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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2016-08-17 10:24:12 -07:00
parent 463f3e59c8 0aef7afbbd
commit dce73f48ae
21 changed files with 781 additions and 343 deletions
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17
examples/MultiBody/MultiDofDemo.cpp
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@@ -10,6 +10,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
#include "../OpenGLWindow/GLInstancingRenderer.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
@@ -134,7 +135,8 @@ void MultiDofDemo::initPhysics()
bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool multibodyOnly = false;
bool canSleep = true;
bool selfCollide = false;
bool selfCollide = false;
bool multibodyConstraint = true;
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
@@ -236,7 +238,18 @@ void MultiDofDemo::initPhysics()
m_dynamicsWorld->addRigidBody(body);//,1,1+2);
if (multibodyConstraint) {
btVector3 pointInA = -linkHalfExtents;
btVector3 pointInB = halfExtents;
btMatrix3x3 frameInA;
btMatrix3x3 frameInB;
frameInA.setIdentity();
frameInB.setIdentity();
btMultiBodyFixedConstraint* p2p = new btMultiBodyFixedConstraint(mbC,numLinks-1,body,pointInA,pointInB,frameInA,frameInB);
//btMultiBodyFixedConstraint* p2p = new btMultiBodyFixedConstraint(mbC,numLinks-1,mbC,numLinks-4,pointInA,pointInA,frameInA,frameInB);
p2p->setMaxAppliedImpulse(2.0);
m_dynamicsWorld->addMultiBodyConstraint(p2p);
}
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);

4
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -82,11 +82,11 @@ public:
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
b3RobotSimLoadFileArgs args("");
args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf";
args.m_fileType = B3_SDF_FILE;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
@@ -135,6 +135,7 @@ public:
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0,0,.107);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = false;
m_robotSim.loadFile(args,results);
}
if (1)
@@ -144,6 +145,7 @@ public:
args.m_startPosition.setValue(0,0,0);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_forceOverrideFixedBase = true;
args.m_useMultiBody = true;
b3RobotSimLoadFileResults results;
m_robotSim.loadFile(args,results);

7
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -211,7 +211,10 @@ public:
return m_cs;
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
{
createCollisionObjectGraphicsObject((btCollisionObject*)body, color);
}
btCollisionObject* m_obj;
btVector3 m_color2;
@@ -685,6 +688,7 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
{
b3LoadUrdfCommandSetUseFixedBase(command,true);
}
b3LoadUrdfCommandSetUseMultiBody(command, args.m_useMultiBody);
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
statusType = b3GetStatusType(statusHandle);
@@ -699,6 +703,7 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(m_data->m_physicsClient, args.m_fileName.c_str());
b3LoadSdfCommandSetUseMultiBody(command, args.m_useMultiBody);
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
statusType = b3GetStatusType(statusHandle);
b3Assert(statusType == CMD_SDF_LOADING_COMPLETED);

1
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -23,6 +23,7 @@ struct b3RobotSimLoadFileArgs
b3Vector3 m_startPosition;
b3Quaternion m_startOrientation;
bool m_forceOverrideFixedBase;
bool m_useMultiBody;
int m_fileType;

23
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -55,6 +55,27 @@ b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClie
return (b3SharedMemoryCommandHandle) command;
}
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_URDF);
command->m_updateFlags |=URDF_ARGS_USE_MULTIBODY;
command->m_urdfArguments.m_useMultiBody = useMultiBody;
return 0;
}
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_SDF);
command->m_updateFlags |=URDF_ARGS_USE_MULTIBODY;
command->m_sdfArguments.m_useMultiBody = useMultiBody;
return 0;
}
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase)
{
@@ -67,8 +88,6 @@ int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
return 0;
}
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -96,6 +96,7 @@ int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle,
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex,

8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -711,7 +711,7 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
}
bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes)
bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody)
{
btAssert(m_data->m_dynamicsWorld);
if (!m_data->m_dynamicsWorld)
@@ -768,7 +768,6 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
MyMultiBodyCreator creation(m_data->m_guiHelper);
u2b.getRootTransformInWorld(rootTrans);
bool useMultiBody = true;
ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),true);
@@ -877,6 +876,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
}
btMultiBody* mb = creation.getBulletMultiBody();
if (useMultiBody)
{
@@ -944,7 +944,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
} else
{
btAssert(0);
return true;
}
@@ -1244,8 +1243,9 @@ 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 completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes);
bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody);
if (completedOk)
{
//serverStatusOut.m_type = CMD_SDF_LOADING_FAILED;

2
examples/SharedMemory/PhysicsServerCommandProcessor.h
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@@ -21,7 +21,7 @@ protected:
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes);
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody);
bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -64,6 +64,7 @@ enum EnumSdfArgsUpdateFlags
struct SdfArgs
{
char m_sdfFileName[MAX_URDF_FILENAME_LENGTH];
int m_useMultiBody;
};
enum EnumUrdfArgsUpdateFlags