Merge pull request #2359 from erwincoumans/master

premake add enable_stable_pd option, so Bullet can be compiled withou…

build3/premake4.lua

@@ -54,6 +54,13 @@
 		description = "Try to link and use system X11 headers instead of dynamically loading X11 (dlopen is default)"
 	}
 
+	newoption
+	{
+		trigger = "enable_stable_pd",
+		description = "Enable Stable PD control in PyBullet"
+	}
+
+
 	newoption
 	{
 		trigger = "enable_static_vr_plugin",

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -660,6 +660,27 @@ btTransform ConvertURDF2BulletInternal(
 
 				if (mbLinkIndex >= 0)  //???? double-check +/- 1
 				{
+					//if the base is static and all joints in the chain between this link and the base are fixed, 
+					//then this link is static too (doesn't merge islands)
+					if (cache.m_bulletMultiBody->getBaseMass() == 0)
+					{
+						bool allJointsFixed = true;
+						int testLinkIndex = mbLinkIndex;
+						do
+						{
+							if (cache.m_bulletMultiBody->getLink(testLinkIndex).m_jointType != btMultibodyLink::eFixed)
+							{
+								allJointsFixed = false;
+								break;
+							}
+							testLinkIndex = cache.m_bulletMultiBody->getLink(testLinkIndex).m_parent;
+						} while (testLinkIndex> 0);
+						if (allJointsFixed)
+						{
+							col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
+						}
+
+					}
 					cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider = col;
 					if (flags & CUF_USE_SELF_COLLISION_INCLUDE_PARENT)
 					{

examples/pybullet/premake4.lua

@@ -17,7 +17,8 @@ project ("pybullet")
 		
 		includedirs {"../../src", "../../examples",
 		"../../examples/ThirdPartyLibs"}
-		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "STATIC_LINK_SPD_PLUGIN"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+		
 		
 		
 	hasCL = findOpenCL("clew")
@@ -181,6 +182,12 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
+			
+			
+
+	if _OPTIONS["enable_stable_pd"] then
+		defines {"STATIC_LINK_SPD_PLUGIN"}
+		files {
 			"../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp",
 			"../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h",
 			"../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp",
@@ -196,6 +203,8 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp",
 			"../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h",
 			}
+		end
+		
 		
 	if _OPTIONS["enable_physx"] then
   	defines {"BT_ENABLE_PHYSX","PX_PHYSX_STATIC_LIB", "PX_FOUNDATION_DLL=0"}

examples/pybullet/pybullet.c

@@ -4319,6 +4319,12 @@ static PyObject* pybullet_resetJointStatesMultiDof(PyObject* self, PyObject* arg
 				targetVelocitiesSeq = PySequence_Fast(targetVelocitiesObj, "expected a sequence of target positions");
 			for (i = 0; i < numIndices; i++)
 			{
+				double targetPositionArray[4] = { 0, 0, 0, 1 };
+				double targetVelocityArray[3] = { 0, 0, 0 };
+				int targetPositionSize = 0;
+				int targetVelocitySize = 0;
+				PyObject* targetPositionObj = 0;
+				PyObject* targetVelocityObj = 0;
 				
 				int jointIndex = pybullet_internalGetIntFromSequence(jointIndicesSeq, i);
 				if ((jointIndex >= numJoints) || (jointIndex < 0))
@@ -4333,12 +4339,7 @@ static PyObject* pybullet_resetJointStatesMultiDof(PyObject* self, PyObject* arg
 				}
 
 
-				double targetPositionArray[4] = { 0, 0, 0, 1 };
+				
-				double targetVelocityArray[3] = { 0, 0, 0 };
-				int targetPositionSize = 0;
-				int targetVelocitySize = 0;
-				PyObject* targetPositionObj = 0;
-				PyObject* targetVelocityObj = 0;
 				
 
 				if (numTargetPositionObjs > 0)
@@ -6069,6 +6070,7 @@ static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, Py
 	b3PhysicsClientHandle sm = 0;
 	static char* kwlist[] = {"eventName ", "physicsClientId", NULL};
 	int physicsClientId = 0;
+	b3SharedMemoryCommandHandle commandHandle;
 
 	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|si", kwlist,
 									 &eventName, &physicsClientId))
@@ -6080,7 +6082,7 @@ static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, Py
 		PyErr_SetString(SpamError, "Not connected to physics server.");
 		return NULL;
 	}
-	b3SharedMemoryCommandHandle commandHandle;
+	
 	commandHandle = b3ProfileTimingCommandInit(sm, eventName);
 
 	if (eventName)
@@ -10979,10 +10981,12 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 	}
 	{
 		int numEndEffectorPositions = extractVertices(targetPosObj, 0, B3_MAX_NUM_END_EFFECTORS);
+		    
 		int numIndices = extractIndices(endEffectorLinkIndicesObj, 0, B3_MAX_NUM_END_EFFECTORS);
 		double* positions = numEndEffectorPositions ? malloc(numEndEffectorPositions * 3 * sizeof(double)) : 0;
 		int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0;
 
+
 		numEndEffectorPositions = extractVertices(targetPosObj, positions, B3_MAX_NUM_VERTICES);
 		
 		if (endEffectorLinkIndicesObj)
@@ -10990,6 +10994,7 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 			numIndices = extractIndices(endEffectorLinkIndicesObj, indices, B3_MAX_NUM_INDICES);
 		}
 		
+		{
 			double pos[3] = { 0, 0, 0 };
 			double ori[4] = { 0, 0, 0, 1 };
 			int hasPos = numEndEffectorPositions > 0;
@@ -11182,6 +11187,7 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
 				return NULL;
 			}
 		}
+	}
 
 	Py_INCREF(Py_None);
 	return Py_None;