffnessLimited[i]);
dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],(dofData->m_angularSpringStiffnessLimited[i]!=0));
dof->setEquilibriumPoint(i+3,dofData->m_angularEquilibriumPoint.m_floats[i]);
dof->enableSpring(i+3,dofData->m_angularEnableSpring[i]!=0);
dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i],dofData->m_angularSpringDampingLimited[i]);
@@ -1327,14 +1324,14 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i],dofData->m_linearSpringStiffnessLimited[i]);
dof->setEquilibriumPoint(i,dofData->m_linearEquilibriumPoint.m_floats[i]);
dof->enableSpring(i,dofData->m_linearEnableSpring[i]!=0);
dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],dofData->m_linearSpringDampingLimited[i]);
dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],(dofData->m_linearSpringDampingLimited[i]!=0));
}
for (i=0;i<3;i++)
{
dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],dofData->m_angularSpringStiffnessLimited[i]);
dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],(dofData->m_angularSpringStiffnessLimited[i]!=0));
dof->setEquilibriumPoint(i+3,dofData->m_angularEquilibriumPoint.m_floats[i]);
dof->enableSpring(i+3,dofData->m_angularEnableSpring[i]!=0);
dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i],dofData->m_angularSpringDampingLimited[i]);
dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i],(dofData->m_angularSpringDampingLimited[i]!=0));
}
}

92
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
View File

@@ -18,6 +18,16 @@ subject to the following restrictions:
#include "btBulletDynamicsCommon.h"
#include "string_split.h"
struct MyLocalCaster
{
void* m_ptr;
int m_int;
MyLocalCaster()
:m_ptr(0)
{
}
};
btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world)
:btWorldImporter(world),
@@ -32,7 +42,7 @@ btBulletXmlWorldImporter::~btBulletXmlWorldImporter()
}
#if 0
static int get_double_attribute_by_name(const TiXmlElement* pElement, const char* attribName,double* value)
{
if ( !pElement )
@@ -48,7 +58,7 @@ static int get_double_attribute_by_name(const TiXmlElement* pElement, const char
}
return 0;
}
#endif
static int get_int_attribute_by_name(const TiXmlElement* pElement, const char* attribName,int* value)
{
@@ -130,7 +140,9 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
if (node)\
{\
const char* txt = (node)->ToElement()->GetText();\
(targetdata).argname= (pointertype) (int) atof(txt);\
MyLocalCaster cast;\
cast.m_int = (int) atof(txt);\
(targetdata).argname= (pointertype)cast.m_ptr;\
}\
}
@@ -216,8 +228,8 @@ void btBulletXmlWorldImporter::deSerializeCollisionShapeData(TiXmlNode* pParent,
void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent)
{
int ptr;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btConvexHullShapeData* convexHullData = (btConvexHullShapeData*)btAlignedAlloc(sizeof(btConvexHullShapeData), 16);
@@ -233,18 +245,33 @@ void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent
SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_localScaling)
SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_implicitShapeDimensions)
//convexHullData->m_unscaledPointsFloatPtr
//#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype)
{
TiXmlNode* node = pParent->FirstChild("m_unscaledPointsFloatPtr");
btAssert(node);
if (node)
{
const char* txt = (node)->ToElement()->GetText();
MyLocalCaster cast;
cast.m_int = (int) atof(txt);
(*convexHullData).m_unscaledPointsFloatPtr= (btVector3FloatData*) cast.m_ptr;
}
}
SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsFloatPtr,btVector3FloatData*);
SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsDoublePtr,btVector3DoubleData*);
SET_INT_VALUE(pParent,convexHullData,m_numUnscaledPoints);
m_collisionShapeData.push_back((btCollisionShapeData*)convexHullData);
m_pointerLookup.insert((void*)ptr,convexHullData);
m_pointerLookup.insert(cast.m_ptr,convexHullData);
}
void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pParent)
{
int ptr;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
int numChildren = 0;
btAlignedObjectArray<btCompoundShapeChildData>* compoundChildArrayPtr = new btAlignedObjectArray<btCompoundShapeChildData>;
@@ -262,7 +289,9 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
SET_MATRIX33_VALUE(transNode,&compoundChildArrayPtr->at(i).m_transform,m_basis)
const char* txt = (colShapeNode)->ToElement()->GetText();
compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) (int) atof(txt);
MyLocalCaster cast;
cast.m_int = (int) atof(txt);
compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) cast.m_ptr;
btAssert(childTypeNode->ToElement());
if (childTypeNode->ToElement())
@@ -292,15 +321,15 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
{
m_compoundShapeChildDataArrays.push_back(compoundChildArrayPtr);
btCompoundShapeChildData* cd = &compoundChildArrayPtr->at(0);
m_pointerLookup.insert((void*)ptr,cd);
m_pointerLookup.insert(cast.m_ptr,cd);
}
}
void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
{
int ptr;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btCompoundShapeData* compoundData = (btCompoundShapeData*) btAlignedAlloc(sizeof(btCompoundShapeData),16);
@@ -319,7 +348,9 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
while (node)
{
const char* txt = (node)->ToElement()->GetText();
compoundData->m_childShapePtr = (btCompoundShapeChildData*) (int) atof(txt);
MyLocalCaster cast;
cast.m_int = (int) atof(txt);
compoundData->m_childShapePtr = (btCompoundShapeChildData*) cast.m_ptr;
node = node->NextSibling("m_childShapePtr");
}
//SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
@@ -328,14 +359,14 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
SET_FLOAT_VALUE(pParent, compoundData,m_collisionMargin);
m_collisionShapeData.push_back((btCollisionShapeData*)compoundData);
m_pointerLookup.insert((void*)ptr,compoundData);
m_pointerLookup.insert(cast.m_ptr,compoundData);
}
void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParent)
{
int ptr;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) btAlignedAlloc(sizeof(btStaticPlaneShapeData),16);
@@ -348,7 +379,7 @@ void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParen
SET_FLOAT_VALUE(pParent, planeData,m_planeConstant);
m_collisionShapeData.push_back((btCollisionShapeData*)planeData);
m_pointerLookup.insert((void*)ptr,planeData);
m_pointerLookup.insert(cast.m_ptr,planeData);
}
@@ -364,8 +395,8 @@ void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(TiXmlNode* pParent)
void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pParent)
{
int ptr=0;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*) btAlignedAlloc(sizeof(btConvexInternalShapeData),16);
@@ -382,7 +413,7 @@ void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pPa
SET_VECTOR4_VALUE(pParent,convexShape,m_implicitShapeDimensions)
m_collisionShapeData.push_back((btCollisionShapeData*)convexShape);
m_pointerLookup.insert((void*)ptr,convexShape);
m_pointerLookup.insert(cast.m_ptr,convexShape);
}
@@ -404,8 +435,8 @@ enum btTypedConstraintType
void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* pParent)
{
int ptr=0;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2),16);
@@ -439,13 +470,14 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
SET_INT_VALUE(pParent, dof6Data,m_useOffsetForConstraintFrame);
m_constraintData.push_back((btTypedConstraintData2*)dof6Data);
m_pointerLookup.insert((void*)ptr,dof6Data);
m_pointerLookup.insert(cast.m_ptr,dof6Data);
}
void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
{
int ptr=0;
if (!get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr))
MyLocalCaster cast;
if (!get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int))
{
m_fileOk = false;
return;
@@ -506,7 +538,7 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
m_rigidBodyData.push_back(rbData);
m_pointerLookup.insert((void*)ptr,rbData);
m_pointerLookup.insert(cast.m_ptr,rbData);
// rbData->m_collisionObjectData.m_collisionShape = (void*) (int)atof(txt);
}
@@ -641,8 +673,8 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
// printf("child Name=%s\n", pChild->Value());
if (!strcmp(pChild->Value(),"btVector3FloatData"))
{
int ptr;
get_int_attribute_by_name(pChild->ToElement(),"pointer",&ptr);
MyLocalCaster cast;
get_int_attribute_by_name(pChild->ToElement(),"pointer",&cast.m_int);
btAlignedObjectArray<btVector3FloatData> v;
deSerializeVector3FloatData(pChild,v);
@@ -651,7 +683,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
for (int i=0;i<numVectors;i++)
vectors[i] = v[i];
m_floatVertexArrays.push_back(vectors);
m_pointerLookup.insert((void*)ptr,vectors);
m_pointerLookup.insert(cast.m_ptr,vectors);
continue;
}
@@ -790,7 +822,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
for (int i=0;i<m_constraintData.size();i++)
{
btTypedConstraintData2* tcd = m_constraintData[i];
bool isDoublePrecision = false;
// bool isDoublePrecision = false;
btRigidBody* rbA = 0;
btRigidBody* rbB = 0;
{

6
build_and_run_cmake_pybullet_double.sh
View File

@@ -2,5 +2,9 @@
rm CMakeCache.txt
mkdir build_cmake
cd build_cmake
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
make -j12
cd examples
cd pybullet
ln -s pybullet.dylib pybullet.so

16
data/kuka_iiwa/model.sdf
View File

@@ -21,7 +21,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_0.stl</uri>
<uri>meshes/link_0.stl</uri>
</mesh>
</geometry>
</collision>
@@ -60,7 +60,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_1.stl</uri>
<uri>meshes/link_1.stl</uri>
</mesh>
</geometry>
</collision>
@@ -119,7 +119,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_2.stl</uri>
<uri>meshes/link_2.stl</uri>
</mesh>
</geometry>
</collision>
@@ -178,7 +178,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_3.stl</uri>
<uri>meshes/link_3.stl</uri>
</mesh>
</geometry>
</collision>
@@ -237,7 +237,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_4.stl</uri>
<uri>meshes/link_4.stl</uri>
</mesh>
</geometry>
</collision>
@@ -296,7 +296,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_5.stl</uri>
<uri>meshes/link_5.stl</uri>
</mesh>
</geometry>
</collision>
@@ -355,7 +355,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_6.stl</uri>
<uri>meshes/link_6.stl</uri>
</mesh>
</geometry>
</collision>
@@ -414,7 +414,7 @@
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/coarse/link_7.stl</uri>
<uri>meshes/link_7.stl</uri>
</mesh>
</geometry>
</collision>

47
data/mjcf/inverted_double_pendulum.xml Normal file
View File

@@ -0,0 +1,47 @@
<!-- Cartpole Model
The state space is populated with joints in the order that they are
defined in this file. The actuators also operate on joints.
State-Space (name/joint/parameter):
- cart slider position (m)
- pole hinge angle (rad)
- cart slider velocity (m/s)
- pole hinge angular velocity (rad/s)
Actuators (name/actuator/parameter):
- cart motor force x (N)
-->
<mujoco model="cartpole">
<compiler coordinate="local" inertiafromgeom="true"/>
<custom>
<numeric data="2" name="frame_skip"/>
</custom>
<default>
<joint damping="0.05"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
</default>
<option gravity="1e-5 0 -9.81" integrator="RK4" timestep="0.01"/>
<size nstack="3000"/>
<worldbody>
<geom name="floor" pos="0 0 -3.0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
<body name="cart" pos="0 0 0">
<joint axis="1 0 0" limited="true" margin="0.01" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
<body name="pole" pos="0 0 0">
<joint axis="0 1 0" name="hinge" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
<body name="pole2" pos="0 0 0.6">
<joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
<site name="tip" pos="0 0 .6" size="0.01 0.01"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
</actuator>
</mujoco>

27
data/mjcf/inverted_pendulum.xml Normal file
View File

@@ -0,0 +1,27 @@
<mujoco model="inverted pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
<size nstack="3000"/>
<worldbody>
<!--geom name="ground" type="plane" pos="0 0 0" /-->
<!-- <geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/> /-->
<body name="cart1" pos="0 0 0">
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
<body name="pole" pos="0 0 0">
<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge"/>
<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
</body>
</body>
</worldbody>
<actuator>
<motor gear="100" joint="slider" name="slide"/>
</actuator>
</mujoco>

BIN
data/multibody.bullet
View File

Binary file not shown.

2
examples/BasicDemo/CMakeLists.txt
View File

@@ -74,7 +74,7 @@ ELSE(WIN32)
IF(APPLE)
find_library(COCOA NAMES Cocoa)
MESSAGE(${COCOA})
link_libraries(${COCOA})
link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
ELSE(APPLE)
INCLUDE_DIRECTORIES(

5
examples/Benchmarks/BenchmarkDemo.cpp
View File

@@ -228,9 +228,10 @@ public:
struct CastRaysLoopBody
{
btRaycastBar2* mRaycasts;
btCollisionWorld* mWorld;
CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}
btRaycastBar2* mRaycasts;
CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}
void forLoop( int iBegin, int iEnd ) const
{

2
examples/CMakeLists.txt
View File

@@ -1,6 +1,6 @@
SUBDIRS( HelloWorld BasicDemo )
IF(BUILD_BULLET3)
SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK OpenGLWindow )
SUBDIRS( ExampleBrowser SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK OpenGLWindow )
ENDIF()
IF(BUILD_PYBULLET)
SUBDIRS(pybullet)

12
examples/Collision/CollisionTutorialBullet2.cpp
View File

@@ -61,8 +61,8 @@ class CollisionTutorialBullet2 : public CommonExampleInterface
plCollisionSdkHandle m_collisionSdkHandle;
plCollisionWorldHandle m_collisionWorldHandle;
int m_stage;
int m_counter;
// int m_stage;
// int m_counter;
public:
@@ -70,11 +70,11 @@ public:
:m_app(guiHelper->getAppInterface()),
m_guiHelper(guiHelper),
m_tutorialIndex(tutorialIndex),
m_timeSeriesCanvas0(0),
m_collisionSdkHandle(0),
m_collisionWorldHandle(0),
m_stage(0),
m_counter(0),
m_timeSeriesCanvas0(0)
m_collisionWorldHandle(0)
// m_stage(0),
// m_counter(0)
{
gTotalPoints = 0;

9
examples/Collision/Internal/Bullet2CollisionSdk.cpp
View File

@@ -6,13 +6,14 @@ struct Bullet2CollisionSdkInternalData
btCollisionConfiguration* m_collisionConfig;
btCollisionDispatcher* m_dispatcher;
btBroadphaseInterface* m_aabbBroadphase;
btCollisionWorld* m_collisionWorld;
Bullet2CollisionSdkInternalData()
:m_aabbBroadphase(0),
m_dispatcher(0),
m_collisionWorld(0)
:
m_collisionConfig(0),
m_dispatcher(0),
m_aabbBroadphase(0),
m_collisionWorld(0)
{
}
};

25
examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp
View File

@@ -53,13 +53,19 @@ struct RTB3CollisionWorld
b3AlignedObjectArray<b3Aabb> m_worldSpaceAabbs;
b3AlignedObjectArray<b3GpuFace> m_planeFaces;
b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
int m_nextFreeShapeIndex;
union
{
int m_nextFreeShapeIndex;
void* m_nextFreeShapePtr;
};
int m_nextFreeCollidableIndex;
int m_nextFreePlaneFaceIndex;
RTB3CollisionWorld()
:m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
:
m_nextFreeShapeIndex(START_SHAPE_INDEX),
m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
m_nextFreePlaneFaceIndex(0)//this value is never exposed to the user, so we can start from 0
{
}
@@ -125,7 +131,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisio
shape.m_childOrientation.setValue(0,0,0,1);
shape.m_radius = radius;
shape.m_shapeType = RTB3_SHAPE_SPHERE;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
world->m_nextFreeShapeIndex++;
return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
}
return 0;
}
@@ -147,7 +154,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollision
world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX,planeNormalY,planeNormalZ,planeConstant);
shape.m_shapeIndex = world->m_nextFreePlaneFaceIndex++;
shape.m_shapeType = RTB3_SHAPE_PLANE;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
world->m_nextFreeShapeIndex++;
return (plCollisionShapeHandle)world->m_nextFreeShapePtr ;
}
return 0;
}
@@ -169,7 +177,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisi
shape.m_height = height;
shape.m_shapeIndex = capsuleAxis;
shape.m_shapeType = RTB3_SHAPE_CAPSULE;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
world->m_nextFreeShapeIndex++;
return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
}
return 0;
}
@@ -186,7 +195,8 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollis
shape.m_childOrientation.setValue(0,0,0,1);
shape.m_numChildShapes = 0;
shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
world->m_nextFreeShapeIndex++;
return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
}
return 0;
}
@@ -265,7 +275,8 @@ plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject( plC
collidable.m_shapeIndex = shape.m_shapeIndex;
break;
*/
return (plCollisionObjectHandle)world->m_nextFreeCollidableIndex++;
world->m_nextFreeCollidableIndex++;
return (plCollisionObjectHandle)world->m_nextFreeShapePtr;
}
return 0;
}

58
examples/CommonInterfaces/CommonMultiBodyBase.h
View File

@@ -18,10 +18,49 @@
#include "CommonWindowInterface.h"
#include "CommonCameraInterface.h"
enum MyFilterModes
{
FILTER_GROUPAMASKB_AND_GROUPBMASKA2=0,
FILTER_GROUPAMASKB_OR_GROUPBMASKA2
};
struct MyOverlapFilterCallback2 : public btOverlapFilterCallback
{
int m_filterMode;
MyOverlapFilterCallback2()
:m_filterMode(FILTER_GROUPAMASKB_AND_GROUPBMASKA2)
{
}
virtual ~MyOverlapFilterCallback2()
{}
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
if (m_filterMode==FILTER_GROUPAMASKB_AND_GROUPBMASKA2)
{
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
if (m_filterMode==FILTER_GROUPAMASKB_OR_GROUPBMASKA2)
{
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
return false;
}
};
struct CommonMultiBodyBase : public CommonExampleInterface
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
MyOverlapFilterCallback2* m_filterCallback;
btOverlappingPairCache* m_pairCache;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btMultiBodyConstraintSolver* m_solver;
@@ -41,7 +80,9 @@ struct CommonMultiBodyBase : public CommonExampleInterface
struct GUIHelperInterface* m_guiHelper;
CommonMultiBodyBase(GUIHelperInterface* helper)
:m_broadphase(0),
:m_filterCallback(0),
m_pairCache(0),
m_broadphase(0),
m_dispatcher(0),
m_solver(0),
m_collisionConfiguration(0),
@@ -59,11 +100,16 @@ struct CommonMultiBodyBase : public CommonExampleInterface
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
m_filterCallback = new MyOverlapFilterCallback2();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();//btSimpleBroadphase();
m_pairCache = new btHashedOverlappingPairCache();
m_pairCache->setOverlapFilterCallback(m_filterCallback);
m_broadphase = new btDbvtBroadphase(m_pairCache);//btSimpleBroadphase();
m_solver = new btMultiBodyConstraintSolver;
@@ -142,7 +188,13 @@ struct CommonMultiBodyBase : public CommonExampleInterface
delete m_dispatcher;
m_dispatcher=0;
delete m_pairCache;
m_pairCache = 0;
delete m_filterCallback;
m_filterCallback = 0;
delete m_collisionConfiguration;
m_collisionConfiguration=0;
}

13
examples/Constraints/ConstraintDemo.cpp
View File

@@ -56,7 +56,7 @@ class AllConstraintDemo : public CommonRigidBodyBase
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
virtual void keyboardCallback(unsigned char key, int x, int y);
virtual bool keyboardCallback(int key, int state);
// for cone-twist motor driving
float m_Time;
@@ -66,7 +66,6 @@ class AllConstraintDemo : public CommonRigidBodyBase
const int numObjects = 3;
#define ENABLE_ALL_DEMOS 1
@@ -839,10 +838,11 @@ void AllConstraintDemo::displayCallback(void) {
}
#endif
void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
bool AllConstraintDemo::keyboardCallback(int key, int state)
{
(void)x;
(void)y;
bool handled = false;
switch (key)
{
case 'O' :
@@ -870,6 +870,7 @@ void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
}
}
handled = true;
break;
default :
{
@@ -877,6 +878,8 @@ void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
}
break;
}
return handled;
}
class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options)

2
examples/Constraints/Dof6Spring2Setup.cpp
View File

@@ -443,8 +443,6 @@ void Dof6Spring2Setup::animate()
/////// servo motor: flip its target periodically
#ifdef USE_6DOF2
static float servoNextFrame = -1;
btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
if(servoNextFrame < 0)
{
m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;

10
examples/Constraints/TestHingeTorque.cpp
View File

@@ -4,8 +4,8 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
short collisionFilterGroup = short(btBroadphaseProxy::CharacterFilter);
short collisionFilterMask = short(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
int collisionFilterGroup = int(btBroadphaseProxy::CharacterFilter);
int collisionFilterMask = int(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
static btScalar radius(0.2);
struct TestHingeTorque : public CommonRigidBodyBase
@@ -123,9 +123,7 @@ void TestHingeTorque::initPhysics()
{ // create a door using hinge constraint attached to the world
int numLinks = 2;
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool canSleep = false;
bool selfCollide = false;
// bool selfCollide = false;
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
@@ -223,7 +221,7 @@ void TestHingeTorque::initPhysics()
btTransform start; start.setIdentity();
btVector3 groundOrigin(-0.4f, 3.f, 0.f);
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
// btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
btQuaternion groundOrn(btVector3(0,1,0),0.25*SIMD_PI);
groundOrigin[upAxis] -=.5;

12
examples/Evolution/NN3DWalkers.cpp
View File

@@ -118,10 +118,10 @@ public:
:NN3DWalkersTimeWarpBase(helper),
m_Time(0),
m_SpeedupTimestamp(0),
m_motorStrength(0.5f),
m_targetFrequency(3),
m_targetAccumulator(0),
m_evaluationsQty(0),
m_targetFrequency(3),
m_motorStrength(0.5f),
m_evaluationsQty(0),
m_nextReaped(0),
m_timeSeriesCanvas(0)
{
@@ -729,9 +729,9 @@ bool NN3DWalkersExample::detectCollisions()
btManifoldPoint& pt = contactManifold->getContactPoint(j);
if (pt.getDistance()<0.f)
{
const btVector3& ptA = pt.getPositionWorldOnA();
const btVector3& ptB = pt.getPositionWorldOnB();
const btVector3& normalOnB = pt.m_normalWorldOnB;
//const btVector3& ptA = pt.getPositionWorldOnA();
//const btVector3& ptB = pt.getPositionWorldOnB();
//const btVector3& normalOnB = pt.m_normalWorldOnB;
if(!DRAW_INTERPENETRATIONS){
return collisionDetected;

2
examples/Evolution/NN3DWalkersTimeWarpBase.h
View File

@@ -593,7 +593,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
timeWarpSimulation(deltaTime);
if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
// on reset, we calculate the performed speed up
double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
//double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
// b3Printf("Avg Effective speedup: %f",speedUp);
performedTime = 0;
performanceTimestamp = mLoopTimer.getTimeMilliseconds();

11
examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
View File

@@ -36,12 +36,13 @@ struct MySliderEventHandler : public Gwen::Event::Handler
bool m_showValue;
MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider,T* target, SliderParamChangedCallback callback, void* userPtr)
:m_label(label),
: m_callback(callback),
m_userPointer(userPtr),
m_label(label),
m_pSlider(pSlider),
m_targetValue(target),
m_showValue(true),
m_callback(callback),
m_userPointer(userPtr)
m_targetValue(target),
m_showValue(true)
{
memcpy(m_variableName,varName,strlen(varName)+1);
}

5
examples/ExampleBrowser/InProcessExampleBrowser.cpp
View File

@@ -233,7 +233,7 @@ void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
ExampleBrowserArgs* args = (ExampleBrowserArgs*) userPtr;
int workLeft = true;
//int workLeft = true;
b3CommandLineArgs args2(args->m_argc,args->m_argv);
b3Clock clock;
@@ -411,7 +411,8 @@ btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowser
data->m_exampleBrowser = new DefaultBrowser(&data->m_examples);
data->m_sharedMem = new InProcessMemory;
data->m_exampleBrowser->setSharedMemoryInterface(data->m_sharedMem );
bool init = data->m_exampleBrowser->init(argc,argv);
bool init;
init = data->m_exampleBrowser->init(argc,argv);
data->m_clock.reset();
return data;
}

2
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -721,7 +721,7 @@ static void saveCurrentSettings(int currentEntry,const char* startFileName)
static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& args)
{
int currentEntry= 0;
//int currentEntry= 0;
FILE* f = fopen(startFileName,"r");
if (f)
{

4
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -29,7 +29,8 @@ struct MyDebugVec3
float y;
float z;
};
class MyDebugDrawer : public btIDebugDraw
ATTRIBUTE_ALIGNED16( class )MyDebugDrawer : public btIDebugDraw
{
CommonGraphicsApp* m_glApp;
int m_debugMode;
@@ -40,6 +41,7 @@ class MyDebugDrawer : public btIDebugDraw
DefaultColors m_ourColors;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
MyDebugDrawer(CommonGraphicsApp* app)
: m_glApp(app)

4
examples/ForkLift/ForkLiftDemo.cpp
View File

@@ -46,6 +46,7 @@ class btCollisionShape;
class ForkLiftDemo : public CommonExampleInterface
{
public:
GUIHelperInterface* m_guiHelper;
/* extra stuff*/
btVector3 m_cameraPosition;
@@ -57,7 +58,6 @@ class ForkLiftDemo : public CommonExampleInterface
btRigidBody* m_carChassis;
btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape);
GUIHelperInterface* m_guiHelper;
int m_wheelInstances[4];
//----------------------------
@@ -195,8 +195,6 @@ bool useMCLPSolver = true;
#include "ForkLiftDemo.h"
const int maxProxies = 32766;
const int maxOverlap = 65535;
///btRaycastVehicle is the interface for the constraint that implements the raycast vehicle
///notice that for higher-quality slow-moving vehicles, another approach might be better

6
examples/FractureDemo/btFractureDynamicsWorld.cpp
View File

@@ -529,7 +529,7 @@ void btFractureDynamicsWorld::fractureCallback( )
{
int j=f0;
btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
// btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
// btRigidBody* otherOb = btRigidBody::upcast(colOb);
// if (!otherOb->getInvMass())
// continue;
@@ -562,8 +562,8 @@ void btFractureDynamicsWorld::fractureCallback( )
{
int j=f1;
{
btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
btRigidBody* otherOb = btRigidBody::upcast(colOb);
//btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
//btRigidBody* otherOb = btRigidBody::upcast(colOb);
// if (!otherOb->getInvMass())
// continue;

2
examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
View File

@@ -336,7 +336,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shape, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances, const btMatrix4x4& parentTransMat)
{
const char* nodeName = node->Attribute("id");
//const char* nodeName = node->Attribute("id");
//printf("processing node %s\n", nodeName);

401
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
View File

@@ -21,10 +21,12 @@
enum ePARENT_LINK_ENUMS
{
BASE_LINK_INDEX=-1,
INVALID_LINK_INDEX=-2
};
static int gUid=0;
static bool parseVector4(btVector4& vec4, const std::string& vector_str)
{
@@ -120,12 +122,17 @@ struct BulletMJCFImporterInternalData
btAlignedObjectArray<UrdfModel*> m_models;
int m_activeModel;
//todo: for full MJCF compatibility, we would need a stack of default values
int m_defaultCollisionGroup;
int m_defaultCollisionMask;
//those collision shapes are deleted by caller (todo: make sure this happens!)
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
BulletMJCFImporterInternalData()
:m_activeModel(-1)
:m_activeModel(-1),
m_defaultCollisionGroup(1),
m_defaultCollisionMask(1)
{
m_pathPrefix[0] = 0;
}
@@ -144,18 +151,48 @@ struct BulletMJCFImporterInternalData
return 0;
}
bool parseDefaults(TiXmlElement* root_xml, MJCFErrorLogger* logger)
{
bool handled= false;
//rudimentary 'default' support, would need more work for better feature coverage
for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
{
std::string n = child_xml->Value();
if (n=="inertial")
{
}
if (n=="geom")
{
//contype, conaffinity
const char* conTypeStr = child_xml->Attribute("contype");
if (conTypeStr)
{
m_defaultCollisionGroup = urdfLexicalCast<int>(conTypeStr);
}
const char* conAffinityStr = child_xml->Attribute("conaffinity");
if (conAffinityStr)
{
m_defaultCollisionMask = urdfLexicalCast<int>(conAffinityStr);
}
}
}
handled=true;
return handled;
}
bool parseRootLevel(TiXmlElement* root_xml,MJCFErrorLogger* logger)
{
for (TiXmlElement* xml = root_xml->FirstChildElement() ; xml ; xml = xml->NextSiblingElement())
for (TiXmlElement* rootxml = root_xml->FirstChildElement() ; rootxml ; rootxml = rootxml->NextSiblingElement())
{
bool handled = false;
std::string n = xml->Value();
std::string n = rootxml->Value();
if (n=="body")
{
int modelIndex = m_models.size();
UrdfModel* model = new UrdfModel();
m_models.push_back(model);
parseBody(xml,modelIndex, INVALID_LINK_INDEX,logger);
parseBody(rootxml,modelIndex, INVALID_LINK_INDEX,logger);
initTreeAndRoot(*model,logger);
handled = true;
}
@@ -168,7 +205,7 @@ struct BulletMJCFImporterInternalData
UrdfLink* linkPtr = new UrdfLink();
linkPtr->m_name = "anonymous";
const char* namePtr = xml->Attribute("name");
const char* namePtr = rootxml->Attribute("name");
if (namePtr)
{
linkPtr->m_name = namePtr;
@@ -177,12 +214,12 @@ struct BulletMJCFImporterInternalData
linkPtr->m_linkIndex = linkIndex;
modelPtr->m_links.insert(linkPtr->m_name.c_str(),linkPtr);
btTransform linkTransform = parseTransform(xml,logger);
linkPtr->m_linkTransformInWorld = linkTransform;
//don't parse geom transform here, it will be inside 'parseGeom'
linkPtr->m_linkTransformInWorld.setIdentity();
// modelPtr->m_rootLinks.push_back(linkPtr);
parseGeom(xml,modelIndex, linkIndex,logger);
parseGeom(rootxml,modelIndex, linkIndex,logger);
initTreeAndRoot(*modelPtr,logger);
handled = true;
@@ -202,7 +239,7 @@ struct BulletMJCFImporterInternalData
return true;
}
bool parseJoint(TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, btTransform& jointTransOut)
bool parseJoint(TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, const btTransform& parentToLinkTrans, btTransform& jointTransOut)
{
const char* jType = link_xml->Attribute("type");
const char* limitedStr = link_xml->Attribute("limited");
@@ -210,6 +247,8 @@ struct BulletMJCFImporterInternalData
const char* posStr = link_xml->Attribute("pos");
const char* ornStr = link_xml->Attribute("quat");
const char* nameStr = link_xml->Attribute("name");
const char* rangeStr = link_xml->Attribute("range");
btTransform jointTrans;
jointTrans.setIdentity();
if (posStr)
@@ -242,12 +281,36 @@ struct BulletMJCFImporterInternalData
logger->reportWarning("joint without axis attribute");
}
bool isLimited = false;
double range[2] = {1,0};
if (limitedStr)
{
std::string lim = limitedStr;
if (lim=="true")
{
isLimited = true;
//parse the 'range' field
btArray<std::string> pieces;
btArray<float> sizes;
btAlignedObjectArray<std::string> strArray;
urdfIsAnyOf(" ", strArray);
urdfStringSplit(pieces, rangeStr, strArray);
for (int i = 0; i < pieces.size(); ++i)
{
if (!pieces[i].empty())
{
sizes.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
}
}
if (sizes.size()==2)
{
range[0] = sizes[0];
range[1] = sizes[1];
} else
{
logger->reportWarning("Expected range[2] in joint with limits");
}
}
} else
{
@@ -259,7 +322,8 @@ struct BulletMJCFImporterInternalData
btTransform parentLinkToJointTransform;
parentLinkToJointTransform.setIdentity();
parentLinkToJointTransform = jointTrans*linkPtr->m_linkTransformInWorld;
parentLinkToJointTransform = parentToLinkTrans*jointTrans;
jointTransOut = jointTrans;
UrdfJointTypes ejtype;
if (jType)
@@ -270,6 +334,11 @@ struct BulletMJCFImporterInternalData
ejtype = URDFFixedJoint;
jointHandled = true;
}
if (jointType == "slide")
{
ejtype = URDFPrismaticJoint;
jointHandled = true;
}
if (jointType == "hinge")
{
if (isLimited)
@@ -288,7 +357,6 @@ struct BulletMJCFImporterInternalData
if (jointHandled)
{
//default to 'fixed' joint
UrdfJoint* jointPtr = new UrdfJoint();
jointPtr->m_childLinkName=linkPtr->m_name;
const UrdfLink* parentLink = getLink(modelIndex,parentLinkIndex);
@@ -297,13 +365,18 @@ struct BulletMJCFImporterInternalData
jointPtr->m_parentLinkToJointTransform = parentLinkToJointTransform;
jointPtr->m_type = ejtype;
int numJoints = m_models[modelIndex]->m_joints.size();
//range
jointPtr->m_lowerLimit = range[0];
jointPtr->m_upperLimit = range[1];
if (nameStr)
{
jointPtr->m_name =nameStr;
} else
{
char jointName[1024];
sprintf(jointName,"joint%d_%d",linkIndex,numJoints);
sprintf(jointName,"joint%d_%d_%d",gUid++,linkIndex,numJoints);
jointPtr->m_name =jointName;
}
m_models[modelIndex]->m_joints.insert(jointPtr->m_name.c_str(),jointPtr);
@@ -335,7 +408,10 @@ struct BulletMJCFImporterInternalData
bool handledGeomType = false;
UrdfGeometry geom;
const char* rgba = link_xml->Attribute("rgba");
// const char* rgba = link_xml->Attribute("rgba");
const char* gType = link_xml->Attribute("type");
const char* sz = link_xml->Attribute("size");
const char* posS = link_xml->Attribute("pos");
@@ -356,7 +432,7 @@ struct BulletMJCFImporterInternalData
btVector4 o4;
if (parseVector4(o4,ornStr))
{
orn.setValue(o4[3],o4[0],o4[1],o4[2]);
orn.setValue(o4[1],o4[2],o4[3],o4[0]);
linkLocalFrame.setRotation(orn);
}
}
@@ -410,16 +486,52 @@ struct BulletMJCFImporterInternalData
if (geomType == "capsule")
{
geom.m_type = URDF_GEOM_CAPSULE;
geom.m_capsuleRadius = urdfLexicalCast<double>(sz);
btArray<std::string> pieces;
btArray<float> sizes;
btAlignedObjectArray<std::string> strArray;
urdfIsAnyOf(" ", strArray);
urdfStringSplit(pieces, sz, strArray);
for (int i = 0; i < pieces.size(); ++i)
{
if (!pieces[i].empty())
{
sizes.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
}
}
geom.m_capsuleRadius = 0;
geom.m_capsuleHalfHeight = 0.f;
if (sizes.size()>0)
{
geom.m_capsuleRadius = sizes[0];
if (sizes.size()>1)
{
geom.m_capsuleHalfHeight = sizes[1];
}
} else
{
logger->reportWarning("couldn't convert 'size' attribute of capsule geom");
}
const char* fromtoStr = link_xml->Attribute("fromto");
geom.m_hasFromTo = false;
if (fromtoStr)
{
geom.m_hasFromTo = true;
std::string fromto = fromtoStr;
parseVector6(geom.m_capsuleFrom,geom.m_capsuleTo,fromto,logger);
handledGeomType = true;
} else
{
logger->reportWarning("capsule without fromto attribute");
if (sizes.size()<2)
{
logger->reportWarning("capsule without fromto attribute requires 2 sizes (radius and halfheight)");
} else
{
handledGeomType = true;
}
}
}
#if 0
@@ -433,6 +545,26 @@ struct BulletMJCFImporterInternalData
{
UrdfCollision col;
col.m_flags |= URDF_HAS_COLLISION_GROUP;
col.m_collisionGroup = m_defaultCollisionGroup;
col.m_flags |= URDF_HAS_COLLISION_MASK;
col.m_collisionMask = m_defaultCollisionMask;
//contype, conaffinity
const char* conTypeStr = link_xml->Attribute("contype");
if (conTypeStr)
{
col.m_flags |= URDF_HAS_COLLISION_GROUP;
col.m_collisionGroup = urdfLexicalCast<int>(conTypeStr);
}
const char* conAffinityStr = link_xml->Attribute("conaffinity");
if (conAffinityStr)
{
col.m_flags |= URDF_HAS_COLLISION_MASK;
col.m_collisionMask = urdfLexicalCast<int>(conAffinityStr);
}
col.m_geometry = geom;
col.m_linkLocalFrame = linkLocalFrame;
linkPtr->m_collisionArray.push_back(col);
@@ -478,7 +610,7 @@ struct BulletMJCFImporterInternalData
btQuaternion orn(0,0,0,1);
if (parseVector4(o4,ornstr))
{
orn.setValue(o4[3],o4[0],o4[1],o4[2]);//MuJoCo quats are [w,x,y,z], Bullet uses [x,y,z,w]
orn.setValue(o4[1],o4[2],o4[3],o4[0]);//MuJoCo quats are [w,x,y,z], Bullet uses [x,y,z,w]
tr.setRotation(orn);
}
} else
@@ -545,43 +677,72 @@ struct BulletMJCFImporterInternalData
return totalVolume;
}
UrdfLink* getLink(int modelIndex, int linkIndex)
{
UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
if (linkPtrPtr && *linkPtrPtr)
{
return *linkPtrPtr;
}
btAssert(0);
return 0;
}
bool parseBody(TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, MJCFErrorLogger* logger)
int createBody(int modelIndex, const char* namePtr)
{
UrdfModel* modelPtr = m_models[modelIndex];
int linkIndex = modelPtr->m_links.size();
int orgChildLinkIndex = modelPtr->m_links.size();
UrdfLink* linkPtr = new UrdfLink();
char uniqueLinkName[1024];
sprintf(uniqueLinkName,"link%d",linkIndex);
sprintf(uniqueLinkName,"link%d",orgChildLinkIndex );
linkPtr->m_name = uniqueLinkName;
const char* namePtr = link_xml->Attribute("name");
if (namePtr)
{
linkPtr->m_name = namePtr;
}
linkPtr->m_linkIndex = linkIndex;
linkPtr->m_linkIndex = orgChildLinkIndex ;
modelPtr->m_links.insert(linkPtr->m_name.c_str(),linkPtr);
btTransform linkTransform = parseTransform(link_xml,logger);
return orgChildLinkIndex;
}
bool parseBody(TiXmlElement* link_xml, int modelIndex, int orgParentLinkIndex, MJCFErrorLogger* logger)
{
int newParentLinkIndex = orgParentLinkIndex;
linkPtr->m_linkTransformInWorld = linkTransform;
//body/geom links with no parent are root links
if (parentLinkIndex==INVALID_LINK_INDEX)
const char* bodyName = link_xml->Attribute("name");
int orgChildLinkIndex = createBody(modelIndex,bodyName);
// int curChildLinkIndex = orgChildLinkIndex;
std::string bodyN;
if (bodyName)
{
// modelPtr->m_rootLinks.push_back(linkPtr);
bodyN = bodyName;
} else
{
char anon[1024];
sprintf(anon,"anon%d",gUid++);
bodyN = anon;
}
// btTransform orgLinkTransform = parseTransform(link_xml,logger);
btTransform linkTransform = parseTransform(link_xml,logger);
UrdfLink* linkPtr = getLink(modelIndex,orgChildLinkIndex);
bool massDefined = false;
btVector3 inertialPos(0,0,0);
btQuaternion inertialOrn(0,0,0,1);
btScalar mass = 0.f;
btVector3 localInertiaDiag(0,0,0);
int thisLinkIndex = -2;
// int thisLinkIndex = -2;
bool hasJoint = false;
btTransform jointTrans;
jointTrans.setIdentity();
bool skipFixedJoint = false;
for (TiXmlElement* xml = link_xml->FirstChildElement() ; xml ; xml = xml->NextSiblingElement())
{
@@ -616,31 +777,56 @@ struct BulletMJCFImporterInternalData
if (n=="joint")
{
//skip joints at the root for now
//MuJoCo supports more than just 'free' or 'fixed',
//so we will need to emulate this with extra root links+joints
//for now, only convert 1st joint
if (!hasJoint)
{
if (parentLinkIndex!=INVALID_LINK_INDEX)
const char* jType = xml->Attribute("type");
std::string jointType = jType? jType:"";
if (newParentLinkIndex!=INVALID_LINK_INDEX || jointType!="free")
{
parseJoint(xml,modelIndex,parentLinkIndex, linkIndex,logger,jointTrans);
if (newParentLinkIndex==INVALID_LINK_INDEX)
{
int newRootLinkIndex = createBody(modelIndex,0);
UrdfLink* rootLink = getLink(modelIndex,newRootLinkIndex);
rootLink->m_inertia.m_mass = 0;
rootLink->m_linkTransformInWorld.setIdentity();
newParentLinkIndex = newRootLinkIndex;
}
int newLinkIndex = createBody(modelIndex,0);
parseJoint(xml,modelIndex,newParentLinkIndex, newLinkIndex,logger,linkTransform,jointTrans);
//getLink(modelIndex,newLinkIndex)->m_linkTransformInWorld = jointTrans*linkTransform;
linkTransform = jointTrans.inverse();
newParentLinkIndex = newLinkIndex;
//newParentLinkIndex, curChildLinkIndex
hasJoint = true;
handled = true;
}
} else
{
int newLinkIndex = createBody(modelIndex,0);
btTransform joint2nextjoint = jointTrans.inverse();
btTransform unused;
parseJoint(xml,modelIndex,newParentLinkIndex, newLinkIndex,logger,joint2nextjoint,unused);
newParentLinkIndex = newLinkIndex;
//todo: compute relative joint transforms (if any) and append to linkTransform
hasJoint = true;
handled = true;
}
hasJoint = true;
handled = true;
}
if (n == "geom")
{
parseGeom(xml,modelIndex, linkIndex, logger);
parseGeom(xml,modelIndex, orgChildLinkIndex , logger);
handled = true;
}
//recursive
if (n=="body")
{
parseBody(xml,modelIndex,linkIndex,logger);
parseBody(xml,modelIndex,orgChildLinkIndex,logger);
handled = true;
}
@@ -657,18 +843,24 @@ struct BulletMJCFImporterInternalData
}
}
if ((!hasJoint) && (parentLinkIndex != INVALID_LINK_INDEX))
linkPtr->m_linkTransformInWorld = linkTransform;
if (bodyN == "cart1")//front_left_leg")
{
printf("found!\n");
}
if ((newParentLinkIndex != INVALID_LINK_INDEX) && !skipFixedJoint)
{
//linkPtr->m_linkTransformInWorld.setIdentity();
//default to 'fixed' joint
UrdfJoint* jointPtr = new UrdfJoint();
jointPtr->m_childLinkName=linkPtr->m_name;
const UrdfLink* parentLink = getLink(modelIndex,parentLinkIndex);
const UrdfLink* parentLink = getLink(modelIndex,newParentLinkIndex);
jointPtr->m_parentLinkName =parentLink->m_name;
jointPtr->m_localJointAxis.setValue(1,0,0);
jointPtr->m_parentLinkToJointTransform = linkTransform;
jointPtr->m_type = URDFFixedJoint;
char jointName[1024];
sprintf(jointName,"joint%d",linkIndex);
sprintf(jointName,"jointfix_%d_%d",gUid++,newParentLinkIndex);
jointPtr->m_name =jointName;
m_models[modelIndex]->m_joints.insert(jointPtr->m_name.c_str(),jointPtr);
}
@@ -680,11 +872,26 @@ struct BulletMJCFImporterInternalData
double volume = computeVolume(linkPtr,logger);
mass = density * volume;
}
linkPtr->m_inertia.m_linkLocalFrame = jointTrans.inverse();
linkPtr->m_inertia.m_linkLocalFrame.setIdentity();// = jointTrans.inverse();
linkPtr->m_inertia.m_mass = mass;
return true;
}
void recurseAddChildLinks(UrdfModel* model, UrdfLink* link)
{
for (int i=0;i<link->m_childLinks.size();i++)
{
int linkIndex = model->m_links.size();
link->m_childLinks[i]->m_linkIndex = linkIndex;
const char* linkName = link->m_childLinks[i]->m_name.c_str();
model->m_links.insert(linkName,link->m_childLinks[i]);
}
for (int i=0;i<link->m_childLinks.size();i++)
{
recurseAddChildLinks(model,link->m_childLinks[i]);
}
}
bool initTreeAndRoot(UrdfModel& model, MJCFErrorLogger* logger)
{
// every link has children links and joints, but no parents, so we create a
@@ -763,6 +970,23 @@ struct BulletMJCFImporterInternalData
logger->reportError("URDF without root link found");
return false;
}
//re-index the link indices so parent indices are always smaller than child indices
btAlignedObjectArray<UrdfLink*> links;
links.resize(model.m_links.size());
for (int i=0;i<model.m_links.size();i++)
{
links[i] = *model.m_links.getAtIndex(i);
}
model.m_links.clear();
for (int i=0;i<model.m_rootLinks.size();i++)
{
UrdfLink* rootLink = model.m_rootLinks[i];
int linkIndex = model.m_links.size();
rootLink->m_linkIndex = linkIndex;
model.m_links.insert(rootLink->m_name.c_str(),rootLink);
recurseAddChildLinks(&model, rootLink);
}
return true;
}
@@ -791,7 +1015,7 @@ bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger,
b3FileUtils fu;
//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
bool fileFound = (b3ResourcePath::findResourcePath(fileName,relativeFileName,1024)>0);
std::string xml_string;
m_data->m_pathPrefix[0] = 0;
@@ -850,6 +1074,13 @@ bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* l
m_data->m_fileModelName = modelName;
}
//<compiler>,<option>,<size>,<default>,<body>,<keyframe>,<contactpair>,
//<light>, <camera>,<constraint>,<tendon>,<actuator>,<customfield>,<textfield>
for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("default"); link_xml; link_xml = link_xml->NextSiblingElement("default"))
{
m_data->parseDefaults(link_xml,logger);
}
for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("body"); link_xml; link_xml = link_xml->NextSiblingElement("body"))
{
@@ -861,8 +1092,7 @@ bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* l
m_data->parseRootLevel(link_xml,logger);
}
//<compiler>,<option>,<size>,<default>,<body>,<keyframe>,<contactpair>,
//<light>, <camera>,<constraint>,<tendon>,<actuator>,<customfield>,<textfield>
return true;
}
@@ -901,10 +1131,43 @@ bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
return false;
}
//todo: placeholder implementation
//MuJoCo type/affinity is different from Bullet group/mask, so we should implement a custom collision filter instead
//(contype1 & conaffinity2) || (contype2 & conaffinity1)
int BulletMJCFImporter::getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const
{
int flags = 0;
const UrdfLink* link = m_data->getLink(m_data->m_activeModel,linkIndex);
if (link)
{
for (int i=0;i<link->m_collisionArray.size();i++)
{
const UrdfCollision& col = link->m_collisionArray[i];
colGroup = col.m_collisionGroup;
flags |= URDF_HAS_COLLISION_GROUP;
colMask = col.m_collisionMask;
flags |= URDF_HAS_COLLISION_MASK;
}
}
return flags;
}
std::string BulletMJCFImporter::getJointName(int linkIndex) const
{
const UrdfLink* link = m_data->getLink(m_data->m_activeModel,linkIndex);
return link->m_name;
if (link)
{
if (link->m_parentJoint)
{
return link->m_parentJoint->m_name;
}
return link->m_name;
}
return "";
}
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
@@ -935,7 +1198,8 @@ void BulletMJCFImporter::getLinkChildIndices(int urdfLinkIndex, btAlignedObjectA
{
for (int i=0;i<link->m_childLinks.size();i++)
{
childLinkIndices.push_back(link->m_childLinks[i]->m_linkIndex);
int childIndex = link->m_childLinks[i]->m_linkIndex;
childLinkIndices.push_back(childIndex);
}
}
}
@@ -978,12 +1242,13 @@ bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
bool BulletMJCFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
{
rootTransformInWorld.setIdentity();
/*
const UrdfLink* link = m_data->getLink(m_data->m_activeModel,0);
if (link)
{
rootTransformInWorld = link->m_linkTransformInWorld;
}
*/
return true;
}
@@ -1060,18 +1325,26 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
case URDF_GEOM_CAPSULE:
{
//todo: convert fromto to btCapsuleShape + local btTransform
btVector3 f = col->m_geometry.m_capsuleFrom;
btVector3 t = col->m_geometry.m_capsuleTo;
//MuJoCo seems to take the average of the spheres as center?
btVector3 c = (f+t)*0.5;
//f-=c;
//t-=c;
btVector3 fromto[2] = {f,t};
btScalar radii[2] = {col->m_geometry.m_capsuleRadius,col->m_geometry.m_capsuleRadius};
if (col->m_geometry.m_hasFromTo)
{
btVector3 f = col->m_geometry.m_capsuleFrom;
btVector3 t = col->m_geometry.m_capsuleTo;
//MuJoCo seems to take the average of the spheres as center?
//btVector3 c = (f+t)*0.5;
//f-=c;
//t-=c;
btVector3 fromto[2] = {f,t};
btScalar radii[2] = {btScalar(col->m_geometry.m_capsuleRadius)
,btScalar(col->m_geometry.m_capsuleRadius)};
btMultiSphereShape* ms = new btMultiSphereShape(fromto,radii,2);
childShape = ms;
btMultiSphereShape* ms = new btMultiSphereShape(fromto,radii,2);
childShape = ms;
} else
{
btCapsuleShapeZ* cap = new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,
2.*col->m_geometry.m_capsuleHalfHeight);
childShape = cap;
}
break;
}
default:

3
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
View File

@@ -46,6 +46,9 @@ public:
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
//optional method to get collision group (type) and mask (affinity)
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const ;
///this API will likely change, don't override it!
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const;

36
examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
View File

@@ -51,6 +51,8 @@ static btAlignedObjectArray<std::string> gMCFJFileNameArray;
#define MAX_NUM_MOTORS 1024
struct ImportMJCFInternalData
{
ImportMJCFInternalData()
@@ -77,7 +79,7 @@ struct ImportMJCFInternalData
ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
:CommonMultiBodyBase(helper),
m_grav(0),
m_grav(-10),
m_upAxis(2)
{
m_data = new ImportMJCFInternalData;
@@ -118,9 +120,10 @@ ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option,
if (gMCFJFileNameArray.size()==0)
{
gMCFJFileNameArray.push_back("mjcf/humanoid.xml");
gMCFJFileNameArray.push_back("mjcf/inverted_pendulum.xml");
gMCFJFileNameArray.push_back("mjcf/ant.xml");
gMCFJFileNameArray.push_back("mjcf/hello_mjcf2.xml");
gMCFJFileNameArray.push_back("mjcf/capsule.xml");
gMCFJFileNameArray.push_back("mjcf/ant.xml");
// gMCFJFileNameArray.push_back("mjcf/hopper.xml");
// gMCFJFileNameArray.push_back("mjcf/swimmer.xml");
// gMCFJFileNameArray.push_back("mjcf/reacher.xml");
@@ -146,25 +149,8 @@ ImportMJCFSetup::~ImportMJCFSetup()
delete m_data;
}
static btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
static btVector3 selectColor()
{
static int curColor = 0;
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
return color;
}
void ImportMJCFSetup::setFileName(const char* mjcfFileName)
{
memcpy(m_fileName,mjcfFileName,strlen(mjcfFileName)+1);
@@ -187,13 +173,19 @@ struct MyMJCFLogger : public MJCFErrorLogger
}
};
void ImportMJCFSetup::initPhysics()
{
m_guiHelper->setUpAxis(m_upAxis);
this->createEmptyDynamicsWorld();
createEmptyDynamicsWorld();
//MuJoCo uses a slightly different collision filter mode, use the FILTER_GROUPAMASKB_OR_GROUPBMASKA2
//@todo also use the modified collision filter for raycast and other collision related queries
m_filterCallback->m_filterMode = FILTER_GROUPAMASKB_OR_GROUPBMASKA2;
//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
@@ -228,7 +220,7 @@ void ImportMJCFSetup::initPhysics()
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
int rootLinkIndex = importer.getRootLinkIndex();
//int rootLinkIndex = importer.getRootLinkIndex();
//b3Printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_guiHelper);
@@ -238,7 +230,7 @@ void ImportMJCFSetup::initPhysics()
ConvertURDF2Bullet(importer,creation, rootTrans,m_dynamicsWorld,m_useMultiBody,importer.getPathPrefix(),CUF_USE_MJCF);
mb = creation.getBulletMultiBody();
if (/* DISABLES CODE */ (0)) // mb)
if (mb)
{
printf("first MJCF file converted!\n");
std::string* name =

2
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
View File

@@ -30,7 +30,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
int textureIndex = -1;
//int textureIndex = -1;
//try to load some texture
for (int i=0;i<shapes.size();i++)
{

4
examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
View File

@@ -33,7 +33,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
int vtxBaseIndex = vertices->size();
if (f<0 && f>=shape.mesh.indices.size())
if (f<0 && f>=int(shape.mesh.indices.size()))
{
continue;
}
@@ -49,7 +49,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
{
int uv0Index = shape.mesh.indices[f]*2+0;
int uv1Index = shape.mesh.indices[f]*2+1;
if (uv0Index>=0 && uv1Index>=0 && (uv0Index < shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size()))
if (uv0Index>=0 && uv1Index>=0 && (uv0Index < int(shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size())))
{
vtx0.uv[0] = shape.mesh.texcoords[uv0Index];
vtx0.uv[1] = shape.mesh.texcoords[uv1Index];

19
examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
View File

@@ -155,25 +155,8 @@ ImportSDFSetup::~ImportSDFSetup()
delete m_data;
}
static btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
static btVector3 selectColor()
{
static int curColor = 0;
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
return color;
}
void ImportSDFSetup::setFileName(const char* urdfFileName)
{
memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
@@ -227,7 +210,7 @@ void ImportSDFSetup::initPhysics()
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
int rootLinkIndex = u2b.getRootLinkIndex();
//int rootLinkIndex = u2b.getRootLinkIndex();
//b3Printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_guiHelper);

8
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -41,8 +41,10 @@ struct MyTexture
unsigned char* textureData;
};
struct BulletURDFInternalData
ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
{
BT_DECLARE_ALIGNED_ALLOCATOR();
UrdfParser m_urdfParser;
struct GUIHelperInterface* m_guiHelper;
char m_pathPrefix[1024];
@@ -119,7 +121,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
b3FileUtils fu;
//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
bool fileFound = (b3ResourcePath::findResourcePath(fileName,relativeFileName,1024))>0;
std::string xml_string;
m_data->m_pathPrefix[0] = 0;
@@ -171,7 +173,7 @@ bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
b3FileUtils fu;
//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
bool fileFound = b3ResourcePath::findResourcePath(fileName,relativeFileName,1024);
bool fileFound = (b3ResourcePath::findResourcePath(fileName,relativeFileName,1024))>0;
std::string xml_string;
m_data->m_pathPrefix[0] = 0;

19
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -159,25 +159,8 @@ ImportUrdfSetup::~ImportUrdfSetup()
delete m_data;
}
static btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
static btVector3 selectColor()
{
static int curColor = 0;
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
return color;
}
void ImportUrdfSetup::setFileName(const char* urdfFileName)
{
memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
@@ -237,7 +220,7 @@ void ImportUrdfSetup::initPhysics()
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
int rootLinkIndex = u2b.getRootLinkIndex();
//int rootLinkIndex = u2b.getRootLinkIndex();
//b3Printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_guiHelper);

33
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -11,8 +11,8 @@
#include "MultiBodyCreationInterface.h"
#include <string>
static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
//static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
//static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
static bool enableConstraints = true;
static btVector4 colors[4] =
@@ -231,6 +231,8 @@ void ConvertURDF2BulletInternal(
bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction);
std::string linkName = u2b.getLinkName(urdfLinkIndex);
if (flags & CUF_USE_SDF)
{
parent2joint =parentTransformInWorldSpace.inverse()*linkTransformInWorldSpace;
@@ -314,7 +316,11 @@ void ConvertURDF2BulletInternal(
bool isFixedBase = (mass==0);//todo: figure out when base is fixed
int totalNumJoints = cache.m_totalNumJoints1;
cache.m_bulletMultiBody = creation.allocateMultiBody(urdfLinkIndex, totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep);
if (flags & CUF_USE_MJCF)
{
cache.m_bulletMultiBody->setBaseWorldTransform(linkTransformInWorldSpace);
}
cache.registerMultiBody(urdfLinkIndex, cache.m_bulletMultiBody, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
}
@@ -440,9 +446,19 @@ void ConvertURDF2BulletInternal(
//base and fixed? -> static, otherwise flag as dynamic
bool isDynamic = (mbLinkIndex<0 && cache.m_bulletMultiBody->hasFixedBase())? false : true;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int colGroup=0, colMask=0;
int flags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);
if (flags & URDF_HAS_COLLISION_GROUP)
{
collisionFilterGroup = colGroup;
}
if (flags & URDF_HAS_COLLISION_MASK)
{
collisionFilterMask = colMask;
}
world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector4 color = selectColor2();//(0.0,0.0,0.5);
@@ -505,7 +521,12 @@ void ConvertURDF2Bullet(
btTransform localInertialFrameRoot = cache.m_urdfLinkLocalInertialFrames[urdfLinkIndex];
mb->setBaseWorldTransform(rootTransformInWorldSpace*localInertialFrameRoot);
if (flags & CUF_USE_MJCF)
{
} else
{
mb->setBaseWorldTransform(rootTransformInWorldSpace*localInertialFrameRoot);
}
btAlignedObjectArray<btQuaternion> scratch_q;
btAlignedObjectArray<btVector3> scratch_m;
mb->forwardKinematics(scratch_q,scratch_m);

1
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
View File

@@ -30,6 +30,7 @@ public:
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const { return 0;}
///this API will likely change, don't override it!
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const { return false;}

6
examples/Importers/ImportURDFDemo/URDFJointTypes.h
View File

@@ -55,5 +55,11 @@ struct URDFLinkContactInfo
}
};
enum UrdfCollisionFlags
{
URDF_FORCE_CONCAVE_TRIMESH=1,
URDF_HAS_COLLISION_GROUP=2,
URDF_HAS_COLLISION_MASK=4,
};
#endif //URDF_JOINT_TYPES_H

9
examples/Importers/ImportURDFDemo/UrdfParser.h
View File

@@ -58,6 +58,8 @@ struct UrdfGeometry
btVector3 m_boxSize;
double m_capsuleRadius;
double m_capsuleHalfHeight;
int m_hasFromTo;
btVector3 m_capsuleFrom;
btVector3 m_capsuleTo;
@@ -80,10 +82,7 @@ struct UrdfVisual
UrdfMaterial m_localMaterial;
};
enum UrdfCollisionFlags
{
URDF_FORCE_CONCAVE_TRIMESH=1,
};
struct UrdfCollision
@@ -92,6 +91,8 @@ struct UrdfCollision
UrdfGeometry m_geometry;
std::string m_name;
int m_flags;
int m_collisionGroup;
int m_collisionMask;
UrdfCollision()
:m_flags(0)
{

6
examples/InverseDynamics/InverseDynamicsExample.cpp
View File

@@ -225,13 +225,13 @@ void InverseDynamicsExample::initPhysics()
{
qd[dof] = 0;
char tmp[25];
sprintf(tmp,"q_desired[%u]",dof);
sprintf(tmp,"q_desired[%lu]",dof);
qd_name[dof] = tmp;
SliderParams slider(qd_name[dof].c_str(),&qd[dof]);
slider.m_minVal=-3.14;
slider.m_maxVal=3.14;
sprintf(tmp,"q[%u]",dof);
sprintf(tmp,"q[%lu]",dof);
q_name[dof] = tmp;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
btVector4 color = sJointCurveColors[dof&7];
@@ -343,6 +343,7 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
btAlignedObjectArray<btQuaternion> scratch_q;
btAlignedObjectArray<btVector3> scratch_m;
m_multiBody->forwardKinematics(scratch_q, scratch_m);
#if 0
for (int i = 0; i < m_multiBody->getNumLinks(); i++)
{
//btVector3 pos = m_multiBody->getLink(i).m_cachedWorldTransform.getOrigin();
@@ -355,6 +356,7 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
}
#endif
}
}

16
examples/InverseKinematics/InverseKinematicsExample.cpp
View File

@@ -155,10 +155,7 @@ class InverseKinematicsExample : public CommonExampleInterface
b3AlignedObjectArray<Node*> m_ikNodes;
Jacobian* m_ikJacobian;
float m_x;
float m_y;
float m_z;
b3AlignedObjectArray<int> m_movingInstances;
b3AlignedObjectArray<int> m_movingInstances;
int m_targetInstance;
enum
{
@@ -169,12 +166,9 @@ public:
InverseKinematicsExample(CommonGraphicsApp* app, int option)
:m_app(app),
m_x(0),
m_y(0),
m_z(0),
m_targetInstance(-1),
m_ikMethod(option)
{
m_ikMethod(option),
m_targetInstance(-1)
{
m_app->setUpAxis(2);
{
@@ -336,7 +330,7 @@ public:
void InverseKinematicsExample::BuildKukaIIWAShape()
{
const VectorR3& unitx = VectorR3::UnitX;
//const VectorR3& unitx = VectorR3::UnitX;
const VectorR3& unity = VectorR3::UnitY;
const VectorR3& unitz = VectorR3::UnitZ;
const VectorR3 unit1(sqrt(14.0) / 8.0, 1.0 / 8.0, 7.0 / 8.0);

14
examples/MultiBody/InvertedPendulumPDControl.cpp
View File

@@ -211,11 +211,11 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
local_origin.resize(pMultiBody->getNumLinks() + 1);
world_to_local[0] = pMultiBody->getWorldToBaseRot();
local_origin[0] = pMultiBody->getBasePos();
double friction = 1;
// double friction = 1;
{
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
// float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
if (1)
@@ -238,8 +238,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
col->setWorldTransform(tr);
bool isDynamic = (baseMass > 0 && !fixedBase);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -291,8 +291,8 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
col->setWorldTransform(tr);
// col->setFriction(friction);
bool isDynamic = 1;//(linkMass > 0);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
//if (i==0||i>numLinks-2)
{
@@ -450,7 +450,7 @@ void InvertedPendulumPDControl::stepSimulation(float deltaTime)
m_multiBody->getBaseOmega()[2]
);
*/
btScalar jointVel =m_multiBody->getJointVel(0);
// btScalar jointVel =m_multiBody->getJointVel(0);
// b3Printf("child angvel = %f",jointVel);

16
examples/MultiBody/MultiBodyConstraintFeedback.cpp
View File

@@ -91,7 +91,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
m_guiHelper->createCollisionShapeGraphicsObject(box);
btTransform start; start.setIdentity();
btVector3 groundOrigin(-0.4f, 3.f, 0.f);
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
//btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
groundOrigin[upAxis] -=.5;
groundOrigin[2]-=0.6;
start.setOrigin(groundOrigin);
@@ -263,11 +263,11 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
local_origin.resize(pMultiBody->getNumLinks() + 1);
world_to_local[0] = pMultiBody->getWorldToBaseRot();
local_origin[0] = pMultiBody->getBasePos();
double friction = 1;
// double friction = 1;
{
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
// float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
if (1)
@@ -290,8 +290,8 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
col->setWorldTransform(tr);
bool isDynamic = (baseMass > 0 && floating);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -343,8 +343,8 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
col->setWorldTransform(tr);
// col->setFriction(friction);
bool isDynamic = 1;//(linkMass > 0);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
//if (i==0||i>numLinks-2)
{
@@ -416,7 +416,7 @@ void MultiBodyConstraintFeedbackSetup::stepSimulation(float deltaTime)
m_multiBody->getBaseOmega()[2]
);
*/
btScalar jointVel =m_multiBody->getJointVel(0);
// btScalar jointVel =m_multiBody->getJointVel(0);
// b3Printf("child angvel = %f",jointVel);

6
examples/MultiBody/MultiBodySoftContact.cpp
View File

@@ -7,7 +7,7 @@
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../Utils/b3ResourcePath.h"
static btScalar radius(0.2);
//static btScalar radius(0.2);
struct MultiBodySoftContact : public CommonMultiBodyBase
{
@@ -126,8 +126,8 @@ void MultiBodySoftContact::initPhysics()
col->setCollisionShape(childShape);
pMultiBody->setBaseCollider(col);
bool isDynamic = (mass > 0 && !isFixed);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
m_dynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);

2
examples/MultiBody/MultiDofDemo.cpp
View File

@@ -242,7 +242,7 @@ void MultiDofDemo::initPhysics()
if (multibodyConstraint) {
btVector3 pointInA = -linkHalfExtents;
btVector3 pointInB = halfExtents;
// btVector3 pointInB = halfExtents;
btMatrix3x3 frameInA;
btMatrix3x3 frameInB;
frameInA.setIdentity();

4
examples/MultiBody/Pendulum.cpp
View File

@@ -150,8 +150,8 @@ void Pendulum::initPhysics()
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
col->setCollisionShape(shape);
bool isDynamic = 1;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//,2,1+2);
btVector4 color(1,0,0,1);
m_guiHelper->createCollisionObjectGraphicsObject(col,color);

8
examples/MultiBody/TestJointTorqueSetup.cpp
View File

@@ -294,8 +294,8 @@ void TestJointTorqueSetup::initPhysics()
col->setWorldTransform(tr);
bool isDynamic = (baseMass > 0 && floating);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
@@ -347,8 +347,8 @@ void TestJointTorqueSetup::initPhysics()
col->setWorldTransform(tr);
// col->setFriction(friction);
bool isDynamic = 1;//(linkMass > 0);
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
//if (i==0||i>numLinks-2)
{

4
examples/MultiThreadedDemo/ParallelFor.h
View File

@@ -224,12 +224,12 @@ private:
extern TaskManager gTaskMgr;
static void initTaskScheduler()
inline static void initTaskScheduler()
{
gTaskMgr.init();
}
static void cleanupTaskScheduler()
inline static void cleanupTaskScheduler()
{
gTaskMgr.shutdown();
}

6
examples/MultiThreading/MultiThreadingExample.cpp
View File

@@ -163,8 +163,6 @@ void* SamplelsMemoryFunc()
class MultiThreadingExample : public CommonExampleInterface
{
CommonGraphicsApp* m_app;
GUIHelperInterface* m_guiHelper;
int m_exampleIndex;
b3ThreadSupportInterface* m_threadSupport;
btAlignedObjectArray<SampleJob1*> m_jobs;
int m_numThreads;
@@ -172,12 +170,10 @@ public:
MultiThreadingExample(GUIHelperInterface* guiHelper, int tutorialIndex)
:m_app(guiHelper->getAppInterface()),
m_guiHelper(guiHelper),
m_exampleIndex(tutorialIndex),
m_threadSupport(0),
m_numThreads(8)
{
int numBodies = 1;
//int numBodies = 1;
m_app->setUpAxis(1);
m_app->m_renderer->enableBlend(true);

4
examples/MultiThreading/b3Win32ThreadSupport.cpp
View File

@@ -279,7 +279,9 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
}
SetThreadAffinityMask(handle, 1<<i);
DWORD mask = 1;
mask = 1<<mask;
SetThreadAffinityMask(handle, mask);
threadStatus.m_taskId = i;
threadStatus.m_commandId = 0;

4
examples/OpenCL/CommonOpenCL/CommonOpenCLBase.h
View File

@@ -43,8 +43,8 @@ struct CommonOpenCLBase : public CommonExampleInterface
virtual void initCL(int preferredDeviceIndex, int preferredPlatformIndex)
{
void* glCtx=0;
void* glDC = 0;
// void* glCtx=0;
// void* glDC = 0;

25
examples/OpenCL/broadphase/PairBench.cpp
View File

@@ -208,9 +208,6 @@ void PairBench::initPhysics()
useShadowMap = false;
int startItem = 0;
initCL(gPreferredOpenCLDeviceIndex,gPreferredOpenCLPlatformIndex);
if (m_clData->m_clContext)
@@ -298,7 +295,7 @@ void PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
char * patloc;
for (oriptr = buf; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
for (oriptr = buf; (patloc = strstr(oriptr, pattern)); oriptr = patloc + patlen)
{
if (patloc)
{
@@ -335,12 +332,14 @@ void PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
if (l>500)
{
b3Vector4 color=b3MakeVector4(0,1,0,0.1);
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int id;
id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
m_data->m_broadphaseGPU->createLargeProxy(aabbMin,aabbMax,index,group,mask);
} else
{
b3Vector4 color=b3MakeVector4(1,0,0,1);
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int id;
id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
m_data->m_broadphaseGPU->createProxy(aabbMin,aabbMax,index,group,mask);
index++;
}
@@ -403,7 +402,8 @@ void PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
}*/
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int id;
id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
b3Vector3 aabbMin = position-scaling;
@@ -486,7 +486,7 @@ void PairBench::stepSimulation(float deltaTime)
return;
bool animate=true;
//bool animate=true;
int numObjects= 0;
{
B3_PROFILE("Num Objects");
@@ -503,7 +503,7 @@ void PairBench::stepSimulation(float deltaTime)
int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
cl_bool blocking= CL_TRUE;
// cl_bool blocking= CL_TRUE;
char* hostPtr= 0;
{
B3_PROFILE("glMapBufferRange");
@@ -583,7 +583,7 @@ void PairBench::stepSimulation(float deltaTime)
B3_PROFILE("updateOnCpu");
if (!gPairBenchFileName)
{
int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
// int allAabbs = m_data->m_broadphaseGPU->getAllAabbsCPU().size();
b3AlignedObjectArray<b3Vector4> posOrnColorsCpu;
@@ -625,11 +625,12 @@ void PairBench::stepSimulation(float deltaTime)
b3Clock cl;
dt = cl.getTimeMicroseconds();
B3_PROFILE("calculateOverlappingPairs");
int sz = sizeof(b3Int4)*64*numObjects;
//int sz = sizeof(b3Int4)*64*numObjects;
m_data->m_broadphaseGPU->calculateOverlappingPairs(maxOverlap);
int numPairs = m_data->m_broadphaseGPU->getNumOverlap();
int numPairs;
numPairs = m_data->m_broadphaseGPU->getNumOverlap();
//printf("numPairs = %d\n", numPairs);
dt = cl.getTimeMicroseconds()-dt;

47
examples/OpenCL/rigidbody/GpuConvexScene.cpp
View File

@@ -223,8 +223,8 @@ int GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
}
int shapeId = m_guiHelper->getRenderInterface()->registerShape(&vertices[0],numVertices,indices,numIndices,B3_GL_TRIANGLES,textureIndex);
int group=1;
int mask=1;
//int group=1;
//int mask=1;
int index=0;
@@ -237,7 +237,7 @@ int GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
int curColor = 0;
float scaling[4] = {1,1,1,1};
int prevBody = -1;
int insta = 0;
//int insta = 0;
b3ConvexUtility* utilPtr = new b3ConvexUtility();
@@ -290,9 +290,11 @@ int GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scalin=b3MakeVector4(1,1,1,1);
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
// b3Vector4 scaling=b3MakeVector4(1,1,1,1);
int id;
id= m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid;
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
if (prevBody>=0)
@@ -319,8 +321,8 @@ void GpuConvexScene::createStaticEnvironment()
int numIndices = sizeof(cube_indices)/sizeof(int);
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
//int group=1;
//int mask=1;
int index=0;
@@ -332,8 +334,10 @@ void GpuConvexScene::createStaticEnvironment()
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
int id;
id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid;
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
}
@@ -345,8 +349,8 @@ void GpuConvexPlaneScene::createStaticEnvironment()
int numIndices = sizeof(cube_indices)/sizeof(int);
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = m_guiHelper->getRenderInterface()->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
// int group=1;
// int mask=1;
int index=0;
@@ -358,8 +362,10 @@ void GpuConvexPlaneScene::createStaticEnvironment()
b3Vector4 color=b3MakeVector4(0,0,1,1);
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
int id;
id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid;
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
@@ -535,8 +541,8 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
int numVertices = sizeof(mytetra_vertices)/strideInBytes;
int numIndices = sizeof(mytetra_indices)/sizeof(int);
int shapeId = m_instancingRenderer->registerShape(&mytetra_vertices[0],numVertices,mytetra_indices,numIndices);
int group=1;
int mask=1;
// int group=1;
// int mask=1;
@@ -553,8 +559,10 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
b3Vector4 color = colors[curColor++];
curColor&=3;
int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
int id;
id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid;
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
//rigidBodyIds.push_back(pid);
}
@@ -620,7 +628,8 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
bool useGPU = true;
if (useGPU)
{
int cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
int cid;
cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
} else
{
b3FixedConstraint* c = new b3FixedConstraint(bodyIndexA,bodyIndexB,frameInA,frameInB);

8
examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp
View File

@@ -233,7 +233,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
cl_bool blocking= CL_TRUE;
// cl_bool blocking= CL_TRUE;
positions= (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
GLint err = glGetError();
assert(err==GL_NO_ERROR);
@@ -296,7 +296,7 @@ void GpuRigidBodyDemo::stepSimulation(float deltaTime)
int arraySizeInBytes = numObjects * (3)*sizeof(b3Vector4);
glBindBuffer(GL_ARRAY_BUFFER, vbo);
cl_bool blocking= CL_TRUE;
// cl_bool blocking= CL_TRUE;
positions= (b3Vector4*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
err = glGetError();
assert(err==GL_NO_ERROR);
@@ -329,7 +329,7 @@ b3Vector3 GpuRigidBodyDemo::getRayTo(int x,int y)
float farPlane = 10000.f;
rayForward*= farPlane;
b3Vector3 rightOffset;
// b3Vector3 rightOffset;
b3Vector3 m_cameraUp=b3MakeVector3(0,1,0);
b3Vector3 vertical = m_cameraUp;
@@ -401,7 +401,7 @@ bool GpuRigidBodyDemo::mouseMoveCallback(float x,float y)
m_data->m_rigidBodyPipeline->removeConstraintByUid(m_data->m_pickConstraint);
b3Vector3 newRayTo = getRayTo(x,y);
b3Vector3 rayFrom;
b3Vector3 oldPivotInB = m_data->m_pickPivotInB;
// b3Vector3 oldPivotInB = m_data->m_pickPivotInB;
b3Vector3 newPivotB;
m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPosition(rayFrom);
b3Vector3 dir = newRayTo-rayFrom;

8
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -163,10 +163,10 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
InternalDataRenderer() :
m_activeCamera(&m_defaultCamera1),
m_shadowMap(0),
m_shadowTexture(0),
m_renderFrameBuffer(0),
m_activeCamera(&m_defaultCamera1)
m_renderFrameBuffer(0)
{
//clear to zero to make it obvious if the matrix is used uninitialized
for (int i=0;i<16;i++)
@@ -616,7 +616,7 @@ int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
b3Assert(glGetError() ==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE0);
int textureIndex = m_data->m_textureHandles.size();
const GLubyte* image= (const GLubyte*)texels;
// const GLubyte* image= (const GLubyte*)texels;
GLuint textureHandle;
glGenTextures(1,(GLuint*)&textureHandle);
glBindTexture(GL_TEXTURE_2D,textureHandle);
@@ -661,7 +661,7 @@ void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
b3Assert(glGetError() ==GL_NO_ERROR);
const GLubyte* image= (const GLubyte*)texels;
// const GLubyte* image= (const GLubyte*)texels;
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
b3Assert(glGetError() ==GL_NO_ERROR);
glGenerateMipmap(GL_TEXTURE_2D);

4
examples/OpenGLWindow/GLPrimitiveRenderer.cpp
View File

@@ -456,7 +456,7 @@ void GLPrimitiveRenderer::drawTexturedRect2a(float x0, float y0, float x1, float
PrimVertex( PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
};
int sz = m_data2->m_numVerticesText;
// int sz = m_data2->m_numVerticesText;
m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[0];
m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[1];
@@ -492,7 +492,7 @@ void GLPrimitiveRenderer::drawTexturedRect2(float x0, float y0, float x1, float
PrimVertex( PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
};
int sz = m_data2->m_numVerticesText;
// int sz = m_data2->m_numVerticesText;
m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[0];
m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[1];

6
examples/OpenGLWindow/MacOpenGLWindow.mm
View File

@@ -223,8 +223,8 @@ MacOpenGLWindow::MacOpenGLWindow()
m_mouseX(0),
m_mouseY(0),
m_modifierFlags(0),
m_mouseMoveCallback(0),
m_mouseButtonCallback(0),
m_mouseMoveCallback(0),
m_wheelCallback(0),
m_keyboardCallback(0),
m_retinaScaleFactor(1),
@@ -334,10 +334,10 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
// add Edit menu
NSMenuItem *editMenuItem = [[NSMenuItem new] autorelease];
NSMenu *menu = [[NSMenu allocWithZone:[NSMenu menuZone]]initWithTitle:@"Edit"];
NSMenu *menu = [[NSMenu alloc]initWithTitle:@"Edit"];
[editMenuItem setSubmenu: menu];
NSMenuItem *copyItem = [[NSMenuItem allocWithZone:[NSMenu menuZone]]initWithTitle:@"Copy" action:@selector(copy:) keyEquivalent:@"c"];
NSMenuItem *copyItem = [[NSMenuItem alloc]initWithTitle:@"Copy" action:@selector(copy:) keyEquivalent:@"c"];
[menu addItem:copyItem];
[menubar addItem:editMenuItem];

6
examples/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@@ -672,13 +672,15 @@ void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSize
if ((width*height*4) == bufferSizeInBytes)
{
glReadPixels(0,0,width, height, GL_RGBA, GL_UNSIGNED_BYTE, rgbaBuffer);
int glstat = glGetError();
int glstat;
glstat = glGetError();
b3Assert(glstat==GL_NO_ERROR);
}
if ((width*height*sizeof(float)) == depthBufferSizeInBytes)
{
glReadPixels(0,0,width, height, GL_DEPTH_COMPONENT, GL_FLOAT, depthBuffer);
int glstat = glGetError();
int glstat;
glstat = glGetError();
b3Assert(glstat==GL_NO_ERROR);
}

10
examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
View File

@@ -20,10 +20,7 @@
class DynamicTexturedCubeDemo : public CommonExampleInterface
{
CommonGraphicsApp* m_app;
float m_x;
float m_y;
float m_z;
b3AlignedObjectArray<int> m_movingInstances;
b3AlignedObjectArray<int> m_movingInstances;
TinyVRGui* m_tinyVrGUI;
@@ -37,10 +34,7 @@ public:
DynamicTexturedCubeDemo(CommonGraphicsApp* app)
:m_app(app),
m_x(0),
m_y(0),
m_z(0),
m_tinyVrGUI(0)
m_tinyVrGUI(0)
{
m_app->setUpAxis(2);

16
examples/RenderingExamples/RaytracerSetup.cpp
View File

@@ -76,16 +76,16 @@ struct RaytracerInternalData
RaytracerInternalData()
:m_canvasIndex(-1),
m_canvas(0),
m_roll(0),
m_pitch(0),
m_yaw(0),
#ifdef _DEBUG
m_width(64),
m_height(64)
m_width(64),
m_height(64),
#else
m_width(128),
m_height(128)
m_width(128),
m_height(128),
#endif
m_pitch(0),
m_roll(0),
m_yaw(0)
{
btConeShape* cone = new btConeShape(1,1);
btSphereShape* sphere = new btSphereShape(1);
@@ -300,7 +300,7 @@ void RaytracerPhysicsSetup::stepSimulation(float deltaTime)
int mode = 0;
// int mode = 0;
int x,y;
for (x=0;x<m_internalData->m_width;x++)

2
examples/RenderingExamples/TimeSeriesCanvas.cpp
View File

@@ -298,7 +298,7 @@ void TimeSeriesCanvas::insertDataAtCurrentTime(float orgV, int dataSourceIndex,
float amp = m_internalData->m_pixelsPerUnit;
//insert some new value(s) in the right-most column
{
float time = m_internalData->getTime();
// float time = m_internalData->getTime();
float v = zero+amp*orgV;

14
examples/RenderingExamples/TinyRendererSetup.cpp
View File

@@ -43,14 +43,14 @@ struct TinyRendererSetupInternalData
int m_animateRenderer;
TinyRendererSetupInternalData(int width, int height)
:m_roll(0),
m_pitch(0),
m_yaw(0),
m_width(width),
m_height(height),
:
m_rgbColorBuffer(width,height,TGAImage::RGB),
m_textureHandle(0),
m_width(width),
m_height(height),
m_pitch(0),
m_roll(0),
m_yaw(0),
m_textureHandle(0),
m_animateRenderer(0)
{
m_depthBuffer.resize(m_width*m_height);

7
examples/RenderingExamples/TinyVRGui.cpp
View File

@@ -19,9 +19,10 @@ struct TestCanvasInterface2 : public Common2dCanvasInterface
int m_height;
TestCanvasInterface2(b3AlignedObjectArray<unsigned char>& texelsRGB, int width, int height)
:m_width(width),
m_height(height),
m_texelsRGB(texelsRGB)
:
m_texelsRGB(texelsRGB),
m_width(width),
m_height(height)
{
}

3
examples/RigidBody/RigidBodySoftContact.cpp
View File

@@ -157,7 +157,8 @@ void RigidBodySoftContact::initPhysics()
btScalar(2.0*j)));
btRigidBody* body = createRigidBody(mass,startTransform,colShape);
btRigidBody* body;
body = createRigidBody(mass,startTransform,colShape);
//body->setAngularVelocity(btVector3(1,1,1));

14
examples/RoboticsLearning/GripperGraspExample.cpp
View File

@@ -25,13 +25,9 @@ class GripperGraspExample : public CommonExampleInterface
GUIHelperInterface* m_guiHelper;
b3RobotSimAPI m_robotSim;
int m_options;
int m_r2d2Index;
int m_gripperIndex;
float m_x;
float m_y;
float m_z;
b3AlignedObjectArray<int> m_movingInstances;
b3AlignedObjectArray<int> m_movingInstances;
enum
{
numCubesX = 20,
@@ -43,12 +39,8 @@ public:
:m_app(helper->getAppInterface()),
m_guiHelper(helper),
m_options(options),
m_r2d2Index(-1),
m_gripperIndex(-1),
m_x(0),
m_y(0),
m_z(0)
{
m_gripperIndex(-1)
{
m_app->setUpAxis(2);
}
virtual ~GripperGraspExample()

6
examples/RoboticsLearning/KukaGraspExample.cpp
View File

@@ -30,7 +30,7 @@ class KukaGraspExample : public CommonExampleInterface
b3Vector4 m_targetOri;
b3Vector4 m_worldOri;
double m_time;
int m_options;
// int m_options;
b3AlignedObjectArray<int> m_movingInstances;
enum
@@ -40,10 +40,10 @@ class KukaGraspExample : public CommonExampleInterface
};
public:
KukaGraspExample(GUIHelperInterface* helper, int options)
KukaGraspExample(GUIHelperInterface* helper, int /* options */)
:m_app(helper->getAppInterface()),
m_guiHelper(helper),
m_options(options),
// m_options(options),
m_kukaIndex(-1),
m_time(0)
{

10
examples/RoboticsLearning/R2D2GraspExample.cpp
View File

@@ -23,9 +23,6 @@ class R2D2GraspExample : public CommonExampleInterface
int m_options;
int m_r2d2Index;
float m_x;
float m_y;
float m_z;
b3AlignedObjectArray<int> m_movingInstances;
enum
{
@@ -38,10 +35,7 @@ public:
:m_app(helper->getAppInterface()),
m_guiHelper(helper),
m_options(options),
m_r2d2Index(-1),
m_x(0),
m_y(0),
m_z(0)
m_r2d2Index(-1)
{
m_app->setUpAxis(2);
}
@@ -70,7 +64,7 @@ public:
b3RobotSimLoadFileResults results;
if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
{
int m_r2d2Index = results.m_uniqueObjectIds[0];
m_r2d2Index = results.m_uniqueObjectIds[0];
int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
b3Printf("numJoints = %d",numJoints);

45
examples/RoboticsLearning/b3RobotSimAPI.cpp
View File

@@ -106,10 +106,10 @@ struct RobotSimThreadLocalStorage
void RobotThreadFunc(void* userPtr,void* lsMemory)
{
printf("RobotThreadFunc thread started\n");
RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;
// RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;
RobotSimArgs* args = (RobotSimArgs*) userPtr;
int workLeft = true;
// int workLeft = true;
b3Clock clock;
clock.reset();
bool init = true;
@@ -157,7 +157,7 @@ void* RobotlsMemoryFunc()
ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper2 : public GUIHelperInterface
{
CommonGraphicsApp* m_app;
// CommonGraphicsApp* m_app;
b3CriticalSection* m_cs;
@@ -188,9 +188,8 @@ public:
int m_instanceId;
MultiThreadedOpenGLGuiHelper2(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:m_app(app)
,m_cs(0),
MultiThreadedOpenGLGuiHelper2( GUIHelperInterface* guiHelper)
: m_cs(0),
m_texels(0),
m_textureId(-1)
{
@@ -439,11 +438,13 @@ struct b3RobotSimAPI_InternalData
bool m_connected;
b3RobotSimAPI_InternalData()
:m_threadSupport(0),
m_multiThreadedHelper(0),
m_clientServerDirect(0),
m_physicsClient(0),
m_useMultiThreading(false),
:
m_physicsClient(0),
m_threadSupport(0),
m_multiThreadedHelper(0),
m_clientServerDirect(0),
m_useMultiThreading(false),
m_connected(false)
{
}
@@ -615,7 +616,8 @@ void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
case eRobotSimGUIHelperRemoveAllGraphicsInstances:
{
m_data->m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
int numRenderInstances = m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
int numRenderInstances;
numRenderInstances = m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
b3Assert(numRenderInstances==0);
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
@@ -695,7 +697,7 @@ bool b3RobotSimAPI::getJointStates(int bodyUniqueId, b3JointStates& state)
if (statusHandle)
{
double rootInertialFrame[7];
// double rootInertialFrame[7];
const double* rootLocalInertialFrame;
const double* actualStateQ;
const double* actualStateQdot;
@@ -843,7 +845,8 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
if (numBodies)
{
results.m_uniqueObjectIds.resize(numBodies);
int numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
int numBodies;
numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
}
statusOk = true;
@@ -865,11 +868,7 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
{
if (m_data->m_useMultiThreading)
{
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper);
m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
@@ -892,7 +891,7 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
int numMoving = 0;
m_data->m_args[w].m_positions.resize(numMoving);
m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
int index = 0;
//int index = 0;
m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*)&m_data->m_args[w], w);
while (m_data->m_args[w].m_cs->getSharedParam(0) == eRobotSimIsUnInitialized)
@@ -903,7 +902,8 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
m_data->m_args[0].m_cs->setSharedParam(1, eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->setCriticalSection(m_data->m_args[0].m_cs);
bool serverConnected = m_data->m_physicsServer.connectSharedMemory(m_data->m_multiThreadedHelper);
bool serverConnected;
serverConnected = m_data->m_physicsServer.connectSharedMemory(m_data->m_multiThreadedHelper);
b3Assert(serverConnected);
m_data->m_physicsClient = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
@@ -912,7 +912,8 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
{
PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor;
m_data->m_clientServerDirect = new PhysicsDirect(sdk,true);
bool connected = m_data->m_clientServerDirect->connect(guiHelper);
bool connected;
connected = m_data->m_clientServerDirect->connect(guiHelper);
m_data->m_physicsClient = (b3PhysicsClientHandle)m_data->m_clientServerDirect;
}

206
examples/SharedMemory/CMakeLists.txt Normal file
View File

@@ -0,0 +1,206 @@
SET(SharedMemory_SRCS
IKTrajectoryHelper.cpp
IKTrajectoryHelper.h
PhysicsClient.cpp
PhysicsClientSharedMemory.cpp
PhysicsClientExample.cpp
PhysicsServerExample.cpp
PhysicsServerSharedMemory.cpp
PhysicsServerSharedMemory.h
PhysicsServer.cpp
PhysicsServer.h
PhysicsClientC_API.cpp
SharedMemoryCommands.h
SharedMemoryPublic.h
PhysicsServer.cpp
PosixSharedMemory.cpp
Win32SharedMemory.cpp
InProcessMemory.cpp
PhysicsDirect.cpp
PhysicsDirect.h
PhysicsDirectC_API.cpp
PhysicsDirectC_API.h
PhysicsLoopBack.cpp
PhysicsLoopBack.h
PhysicsLoopBackC_API.cpp
PhysicsLoopBackC_API.h
PhysicsClientSharedMemory_C_API.cpp
PhysicsClientSharedMemory_C_API.h
PhysicsClientSharedMemory2_C_API.cpp
PhysicsClientSharedMemory2_C_API.h
PhysicsClientSharedMemory2.cpp
PhysicsClientSharedMemory2.h
SharedMemoryCommandProcessor.cpp
SharedMemoryCommandProcessor.h
PhysicsServerCommandProcessor.cpp
PhysicsServerCommandProcessor.h
TinyRendererVisualShapeConverter.cpp
TinyRendererVisualShapeConverter.h
../TinyRenderer/geometry.cpp
../TinyRenderer/model.cpp
../TinyRenderer/tgaimage.cpp
../TinyRenderer/our_gl.cpp
../TinyRenderer/TinyRenderer.cpp
../OpenGLWindow/SimpleCamera.cpp
../OpenGLWindow/SimpleCamera.h
../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h
../Importers/ImportURDFDemo/MultiBodyCreationInterface.h
../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../Importers/ImportURDFDemo/MyMultiBodyCreator.h
../Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../Importers/ImportURDFDemo/BulletUrdfImporter.h
../Importers/ImportURDFDemo/UrdfParser.cpp
../Importers/ImportURDFDemo/urdfStringSplit.cpp
../Importers/ImportURDFDemo/UrdfParser.cpp
../Importers/ImportURDFDemo/UrdfParser.h
../Importers/ImportURDFDemo/URDF2Bullet.cpp
../Importers/ImportURDFDemo/URDF2Bullet.h
../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
../Importers/ImportMJCFDemo/BulletMJCFImporter.h
../Utils/b3ResourcePath.cpp
../Utils/b3Clock.cpp
../Importers/ImportURDFDemo/URDFImporterInterface.h
../Importers/ImportURDFDemo/URDFJointTypes.h
../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../Importers/ImportObjDemo/LoadMeshFromObj.cpp
../Importers/ImportSTLDemo/ImportSTLSetup.h
../Importers/ImportSTLDemo/LoadMeshFromSTL.h
../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../Importers/ImportColladaDemo/ColladaGraphicsInstance.h
../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../ThirdPartyLibs/tinyxml/tinystr.cpp
../ThirdPartyLibs/tinyxml/tinyxml.cpp
../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../ThirdPartyLibs/stb_image/stb_image.cpp
../MultiThreading/b3ThreadSupportInterface.cpp
../MultiThreading/b3ThreadSupportInterface.h
)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
)
LINK_LIBRARIES(
Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
)
IF (WIN32)
ADD_EXECUTABLE(App_SharedMemoryPhysics
${SharedMemory_SRCS}
main.cpp
../MultiThreading/b3Win32ThreadSupport.cpp
../MultiThreading/b3Win32ThreadSupport.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE(WIN32)
IF(APPLE)
LINK_LIBRARIES( pthread dl )
ADD_EXECUTABLE(App_SharedMemoryPhysics
${SharedMemory_SRCS}
../MultiThreading/b3PosixThreadSupport.cpp
../MultiThreading/b3PosixThreadSupport.h
main.cpp
)
ELSE(APPLE)
LINK_LIBRARIES( pthread dl )
ADD_EXECUTABLE(App_SharedMemoryPhysics
${SharedMemory_SRCS}
../MultiThreading/b3PosixThreadSupport.cpp
../MultiThreading/b3PosixThreadSupport.h
main.cpp
)
ENDIF(APPLE)
ENDIF(WIN32)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
)
ADD_DEFINITIONS(-DB3_USE_STANDALONE_EXAMPLE)
LINK_LIBRARIES(
Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK OpenGLWindow
)
IF (WIN32)
ADD_DEFINITIONS(-DGLEW_STATIC)
LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
${SharedMemory_SRCS}
../StandaloneMain/main_opengl_single_example.cpp
../ExampleBrowser/OpenGLGuiHelper.cpp
../ExampleBrowser/GL_ShapeDrawer.cpp
../ExampleBrowser/CollisionShape2TriangleMesh.cpp
../MultiThreading/b3Win32ThreadSupport.cpp
../MultiThreading/b3Win32ThreadSupport.h
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE(WIN32)
IF(APPLE)
LINK_LIBRARIES( pthread dl )
FIND_LIBRARY(COCOA NAMES Cocoa)
MESSAGE(${COCOA})
LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
${SharedMemory_SRCS}
../StandaloneMain/main_opengl_single_example.cpp
../ExampleBrowser/OpenGLGuiHelper.cpp
../ExampleBrowser/GL_ShapeDrawer.cpp
../ExampleBrowser/CollisionShape2TriangleMesh.cpp
../MultiThreading/b3PosixThreadSupport.cpp
../MultiThreading/b3PosixThreadSupport.h
)
ELSE(APPLE)
LINK_LIBRARIES( pthread dl )
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
${SharedMemory_SRCS}
../StandaloneMain/main_opengl_single_example.cpp
../ExampleBrowser/OpenGLGuiHelper.cpp
../ExampleBrowser/GL_ShapeDrawer.cpp
../ExampleBrowser/CollisionShape2TriangleMesh.cpp
../MultiThreading/b3PosixThreadSupport.cpp
../MultiThreading/b3PosixThreadSupport.h
)
ENDIF(APPLE)
ENDIF(WIN32)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

25
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -347,6 +347,18 @@ int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHand
return 0;
}
int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_collisionFilterMode = filterMode;
command->m_updateFlags |= SIM_PARAM_UPDATE_COLLISION_FILTER_MODE;
return 0;
}
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1109,6 +1121,19 @@ int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHan
return 0;
}
int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_CONSTRAINT);
b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
command->m_updateFlags |=USER_CONSTRAINT_CHANGE_MAX_FORCE;
command->m_userConstraintArguments.m_maxAppliedForce = maxAppliedForce;
return 0;
}
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{

6
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -77,6 +77,8 @@ int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[3]);
int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
@@ -170,6 +172,10 @@ int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle
int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);
int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);

8
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -514,13 +514,13 @@ m_wantsTermination(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_selectedBody(-1),
m_prevSelectedBody(-1),
m_numMotors(0),
m_options(options),
m_isOptionalServerConnected(false),
m_canvas(0),
m_canvasRGBIndex(-1),
m_canvasDepthIndex(-1),
m_canvasSegMaskIndex(-1)
m_canvasSegMaskIndex(-1),
m_numMotors(0),
m_options(options),
m_isOptionalServerConnected(false)
{
b3Printf("Started PhysicsClientExample\n");

7
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -62,10 +62,9 @@ struct PhysicsClientSharedMemoryInternalData {
: m_sharedMemory(0),
m_ownsSharedMemory(false),
m_testBlock1(0),
m_counter(0),
m_cachedCameraPixelsWidth(0),
m_cachedCameraPixelsHeight(0),
m_counter(0),
m_isConnected(false),
m_waitingForServer(false),
m_hasLastServerStatus(false),
@@ -283,7 +282,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
}
const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
SharedMemoryStatus* stat = 0;
// SharedMemoryStatus* stat = 0;
if (!m_data->m_testBlock1) {
m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED;
@@ -308,7 +307,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0];
m_data->m_lastServerStatus = serverCmd;
EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
// consume the command
switch (serverCmd.m_type) {

13
examples/SharedMemory/PhysicsClientUDP.cpp
View File

@@ -170,7 +170,7 @@ struct UdpNetworkedInternalData
if (gVerboseNetworkMessagesClient)
{
printf("A packet of length %u containing '%s' was "
printf("A packet of length %lu containing '%s' was "
"received from %s on channel %u.\n",
m_event.packet->dataLength,
m_event.packet->data,
@@ -225,7 +225,7 @@ struct UdpNetworkedInternalData
{
if (gVerboseNetworkMessagesClient)
{
printf("A packet of length %u containing '%s' was "
printf("A packet of length %lu containing '%s' was "
"received from %s on channel %u.\n",
m_event.packet->dataLength,
m_event.packet->data,
@@ -303,10 +303,10 @@ enum UDPCommandEnums
void UDPThreadFunc(void* userPtr, void* lsMemory)
{
printf("UDPThreadFunc thread started\n");
UDPThreadLocalStorage* localStorage = (UDPThreadLocalStorage*)lsMemory;
// UDPThreadLocalStorage* localStorage = (UDPThreadLocalStorage*)lsMemory;
UdpNetworkedInternalData* args = (UdpNetworkedInternalData*)userPtr;
int workLeft = true;
// int workLeft = true;
b3Clock clock;
clock.reset();
bool init = true;
@@ -366,7 +366,8 @@ void UDPThreadFunc(void* userPtr, void* lsMemory)
int sz = sizeof(SharedMemoryCommand);
ENetPacket *packet = enet_packet_create(&args->m_clientCmd, sz, ENET_PACKET_FLAG_RELIABLE);
int res = enet_peer_send(args->m_peer, 0, packet);
int res;
res = enet_peer_send(args->m_peer, 0, packet);
args->m_cs->lock();
args->m_hasCommand = false;
args->m_cs->unlock();
@@ -440,7 +441,7 @@ UdpNetworkedPhysicsProcessor::~UdpNetworkedPhysicsProcessor()
bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
int sz = sizeof(SharedMemoryCommand);
// int sz = sizeof(SharedMemoryCommand);
int timeout = 1024 * 1024 * 1024;
m_data->m_cs->lock();

3
examples/SharedMemory/PhysicsClientUDP_C_API.cpp
View File

@@ -12,7 +12,8 @@ b3PhysicsClientHandle b3ConnectPhysicsUDP(const char* hostName, int port)
PhysicsDirect* direct = new PhysicsDirect(udp,true);
bool connected = direct->connect();
bool connected;
connected = direct->connect();
printf("direct!\n");
return (b3PhysicsClientHandle)direct;
}

3
examples/SharedMemory/PhysicsDirectC_API.cpp
View File

@@ -12,7 +12,8 @@ b3PhysicsClientHandle b3ConnectPhysicsDirect()
PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor;
PhysicsDirect* direct = new PhysicsDirect(sdk,true);
bool connected = direct->connect();
bool connected;
connected = direct->connect();
return (b3PhysicsClientHandle )direct;
}

3
examples/SharedMemory/PhysicsLoopBackC_API.cpp
View File

@@ -9,7 +9,8 @@ b3PhysicsClientHandle b3ConnectPhysicsLoopback(int key)
{
PhysicsLoopBack* loopBack = new PhysicsLoopBack();
loopBack->setSharedMemoryKey(key);
bool connected = loopBack->connect();
bool connected;
connected = loopBack->connect();
return (b3PhysicsClientHandle )loopBack;
}

113
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -376,6 +376,47 @@ struct MyBroadphaseCallback : public btBroadphaseAabbCallback
};
enum MyFilterModes
{
FILTER_GROUPAMASKB_AND_GROUPBMASKA=0,
FILTER_GROUPAMASKB_OR_GROUPBMASKA
};
struct MyOverlapFilterCallback : public btOverlapFilterCallback
{
int m_filterMode;
MyOverlapFilterCallback()
:m_filterMode(FILTER_GROUPAMASKB_AND_GROUPBMASKA)
{
}
virtual ~MyOverlapFilterCallback()
{}
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
if (m_filterMode==FILTER_GROUPAMASKB_AND_GROUPBMASKA)
{
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
if (m_filterMode==FILTER_GROUPAMASKB_OR_GROUPBMASKA)
{
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
return false;
}
};
struct PhysicsServerCommandProcessorInternalData
{
///handle management
@@ -438,7 +479,7 @@ struct PhysicsServerCommandProcessorInternalData
if (m_firstFreeHandle<0)
{
int curCapacity = m_bodyHandles.size();
//int curCapacity = m_bodyHandles.size();
int additionalCapacity= m_bodyHandles.size();
increaseHandleCapacity(additionalCapacity);
@@ -501,6 +542,9 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<std::string*> m_strings;
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
MyOverlapFilterCallback* m_broadphaseCollisionFilterCallback;
btHashedOverlappingPairCache* m_pairCache;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btMultiBodyConstraintSolver* m_solver;
@@ -541,14 +585,15 @@ struct PhysicsServerCommandProcessorInternalData
TinyRendererVisualShapeConverter m_visualConverter;
PhysicsServerCommandProcessorInternalData()
:m_hasGround(false),
m_gripperRigidbodyFixed(0),
:
m_allowRealTimeSimulation(false),
m_hasGround(false),
m_gripperRigidbodyFixed(0),
m_gripperMultiBody(0),
m_kukaGripperFixed(0),
m_kukaGripperMultiBody(0),
m_kukaGripperRevolute1(0),
m_kukaGripperRevolute2(0),
m_allowRealTimeSimulation(false),
m_huskyId(-1),
m_KukaId(-1),
m_sphereId(-1),
@@ -558,6 +603,12 @@ struct PhysicsServerCommandProcessorInternalData
m_physicsDeltaTime(1./240.),
m_numSimulationSubSteps(0),
m_userConstraintUIDGenerator(1),
m_broadphaseCollisionFilterCallback(0),
m_pairCache(0),
m_broadphase(0),
m_dispatcher(0),
m_solver(0),
m_collisionConfiguration(0),
m_dynamicsWorld(0),
m_remoteDebugDrawer(0),
m_guiHelper(0),
@@ -697,7 +748,6 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
}
void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
{
///collision configuration contains default setup for memory, collision setup
@@ -710,6 +760,14 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_data->m_dispatcher = new btCollisionDispatcher(m_data->m_collisionConfiguration);
m_data->m_broadphaseCollisionFilterCallback = new MyOverlapFilterCallback();
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = FILTER_GROUPAMASKB_OR_GROUPBMASKA;
m_data->m_pairCache = new btHashedOverlappingPairCache();
m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback);
m_data->m_broadphase = new btDbvtBroadphase();
m_data->m_solver = new btMultiBodyConstraintSolver;
@@ -864,9 +922,16 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
delete m_data->m_solver;
m_data->m_solver=0;
delete m_data->m_broadphase;
m_data->m_broadphase=0;
delete m_data->m_pairCache;
m_data->m_pairCache= 0;
delete m_data->m_broadphaseCollisionFilterCallback;
m_data->m_broadphaseCollisionFilterCallback= 0;
delete m_data->m_dispatcher;
m_data->m_dispatcher=0;
@@ -1182,7 +1247,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
util->m_mb = mb;
for (int i = 0; i < bufferSizeInBytes; i++)
{
bufferServerToClient[i] = 0xcc;
bufferServerToClient[i] = 0;//0xcc;
}
util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
@@ -1336,7 +1401,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//m_data->m_testBlock1->m_numProcessedClientCommands++;
//no timestamp yet
int timeStamp = 0;
//int timeStamp = 0;
//catch uninitialized cases
serverStatusOut.m_type = CMD_INVALID_STATUS;
@@ -1621,7 +1686,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SHADOW) != 0)
{
m_data->m_visualConverter.setShadow(clientCmd.m_requestPixelDataArguments.m_hasShadow);
m_data->m_visualConverter.setShadow((clientCmd.m_requestPixelDataArguments.m_hasShadow!=0));
}
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF) != 0)
@@ -1844,7 +1909,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
b3Printf("Processed CMD_LOAD_SDF:%s", sdfArgs.m_sdfFileName);
}
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? sdfArgs.m_useMultiBody : true;
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (sdfArgs.m_useMultiBody!=0) : true;
int flags = CUF_USE_SDF; //CUF_USE_URDF_INERTIA
bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
@@ -1893,8 +1958,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
initialOrn[2] = urdfArgs.m_initialOrientation[2];
initialOrn[3] = urdfArgs.m_initialOrientation[3];
}
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? urdfArgs.m_useMultiBody : true;
bool useFixedBase = (clientCmd.m_updateFlags & URDF_ARGS_USE_FIXED_BASE) ? urdfArgs.m_useFixedBase: false;
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (urdfArgs.m_useMultiBody!=0) : true;
bool useFixedBase = (clientCmd.m_updateFlags & URDF_ARGS_USE_FIXED_BASE) ? (urdfArgs.m_useFixedBase!=0): false;
int bodyUniqueId;
//load the actual URDF and send a report: completed or failed
bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
@@ -2531,6 +2596,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE)
{
m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulse = clientCmd.m_physSimParamArgs.m_useSplitImpulse;
@@ -2920,9 +2990,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_type = CMD_REQUEST_AABB_OVERLAP_COMPLETED;
int m_startingOverlappingObjectIndex;
int m_numOverlappingObjectsCopied;
int m_numRemainingOverlappingObjects;
//int m_startingOverlappingObjectIndex;
//int m_numOverlappingObjectsCopied;
//int m_numRemainingOverlappingObjects;
serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex;
serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied = m_data->m_cachedOverlappingObjects.m_bodyUniqueIds.size();
serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects = remainingObjects - curNumObjects;
@@ -3133,8 +3203,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
///ContactResultCallback is used to report contact points
struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback
{
//short int m_collisionFilterGroup;
//short int m_collisionFilterMask;
int m_bodyUniqueIdA;
int m_bodyUniqueIdB;
int m_linkIndexA;
@@ -3596,6 +3664,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btMatrix3x3 childFrameBasis(childFrameOrn);
userConstraintPtr->m_mbConstraint->setFrameInB(childFrameBasis);
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce*m_data->m_physicsDeltaTime;
userConstraintPtr->m_mbConstraint->setMaxAppliedImpulse(maxImp);
}
}
if (userConstraintPtr->m_rbConstraint)
{
@@ -3789,8 +3862,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//retrieve the visual shape information for a specific body
int totalNumVisualShapes = m_data->m_visualConverter.getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient;
int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
@@ -3940,7 +4013,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
b3Printf("Processed CMD_LOAD_MJCF:%s", mjcfArgs.m_mjcfFileName);
}
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? mjcfArgs.m_useMultiBody : true;
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (mjcfArgs.m_useMultiBody!=0) : true;
int flags = CUF_USE_MJCF;//CUF_USE_URDF_INERTIA
bool completedOk = loadMjcf(mjcfArgs.m_mjcfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
if (completedOk)
@@ -4084,7 +4157,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
return hasStatus;
}
static int skip=1;
//static int skip=1;
void PhysicsServerCommandProcessor::renderScene()
{

103
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -56,6 +56,29 @@ const char* startFileNameVR = "0_VRDemoSettings.txt";
#include <vector>
static void loadCurrentSettingsVR(b3CommandLineArgs& args)
{
//int currentEntry = 0;
FILE* f = fopen(startFileNameVR, "r");
if (f)
{
char oneline[1024];
char* argv[] = { 0,&oneline[0] };
while (fgets(oneline, 1024, f) != NULL)
{
char *pos;
if ((pos = strchr(oneline, '\n')) != NULL)
*pos = '\0';
args.addArgs(2, argv);
}
fclose(f);
}
};
#if B3_USE_MIDI
//remember the settings (you don't want to re-tune again and again...)
static void saveCurrentSettingsVR()
{
@@ -70,27 +93,6 @@ static void saveCurrentSettingsVR()
}
};
static void loadCurrentSettingsVR(b3CommandLineArgs& args)
{
int currentEntry = 0;
FILE* f = fopen(startFileNameVR, "r");
if (f)
{
char oneline[1024];
char* argv[] = { 0,&oneline[0] };
while (fgets(oneline, 1024, f) != NULL)
{
char *pos;
if ((pos = strchr(oneline, '\n')) != NULL)
*pos = '\0';
args.addArgs(2, argv);
}
fclose(f);
}
};
#if B3_USE_MIDI
static float getParamf(float rangeMin, float rangeMax, int midiVal)
@@ -280,10 +282,10 @@ float sleepTimeThreshold = 8./1000.;
void MotionThreadFunc(void* userPtr,void* lsMemory)
{
printf("MotionThreadFunc thread started\n");
MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
//MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
MotionArgs* args = (MotionArgs*) userPtr;
int workLeft = true;
//int workLeft = true;
b3Clock clock;
clock.reset();
bool init = true;
@@ -494,7 +496,7 @@ struct UserDebugText
class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
{
CommonGraphicsApp* m_app;
// CommonGraphicsApp* m_app;
b3CriticalSection* m_cs;
b3CriticalSection* m_cs2;
@@ -558,8 +560,9 @@ public:
}
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:m_app(app)
,m_cs(0),
:
//m_app(app),
m_cs(0),
m_cs2(0),
m_cs3(0),
m_csGUI(0),
@@ -816,7 +819,7 @@ public:
m_tmpText.m_itemUniqueId = m_uidGenerator++;
m_tmpText.m_lifeTime = lifeTime;
m_tmpText.textSize = size;
int len = strlen(txt);
//int len = strlen(txt);
strcpy(m_tmpText.m_text,txt);
m_tmpText.m_textPositionXYZ[0] = positionXYZ[0];
m_tmpText.m_textPositionXYZ[1] = positionXYZ[1];
@@ -893,7 +896,7 @@ class PhysicsServerExample : public SharedMemoryCommon
bool m_isConnected;
btClock m_clock;
bool m_replay;
int m_options;
// int m_options;
#ifdef BT_ENABLE_VR
TinyVRGui* m_tinyVrGui;
@@ -1123,8 +1126,8 @@ PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper,
m_physicsServer(sharedMem),
m_wantsShutdown(false),
m_isConnected(false),
m_replay(false),
m_options(options)
m_replay(false)
//m_options(options)
#ifdef BT_ENABLE_VR
,m_tinyVrGui(0)
#endif
@@ -1201,7 +1204,7 @@ void PhysicsServerExample::initPhysics()
int numMoving = 0;
m_args[w].m_positions.resize(numMoving);
m_args[w].m_physicsServerPtr = &m_physicsServer;
int index = 0;
//int index = 0;
m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
@@ -1365,7 +1368,8 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
int numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
int numRenderInstances;
numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
b3Assert(numRenderInstances==0);
}
m_multiThreadedHelper->mainThreadRelease();
@@ -1376,17 +1380,17 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
case eGUIHelperCopyCameraImageData:
{
m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_multiThreadedHelper->m_viewMatrix,
m_multiThreadedHelper->m_projectionMatrix,
m_multiThreadedHelper->m_pixelsRGBA,
m_multiThreadedHelper->m_rgbaBufferSizeInPixels,
m_multiThreadedHelper->m_depthBuffer,
m_multiThreadedHelper->m_depthBufferSizeInPixels,
m_multiThreadedHelper->m_segmentationMaskBuffer,
m_multiThreadedHelper->m_segmentationMaskBufferSizeInPixels,
m_multiThreadedHelper->m_startPixelIndex,
m_multiThreadedHelper->m_destinationWidth,
m_multiThreadedHelper->m_destinationHeight,
m_multiThreadedHelper->m_numPixelsCopied);
m_multiThreadedHelper->m_projectionMatrix,
m_multiThreadedHelper->m_pixelsRGBA,
m_multiThreadedHelper->m_rgbaBufferSizeInPixels,
m_multiThreadedHelper->m_depthBuffer,
m_multiThreadedHelper->m_depthBufferSizeInPixels,
m_multiThreadedHelper->m_segmentationMaskBuffer,
m_multiThreadedHelper->m_segmentationMaskBufferSizeInPixels,
m_multiThreadedHelper->m_startPixelIndex,
m_multiThreadedHelper->m_destinationWidth,
m_multiThreadedHelper->m_destinationHeight,
m_multiThreadedHelper->m_numPixelsCopied);
m_multiThreadedHelper->mainThreadRelease();
break;
}
@@ -1507,8 +1511,8 @@ extern btTransform gVRTrackingObjectTr;
void PhysicsServerExample::drawUserDebugLines()
{
static char line0[1024];
static char line1[1024];
//static char line0[1024];
//static char line1[1024];
//draw all user-debug-lines
@@ -1634,15 +1638,16 @@ void PhysicsServerExample::renderScene()
{
static int frameCount=0;
static btScalar prevTime = m_clock.getTimeSeconds();
//static btScalar prevTime = m_clock.getTimeSeconds();
frameCount++;
#if 0
static btScalar worseFps = 1000000;
int numFrames = 200;
static int count = 0;
count++;
#if 0
if (0 == (count & 1))
{
btScalar curTime = m_clock.getTimeSeconds();
@@ -1973,7 +1978,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
if (controllerId == gGraspingController && (button == 33))
{
gVRGripperClosed =state;
gVRGripperClosed =(state!=0);
}
else
{

11
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -128,18 +128,16 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
bool allowCreation = true;
bool allConnected = false;
int numConnected = 0;
int counter = 0;
for (int block=0;block<MAX_SHARED_MEMORY_BLOCKS;block++)
{
if (m_data->m_areConnected[block])
{
allConnected = true;
numConnected++;
b3Warning("connectSharedMemory, while already connected");
continue;
}
@@ -163,6 +161,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
b3Printf("Created and initialized shared memory block\n");
}
m_data->m_areConnected[block] = true;
numConnected++;
} else
{
m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey+block, SHARED_MEMORY_SIZE);
@@ -181,6 +180,8 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
}
}
allConnected = (numConnected==MAX_SHARED_MEMORY_BLOCKS);
return allConnected;
}

1
examples/SharedMemory/SharedMemoryCommandProcessor.cpp
View File

@@ -125,7 +125,6 @@ bool SharedMemoryCommandProcessor::processCommand(const struct SharedMemoryComma
bool SharedMemoryCommandProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
SharedMemoryStatus* stat = 0;
m_data->m_lastServerStatus.m_dataStream = 0;
m_data->m_lastServerStatus.m_numDataStreamBytes = 0;

5
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -313,6 +313,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64,
SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE=128,
SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256,
SIM_PARAM_UPDATE_COLLISION_FILTER_MODE=512
};
enum EnumLoadBunnyUpdateFlags
@@ -341,6 +342,7 @@ struct SendPhysicsSimulationParameters
double m_splitImpulsePenetrationThreshold;
int m_internalSimFlags;
double m_defaultContactERP;
int m_collisionFilterMode;
};
struct LoadBunnyArgs
@@ -538,6 +540,8 @@ enum EnumUserConstraintFlags
USER_CONSTRAINT_CHANGE_CONSTRAINT=4,
USER_CONSTRAINT_CHANGE_PIVOT_IN_B=8,
USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B=16,
USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
};
struct UserConstraintArgs
@@ -550,6 +554,7 @@ struct UserConstraintArgs
double m_childFrame[7];
double m_jointAxis[3];
int m_jointType;
double m_maxAppliedForce;
int m_userConstraintUniqueId;
};

4
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -546,7 +546,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
int graphicsIndex = -1;
//int graphicsIndex = -1;
const UrdfVisual& vis = link->m_visualArray[v];
btTransform childTrans = vis.m_linkLocalFrame;
@@ -660,7 +660,7 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
break;
}
}
int count = 0;
//int count = 0;
if (start >= 0)
{

2
examples/SharedMemory/main.cpp
View File

@@ -81,6 +81,8 @@ int main(int argc, char* argv[])
example->initPhysics();
while (example->isConnected() && !(example->wantsTermination() || interrupted))
{
example->stepSimulation(1.f/60.f);

17
examples/SoftDemo/SoftDemo.cpp
View File

@@ -232,15 +232,15 @@ extern float eye[3];
extern int glutScreenWidth;
extern int glutScreenHeight;
static bool sDemoMode = false;
//static bool sDemoMode = false;
const int maxProxies = 32766;
const int maxOverlap = 65535;
//const int maxOverlap = 65535;
static btVector3* gGroundVertices=0;
static int* gGroundIndices=0;
static btBvhTriangleMeshShape* trimeshShape =0;
static btRigidBody* staticBody = 0;
//static btBvhTriangleMeshShape* trimeshShape =0;
//static btRigidBody* staticBody = 0;
static float waveheight = 5.f;
const float TRIANGLE_SIZE=8.f;
@@ -249,12 +249,12 @@ int current_demo=20;
#ifdef _DEBUG
const int gNumObjects = 1;
//const int gNumObjects = 1;
#else
const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
//const int gNumObjects = 1;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
#endif
const int maxNumObjects = 32760;
//const int maxNumObjects = 32760;
#define CUBE_HALF_EXTENTS 1.5
#define EXTRA_HEIGHT -10.f
@@ -1452,7 +1452,8 @@ static void Init_ClusterRobot(SoftDemo* pdemo)
ls.position=psb2->clusterCom(0);psb2->appendLinearJoint(ls,prb);
btBoxShape* pbox=new btBoxShape(btVector3(20,1,40));
btRigidBody* pgrn=pdemo->createRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
btRigidBody* pgrn;
pgrn =pdemo->createRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
pdemo->m_autocam=true;

42
examples/StandaloneMain/hellovr_opengl_main.cpp
View File

@@ -22,6 +22,7 @@
int gSharedMemoryKey = -1;
int gDebugDrawFlags = 0;
bool gDisplayDistortion = false;
bool gDisableDesktopGL = false;
//how can you try typing on a keyboard, without seeing it?
//it is pretty funny, to see the desktop in VR!
@@ -834,23 +835,26 @@ void CMainApplication::RenderFrame()
}
RenderStereoTargets();
if (gDisplayDistortion)
if (!gDisableDesktopGL)
{
B3_PROFILE("RenderDistortion");
RenderDistortion();
} else
{
glBindFramebuffer( GL_FRAMEBUFFER, 0 );
glDisable( GL_MULTISAMPLE );
glBindFramebuffer(GL_READ_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId );
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
if (gDisplayDistortion)
{
B3_PROFILE("RenderDistortion");
RenderDistortion();
} else
{
glBindFramebuffer( GL_FRAMEBUFFER, 0 );
glDisable( GL_MULTISAMPLE );
glBindFramebuffer(GL_READ_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId );
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
glBlitFramebuffer( 0, 0, m_nRenderWidth, m_nRenderHeight, 0, 0, m_nRenderWidth, m_nRenderHeight,
GL_COLOR_BUFFER_BIT,
GL_LINEAR );
glBlitFramebuffer( 0, 0, m_nRenderWidth, m_nRenderHeight, 0, 0, m_nRenderWidth, m_nRenderHeight,
GL_COLOR_BUFFER_BIT,
GL_LINEAR );
glBindFramebuffer(GL_READ_FRAMEBUFFER, 0);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0 );
glBindFramebuffer(GL_READ_FRAMEBUFFER, 0);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0 );
}
}
vr::Texture_t leftEyeTexture = {(void*)leftEyeDesc.m_nResolveTextureId, vr::API_OpenGL, vr::ColorSpace_Gamma };
@@ -873,7 +877,10 @@ void CMainApplication::RenderFrame()
// SwapWindow
{
B3_PROFILE("m_app->swapBuffer");
m_app->swapBuffer();
if (!gDisableDesktopGL)
{
m_app->swapBuffer();
}
//SDL_GL_SwapWindow( m_pWindow );
}
@@ -2216,6 +2223,11 @@ void CGLRenderModel::Draw()
int main(int argc, char *argv[])
{
b3CommandLineArgs args(argc,argv);
if (args.CheckCmdLineFlag("disable_desktop_gl"))
{
gDisableDesktopGL = true;
}
#ifdef BT_USE_CUSTOM_PROFILER
b3SetCustomEnterProfileZoneFunc(dcEnter);

2
examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
View File

@@ -486,7 +486,7 @@ void MatrixRmn::ComputeSVD( MatrixRmn& U, VectorRn& w, MatrixRmn& V ) const
&& U.NumRows==U.NumCols && V.NumRows==V.NumCols
&& w.GetLength()==Min(NumRows,NumCols) );
double temp=0.0;
// double temp=0.0;
VectorRn& superDiag = VectorRn::GetWorkVector( w.GetLength()-1 ); // Some extra work space. Will get passed around.
// Choose larger of U, V to hold intermediate results

10
examples/ThirdPartyLibs/BussIK/Misc.cpp
View File

@@ -23,7 +23,7 @@ subject to the following restrictions:
#include <math.h>
#include "LinearR3.h"
#if 0
/****************************************************************
Axes
@@ -65,7 +65,7 @@ static float zy[] = {
static int zorder[] = {
1, 2, 3, 4, -5, 6
};
#endif
#define LENFRAC 0.10
#define BASEFRAC 1.10
@@ -88,9 +88,9 @@ static int zorder[] = {
/* x, y, z, axes: */
static float axx[3] = { 1., 0., 0. };
static float ayy[3] = { 0., 1., 0. };
static float azz[3] = { 0., 0., 1. };
//static float axx[3] = { 1., 0., 0. };
//static float ayy[3] = { 0., 1., 0. };
//static float azz[3] = { 0., 0., 1. };

2
examples/ThirdPartyLibs/BussIK/Node.h
View File

@@ -45,7 +45,7 @@ public:
double GetTheta() const { return theta; }
double AddToTheta( double& delta ) {
double orgTheta = theta;
//double orgTheta = theta;
theta += delta;
#if 0
if (theta < minTheta)

4340
examples/ThirdPartyLibs/stb_image/stb_image.cpp
View File

File diff suppressed because it is too large Load Diff

7044
examples/ThirdPartyLibs/stb_image/stb_image.h
View File

File diff suppressed because it is too large Load Diff

53
examples/TinyRenderer/TinyRenderer.cpp
View File

@@ -31,11 +31,11 @@ struct DepthShader : public IShader {
DepthShader(Model* model, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Vec3f localScaling, float lightDistance)
:m_model(model),
m_lightModelView(lightModelView),
m_projectionMat(projectionMat),
m_modelMat(modelMat),
m_localScaling(localScaling),
m_lightDistance(lightDistance)
m_projectionMat(projectionMat),
m_localScaling(localScaling),
m_lightModelView(lightModelView),
m_lightDistance(lightDistance)
{
m_invModelMat = m_modelMat.invert_transpose();
}
@@ -92,19 +92,21 @@ struct Shader : public IShader {
:m_model(model),
m_light_dir_local(light_dir_local),
m_light_color(light_color),
m_ambient_coefficient(ambient_coefficient),
m_diffuse_coefficient(diffuse_coefficient),
m_specular_coefficient(specular_coefficient),
m_modelView1(modelView),
m_lightModelView(lightModelView),
m_projectionMat(projectionMat),
m_modelMat(modelMat),
m_viewportMat(viewportMat),
m_localScaling(localScaling),
m_colorRGBA(colorRGBA),
m_width(width),
m_height(height),
m_shadowBuffer(shadowBuffer)
m_modelMat(modelMat),
m_modelView1(modelView),
m_projectionMat(projectionMat),
m_localScaling(localScaling),
m_lightModelView(lightModelView),
m_colorRGBA(colorRGBA),
m_viewportMat(viewportMat),
m_ambient_coefficient(ambient_coefficient),
m_diffuse_coefficient(diffuse_coefficient),
m_specular_coefficient(specular_coefficient),
m_shadowBuffer(shadowBuffer),
m_width(width),
m_height(height)
{
m_invModelMat = m_modelMat.invert_transpose();
}
@@ -157,11 +159,12 @@ struct Shader : public IShader {
};
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer,b3AlignedObjectArray<float>* shadowBuffer)
:m_rgbColorBuffer(rgbColorBuffer),
:
m_model(0),
m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer),
m_shadowBuffer(shadowBuffer),
m_segmentationMaskBufferPtr(0),
m_model(0),
m_userData(0),
m_userIndex(-1),
m_objectIndex(-1)
@@ -180,11 +183,11 @@ m_objectIndex(-1)
}
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
:m_rgbColorBuffer(rgbColorBuffer),
:m_model(0),
m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer),
m_shadowBuffer(shadowBuffer),
m_segmentationMaskBufferPtr(segmentationMaskBuffer),
m_model(0),
m_userData(0),
m_userIndex(-1),
m_objectIndex(objectIndex)
@@ -203,10 +206,10 @@ m_objectIndex(objectIndex)
}
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer)
:m_rgbColorBuffer(rgbColorBuffer),
:m_model(0),
m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer),
m_segmentationMaskBufferPtr(0),
m_model(0),
m_userData(0),
m_userIndex(-1),
m_objectIndex(-1)
@@ -225,10 +228,10 @@ m_objectIndex(-1)
}
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex)
:m_rgbColorBuffer(rgbColorBuffer),
:m_model(0),
m_rgbColorBuffer(rgbColorBuffer),
m_depthBuffer(depthBuffer),
m_segmentationMaskBufferPtr(segmentationMaskBuffer),
m_model(0),
m_userData(0),
m_userIndex(-1),
m_objectIndex(objectIndex)

6
examples/Tutorial/Dof6ConstraintTutorial.cpp
View File

@@ -457,8 +457,8 @@ void Dof6ConstraintTutorial::animate()
/////// servo motor: flip its target periodically
#ifdef USE_6DOF2
static float servoNextFrame = -1;
btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
//btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
//btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
if(servoNextFrame < 0)
{
m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
@@ -510,7 +510,7 @@ void Dof6ConstraintTutorial::stepSimulation(float deltaTime)
//animate();
float time = m_data->m_timeSeriesCanvas->getCurrentTime();
//float time = m_data->m_timeSeriesCanvas->getCurrentTime();
float prevPos = m_data->m_TranslateSpringBody->getWorldTransform().getOrigin().x();
m_dynamicsWorld->stepSimulation(deltaTime);

8
examples/Tutorial/Tutorial.cpp
View File

@@ -292,11 +292,11 @@ public:
:m_app(guiHelper->getAppInterface()),
m_guiHelper(guiHelper),
m_tutorialIndex(tutorialIndex),
m_stage(0),
m_counter(0),
m_timeSeriesCanvas0(0),
m_timeSeriesCanvas1(0)
{
m_timeSeriesCanvas1(0),
m_stage(0),
m_counter(0)
{
int numBodies = 1;
m_app->setUpAxis(1);

34
examples/Vehicles/Hinge2Vehicle.cpp
View File

@@ -158,9 +158,9 @@ static btScalar loadMass = 350.f;//
#endif
static int rightIndex = 0;
static int upIndex = 1;
static int forwardIndex = 2;
//static int rightIndex = 0;
//static int upIndex = 1;
//static int forwardIndex = 2;
static btVector3 wheelDirectionCS0(0,-1,0);
static btVector3 wheelAxleCS(-1,0,0);
@@ -173,8 +173,8 @@ static bool useMCLPSolver = false;//true;
#include "Hinge2Vehicle.h"
static const int maxProxies = 32766;
static const int maxOverlap = 65535;
//static const int maxProxies = 32766;
//static const int maxOverlap = 65535;
static float gEngineForce = 0.f;
@@ -182,21 +182,21 @@ static float defaultBreakingForce = 10.f;
static float gBreakingForce = 100.f;
static float maxEngineForce = 1000.f;//this should be engine/velocity dependent
static float maxBreakingForce = 100.f;
//static float maxBreakingForce = 100.f;
static float gVehicleSteering = 0.f;
static float steeringIncrement = 0.04f;
static float steeringClamp = 0.3f;
static float wheelRadius = 0.5f;
static float wheelWidth = 0.4f;
static float wheelFriction = 1000;//BT_LARGE_FLOAT;
static float suspensionStiffness = 20.f;
static float suspensionDamping = 2.3f;
static float suspensionCompression = 4.4f;
static float rollInfluence = 0.1f;//1.0f;
//static float wheelFriction = 1000;//BT_LARGE_FLOAT;
//static float suspensionStiffness = 20.f;
//static float suspensionDamping = 2.3f;
//static float suspensionCompression = 4.4f;
//static float rollInfluence = 0.1f;//1.0f;
static btScalar suspensionRestLength(0.6);
//static btScalar suspensionRestLength(0.6);
#define CUBE_HALF_EXTENTS 1
@@ -209,8 +209,8 @@ static btScalar suspensionRestLength(0.6);
Hinge2Vehicle::Hinge2Vehicle(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper),
m_guiHelper(helper),
m_carChassis(0),
m_guiHelper(helper),
m_liftBody(0),
m_forkBody(0),
m_loadBody(0),
@@ -378,10 +378,10 @@ tr.setOrigin(btVector3(0,-3,0));
m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
const float position[4]={0,10,10,0};
const float quaternion[4]={0,0,0,1};
const float color[4]={0,1,0,1};
const float scaling[4] = {1,1,1,1};
//const float position[4]={0,10,10,0};
//const float quaternion[4]={0,0,0,1};
//const float color[4]={0,1,0,1};
//const float scaling[4] = {1,1,1,1};
btVector3 wheelPos[4] = {
btVector3(btScalar(-1.), btScalar(-0.25), btScalar(1.25)),

52
examples/pybullet/pybullet.c
View File

@@ -354,7 +354,6 @@ static PyObject* pybullet_disconnectPhysicsServer(PyObject* self,
}
static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args,PyObject *keywds) {
int size = PySequence_Size(args);
const char* worldFileName = "";
b3PhysicsClientHandle sm = 0;
@@ -398,7 +397,6 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args,PyObject *key
#define MAX_SDF_BODIES 512
static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args,PyObject *keywds)
{
int size = PySequence_Size(args);
const char* bulletFileName = "";
b3SharedMemoryStatusHandle statusHandle;
int statusType;
@@ -452,7 +450,6 @@ static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args,PyObject *ke
static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* keywds)
{
int size = PySequence_Size(args);
const char* bulletFileName = "";
b3SharedMemoryStatusHandle statusHandle;
int statusType;
@@ -489,7 +486,6 @@ static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args, PyObject* k
static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* keywds)
{
int size = PySequence_Size(args);
const char* mjcfFileName = "";
b3SharedMemoryStatusHandle statusHandle;
int statusType;
@@ -546,12 +542,15 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int useSplitImpulse = -1;
double splitImpulsePenetrationThreshold = -1;
int numSubSteps = -1;
int collisionFilterMode = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","physicsClientId", NULL };
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,&physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
&collisionFilterMode, &physicsClientId))
{
return NULL;
}
@@ -571,6 +570,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetNumSolverIterations(command, numSolverIterations);
}
if (collisionFilterMode>=0)
{
b3PhysicsParamSetCollisionFilterMode(command, collisionFilterMode);
}
if (numSubSteps >= 0)
{
b3PhysicsParamSetNumSubSteps(command, numSubSteps);
@@ -614,7 +617,6 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
// loadURDF(pos_x, pos_y, pos_z, orn_x, orn_y, orn_z, orn_w)
static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject *keywds)
{
int size = PySequence_Size(args);
int physicsClientId = 0;
static char *kwlist[] = { "fileName", "basePosition", "baseOrientation", "useMaximalCoordinates","useFixedBase","physicsClientId", NULL };
@@ -753,7 +755,6 @@ b3PhysicsClientHandle sm=0;
static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject *keywds) {
const char* sdfFileName = "";
int size = PySequence_Size(args);
int numBodies = 0;
int i;
int bodyIndicesOut[MAX_SDF_BODIES];
@@ -1577,8 +1578,7 @@ static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject*
{
int bodyUniqueId= -1;
int numJoints = 0;
b3PhysicsClientHandle sm = 0;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char *kwlist[] = { "bodyUniqueId", "physicsClientId", NULL };
@@ -2128,15 +2128,13 @@ b3PhysicsClientHandle sm = 0;
static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObject *keywds)
{
int size = PySequence_Size(args);
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int res = 0;
PyObject* pyResultList = 0;
char* text;
char* text;
double posXYZ[3];
double colorRGB[3]={1,1,1};
@@ -2198,15 +2196,13 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObject *keywds)
{
int size = PySequence_Size(args);
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int res = 0;
PyObject* pyResultList = 0;
double fromXYZ[3];
double toXYZ[3];
double colorRGB[3]={1,1,1};
@@ -2704,7 +2700,6 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
PyTuple_SetItem(visualShapeObList, 6, vec);
}
visualShapeInfo.m_visualShapeData[0].m_rgbaColor[0];
PyTuple_SetItem(pyResultList, i, visualShapeObList);
}
@@ -2767,7 +2762,6 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args,Py
static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds)
{
int size = PySequence_Size(args);
const char* filename = 0;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
@@ -2970,7 +2964,6 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args,
static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, PyObject *keywds)
{
int size = PySequence_Size(args);
int bodyUniqueIdA = -1;
int bodyUniqueIdB = -1;
int linkIndexA = -2;
@@ -2982,7 +2975,6 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
struct b3ContactInformation contactPointData;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
PyObject* pyResultList = 0;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char *kwlist[] = { "bodyA", "bodyB", "distance", "linkIndexA","linkIndexB","physicsClientId", NULL };
@@ -3031,7 +3023,7 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject *keywds)
{
static char *kwlist[] = { "userConstraintUniqueId","jointChildPivot", "jointChildFrameOrientation", "physicsClientId", NULL};
static char *kwlist[] = { "userConstraintUniqueId","jointChildPivot", "jointChildFrameOrientation","maxForce", "physicsClientId", NULL};
int userConstraintUniqueId=-1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
@@ -3042,8 +3034,9 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
PyObject* jointChildFrameOrnObj=0;
double jointChildPivot[3];
double jointChildFrameOrn[4];
double maxForce = -1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOi", kwlist,&userConstraintUniqueId,&jointChildPivotObj, &jointChildFrameOrnObj,&physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOdi", kwlist,&userConstraintUniqueId,&jointChildPivotObj, &jointChildFrameOrnObj,&maxForce, &physicsClientId))
{
return NULL;
}
@@ -3065,6 +3058,10 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
{
b3InitChangeUserConstraintSetFrameInB(commandHandle, jointChildFrameOrn);
}
if (maxForce>=0)
{
b3InitChangeUserConstraintSetMaxForce(commandHandle,maxForce);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
@@ -3111,9 +3108,6 @@ static PyObject* pybullet_updateUserConstraint(PyObject* self, PyObject* args, P
static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, PyObject *keywds)
{
int size = PySequence_Size(args);
int bodyUniqueIdA = -1;
int bodyUniqueIdB = -1;
b3SharedMemoryCommandHandle commandHandle;
int parentBodyUniqueId=-1;
@@ -3135,7 +3129,6 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
struct b3JointInfo jointInfo;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
PyObject* pyResultList = 0;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char *kwlist[] = { "parentBodyUniqueId", "parentLinkIndex",
@@ -3218,7 +3211,6 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
}
static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, PyObject *keywds) {
int size = PySequence_Size(args);
int bodyUniqueIdA = -1;
int bodyUniqueIdB = -1;
@@ -3226,7 +3218,6 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
struct b3ContactInformation contactPointData;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
PyObject* pyResultList = 0;
static char *kwlist[] = { "bodyA", "bodyB","physicsClientId", NULL };
@@ -3273,7 +3264,6 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
struct b3CameraImageData imageData;
PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
int width, height;
int size = PySequence_Size(args);
float viewMatrix[16];
float projectionMatrix[16];
float lightDir[3];
@@ -3852,8 +3842,7 @@ static PyObject* pybullet_applyExternalForce(PyObject* self, PyObject* args,PyOb
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int size = PySequence_Size(args);
int physicsClientId = 0;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char *kwlist[] = { "objectUniqueId", "linkIndex",
"forceObj", "posObj", "flags", "physicsClientId", NULL };
@@ -4156,7 +4145,6 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
{
int szInBytes = sizeof(double) * numJoints;
int i;
PyObject* pylist = 0;
lowerLimits = (double*)malloc(szInBytes);
upperLimits = (double*)malloc(szInBytes);
jointRanges = (double*)malloc(szInBytes);

5
src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h
View File

@@ -1021,9 +1021,10 @@ inline void b3DynamicBvh::rayTest( const b3DbvtNode* root,
unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
b3Scalar lambda_max = rayDir.dot(rayTo-rayFrom);
#ifdef COMPARE_BTRAY_AABB2
b3Vector3 resultNormal;
#endif//COMPARE_BTRAY_AABB2
b3AlignedObjectArray<const b3DbvtNode*> stack;
int depth=1;

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