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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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16
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -115,14 +115,14 @@ btMultiBody::btMultiBody(int n_links,
m_linearDamping(0.04f),
m_angularDamping(0.04f),
m_useGyroTerm(true),
m_maxAppliedImpulse(1000.f),
m_maxAppliedImpulse(1000.f),
m_maxCoordinateVelocity(100.f),
m_hasSelfCollision(true),
m_hasSelfCollision(true),
__posUpdated(false),
m_dofCount(0),
m_dofCount(0),
m_posVarCnt(0),
m_useRK4(false),
m_useGlobalVelocities(false),
m_useGlobalVelocities(true),
m_internalNeedsJointFeedback(false)
{
m_cachedInertiaTopLeft.setValue(0,0,0,0,0,0,0,0,0);
@@ -1280,7 +1280,7 @@ void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bo
{
result[0] = rhs_bot[0] / m_baseInertia[0];
result[1] = rhs_bot[1] / m_baseInertia[1];
result[2] = rhs_bot[2] / m_baseInertia[2];
result[2] = rhs_bot[2] / m_baseInertia[2];
} else
{
result[0] = 0;
@@ -2024,6 +2024,12 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
memPtr->m_posVarCount = getLink(i).m_posVarCount;
getLink(i).m_inertiaLocal.serialize(memPtr->m_linkInertia);
getLink(i).m_absFrameTotVelocity.m_topVec.serialize(memPtr->m_absFrameTotVelocityTop);
getLink(i).m_absFrameTotVelocity.m_bottomVec.serialize(memPtr->m_absFrameTotVelocityBottom);
getLink(i).m_absFrameLocVelocity.m_topVec.serialize(memPtr->m_absFrameLocVelocityTop);
getLink(i).m_absFrameLocVelocity.m_bottomVec.serialize(memPtr->m_absFrameLocVelocityBottom);
memPtr->m_linkMass = getLink(i).m_mass;
memPtr->m_parentIndex = getLink(i).m_parent;
memPtr->m_jointDamping = getLink(i).m_jointDamping;