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Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis

Browse Source 
https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section)
Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
This commit is contained in:
erwincoumans
2018-01-09 22:47:56 -08:00
parent 164d3e62c3
commit c4b1b84687
16 changed files with 779 additions and 666 deletions
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29
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -1897,6 +1897,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes( int linkI
{
if (col->m_geometry.m_hasFromTo)
{
#if 0
btVector3 f = col->m_geometry.m_capsuleFrom;
btVector3 t = col->m_geometry.m_capsuleTo;
btVector3 fromto[2] = {f,t};
@@ -1905,6 +1906,34 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes( int linkI
btMultiSphereShape* ms = new btMultiSphereShape(fromto,radii,2);
childShape = ms;
#else
btVector3 f = col->m_geometry.m_capsuleFrom;
btVector3 t = col->m_geometry.m_capsuleTo;
//compute the local 'fromto' transform
btVector3 localPosition = btScalar(0.5)*(t+f);
btQuaternion localOrn;
localOrn = btQuaternion::getIdentity();
btVector3 diff = t-f;
btScalar lenSqr = diff.length2();
btScalar height = 0.f;
if (lenSqr > SIMD_EPSILON)
{
height = btSqrt(lenSqr);
btVector3 ax = diff / height;
btVector3 zAxis(0,0,1);
localOrn = shortestArcQuat(zAxis,ax);
}
btCapsuleShapeZ* capsule= new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,height);
btCompoundShape* compound = new btCompoundShape();
btTransform localTransform(localOrn,localPosition);
compound->addChildShape(localTransform,capsule);
childShape = compound;
#endif
} else
{
btCapsuleShapeZ* cap = new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,

4
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -344,6 +344,10 @@ 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_NO_GLOBAL_VELOCITIES_MB)
{
cache.m_bulletMultiBody->useGlobalVelocities(false);
}
if (flags & CUF_USE_MJCF)
{
cache.m_bulletMultiBody->setBaseWorldTransform(linkTransformInWorldSpace);

1
examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@@ -24,6 +24,7 @@ enum ConvertURDFFlags {
CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
CUF_RESERVED=64,
CUF_USE_IMPLICIT_CYLINDER=128,
CUF_NO_GLOBAL_VELOCITIES_MB=256,
};
void ConvertURDF2Bullet(const URDFImporterInterface& u2b,

5
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1758,6 +1758,11 @@ B3_SHARED_API int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
bodyId = status->m_dataStreamArguments.m_bodyUniqueId;
break;
}
case CMD_LOAD_SOFT_BODY_COMPLETED:
{
bodyId = status->m_loadSoftBodyResultArguments.m_objectUniqueId;
break;
}
default:
{
b3Assert(0);

9
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -1276,6 +1276,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
break;
}
case CMD_LOAD_SOFT_BODY_FAILED:
{
b3Warning("loadSoftBody failed");
break;
}
case CMD_LOAD_SOFT_BODY_COMPLETED:
{
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);

9
examples/SharedMemory/PhysicsDirect.cpp
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@@ -1047,6 +1047,15 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
{
break;
}
case CMD_LOAD_SOFT_BODY_FAILED:
{
b3Warning("loadSoftBody failed");
break;
}
case CMD_LOAD_SOFT_BODY_COMPLETED:
{
break;
}
default:
{
//b3Warning("Unknown server status type");

29
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5757,7 +5757,7 @@ bool PhysicsServerCommandProcessor::processLoadURDFCommand(const struct SharedMe
bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
serverStatusOut.m_type = CMD_UNKNOWN_COMMAND_FLUSHED;
serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_FAILED;
bool hasStatus = true;
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
double scale = 0.1;
@@ -5840,11 +5840,12 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
bodyHandle->m_softBody = psb;
serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED;
}
}
}
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
#endif
return hasStatus;
}
@@ -9142,17 +9143,7 @@ void PhysicsServerCommandProcessor::renderScene(int renderFlags)
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
for ( int i=0;i<m_data->m_dynamicsWorld->getSoftBodyArray().size();i++)
{
btSoftBody* psb=(btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
//btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb,m_data->m_dynamicsWorld->getDebugDrawer(),m_data->m_dynamicsWorld->getDrawFlags());
}
}
#endif
}
void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)
@@ -9163,6 +9154,18 @@ void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)
{
m_data->m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
m_data->m_dynamicsWorld->debugDrawWorld();
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
for ( int i=0;i<m_data->m_dynamicsWorld->getSoftBodyArray().size();i++)
{
btSoftBody* psb=(btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
//btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb,m_data->m_dynamicsWorld->getDebugDrawer(),m_data->m_dynamicsWorld->getDrawFlags());
}
}
#endif
}
}
}

3
examples/SharedMemory/SharedMemoryPublic.h
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@@ -189,6 +189,8 @@ enum EnumSharedMemoryServerStatus
CMD_RESTORE_STATE_COMPLETED,
CMD_COLLISION_SHAPE_INFO_COMPLETED,
CMD_COLLISION_SHAPE_INFO_FAILED,
CMD_LOAD_SOFT_BODY_FAILED,
CMD_LOAD_SOFT_BODY_COMPLETED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
@@ -671,6 +673,7 @@ enum eURDF_Flags
URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
URDF_RESERVED=64,
URDF_USE_IMPLICIT_CYLINDER =128,
URDF_NO_GLOBAL_VELOCITIES_MB =256,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes

5
examples/pybullet/pybullet.c
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@@ -1422,7 +1422,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_CLIENT_COMMAND_COMPLETED)
if (statusType != CMD_LOAD_SOFT_BODY_COMPLETED)
{
PyErr_SetString(SpamError, "Cannot load soft body.");
return NULL;
@@ -8817,7 +8817,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_USE_IMPLICIT_CYLINDER", URDF_USE_IMPLICIT_CYLINDER);
PyModule_AddIntConstant(m, "URDF_NO_GLOBAL_VELOCITIES_MB", URDF_NO_GLOBAL_VELOCITIES_MB);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);