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

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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,