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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2019-09-24 13:43:20 -07:00
parent 32c38cd3dc 275a2aecb0
commit bdf24bd4e7
4 changed files with 8 additions and 8 deletions
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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4005,7 +4005,7 @@ bool PhysicsServerCommandProcessor::processSaveWorldCommand(const struct SharedM
FILE* f = fopen(clientCmd.m_sdfArguments.m_sdfFileName, "w"); FILE* f = fopen(clientCmd.m_sdfArguments.m_sdfFileName, "w");
if (f) if (f)
{ {
char line[1024]; char line[2048];
{ {
sprintf(line, "import pybullet as p\n"); sprintf(line, "import pybullet as p\n");
int len = strlen(line); int len = strlen(line);

4
examples/pybullet/examples/createMultiBodyBatch.py
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@@ -117,14 +117,14 @@ for x in range(32):
batchPositions.append( batchPositions.append(
[x * meshScale[0] * 5.5, y * meshScale[1] * 5.5, (0.5 + z) * meshScale[2] * 2.5]) [x * meshScale[0] * 5.5, y * meshScale[1] * 5.5, (0.5 + z) * meshScale[2] * 2.5])
bodyUid = p.createMultiBody(baseMass=0, bodyUids = p.createMultiBody(baseMass=0,
baseInertialFramePosition=[0, 0, 0], baseInertialFramePosition=[0, 0, 0],
baseCollisionShapeIndex=collisionShapeId, baseCollisionShapeIndex=collisionShapeId,
baseVisualShapeIndex=visualShapeId, baseVisualShapeIndex=visualShapeId,
basePosition=[0, 0, 2], basePosition=[0, 0, 2],
batchPositions=batchPositions, batchPositions=batchPositions,
useMaximalCoordinates=True) useMaximalCoordinates=True)
p.changeVisualShape(bodyUid, -1, textureUniqueId=texUid) p.changeVisualShape(bodyUids[0], -1, textureUniqueId=texUid)
p.syncBodyInfo() p.syncBodyInfo()
print("numBodies=", p.getNumBodies()) print("numBodies=", p.getNumBodies())

2
src/BulletSoftBody/btDeformableCorotatedForce.h
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@@ -56,7 +56,7 @@ public:
virtual void addScaledElasticForce(btScalar scale, TVStack& force) virtual void addScaledElasticForce(btScalar scale, TVStack& force)
{ {
int numNodes = getNumNodes(); int numNodes = getNumNodes();
btAssert(numNodes <= force.size()) btAssert(numNodes <= force.size());
btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1);
for (int i = 0; i < m_softBodies.size(); ++i) for (int i = 0; i < m_softBodies.size(); ++i)
{ {

8
src/BulletSoftBody/btDeformableNeoHookeanForce.h
View File

@@ -51,7 +51,7 @@ public:
virtual void addScaledDampingForce(btScalar scale, TVStack& force) virtual void addScaledDampingForce(btScalar scale, TVStack& force)
{ {
int numNodes = getNumNodes(); int numNodes = getNumNodes();
btAssert(numNodes <= force.size()) btAssert(numNodes <= force.size());
btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1);
for (int i = 0; i < m_softBodies.size(); ++i) for (int i = 0; i < m_softBodies.size(); ++i)
{ {
@@ -114,7 +114,7 @@ public:
virtual void addScaledElasticForce(btScalar scale, TVStack& force) virtual void addScaledElasticForce(btScalar scale, TVStack& force)
{ {
int numNodes = getNumNodes(); int numNodes = getNumNodes();
btAssert(numNodes <= force.size()) btAssert(numNodes <= force.size());
btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1);
for (int i = 0; i < m_softBodies.size(); ++i) for (int i = 0; i < m_softBodies.size(); ++i)
{ {
@@ -149,7 +149,7 @@ public:
virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df) virtual void addScaledDampingForceDifferential(btScalar scale, const TVStack& dv, TVStack& df)
{ {
int numNodes = getNumNodes(); int numNodes = getNumNodes();
btAssert(numNodes <= df.size()) btAssert(numNodes <= df.size());
btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1);
for (int i = 0; i < m_softBodies.size(); ++i) for (int i = 0; i < m_softBodies.size(); ++i)
{ {
@@ -184,7 +184,7 @@ public:
virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df) virtual void addScaledElasticForceDifferential(btScalar scale, const TVStack& dx, TVStack& df)
{ {
int numNodes = getNumNodes(); int numNodes = getNumNodes();
btAssert(numNodes <= df.size()) btAssert(numNodes <= df.size());
btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1); btVector3 grad_N_hat_1st_col = btVector3(-1,-1,-1);
for (int i = 0; i < m_softBodies.size(); ++i) for (int i = 0; i < m_softBodies.size(); ++i)
{ {