7503418c72
Add several MSVC optimization flags to cmake. Bump up VERSION because serialization format changed Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo. pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
83 lines
2.1 KiB
C++
83 lines
2.1 KiB
C++
#ifndef BODY_JOINT_INFO_UTILITY_H
|
|
#define BODY_JOINT_INFO_UTILITY_H
|
|
|
|
#include "Bullet3Common/b3Logging.h"
|
|
|
|
namespace Bullet
|
|
{
|
|
class btMultiBodyDoubleData;
|
|
class btMultiBodyFloatData;
|
|
};
|
|
|
|
inline char* strDup(const char* const str)
|
|
{
|
|
#ifdef _WIN32
|
|
return _strdup(str);
|
|
#else
|
|
return strdup(str);
|
|
#endif
|
|
}
|
|
|
|
template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb, U* bodyJoints, bool verboseOutput)
|
|
{
|
|
if (mb->m_baseName)
|
|
{
|
|
if (verboseOutput)
|
|
{
|
|
b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
|
|
}
|
|
}
|
|
int qOffset = 7;
|
|
int uOffset = 6;
|
|
|
|
for (int link = 0; link < mb->m_numLinks; link++)
|
|
{
|
|
{
|
|
b3JointInfo info;
|
|
info.m_jointName = 0;
|
|
info.m_linkName = 0;
|
|
info.m_flags = 0;
|
|
info.m_jointIndex = link;
|
|
info.m_qIndex =
|
|
(0 < mb->m_links[link].m_posVarCount) ? qOffset : -1;
|
|
info.m_uIndex =
|
|
(0 < mb->m_links[link].m_dofCount) ? uOffset : -1;
|
|
|
|
if (mb->m_links[link].m_linkName) {
|
|
if (verboseOutput) {
|
|
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
|
|
mb->m_links[link].m_linkName);
|
|
}
|
|
info.m_linkName = strDup(mb->m_links[link].m_linkName);
|
|
}
|
|
if (mb->m_links[link].m_jointName) {
|
|
if (verboseOutput) {
|
|
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
|
|
mb->m_links[link].m_jointName);
|
|
}
|
|
info.m_jointName = strDup(mb->m_links[link].m_jointName);
|
|
}
|
|
|
|
info.m_jointType = mb->m_links[link].m_jointType;
|
|
info.m_jointDamping = mb->m_links[link].m_jointDamping;
|
|
info.m_jointFriction1 = mb->m_links[link].m_jointFriction;
|
|
info.m_jointLowerLimit = mb->m_links[link].m_jointLowerLimit;
|
|
info.m_jointUpperLimit = mb->m_links[link].m_jointUpperLimit;
|
|
info.m_jointMaxForce = mb->m_links[link].m_jointMaxForce;
|
|
info.m_jointMaxVelocity = mb->m_links[link].m_jointMaxVelocity;
|
|
|
|
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
|
|
(mb->m_links[link].m_jointType == ePrismaticType)) {
|
|
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
|
|
}
|
|
bodyJoints->m_jointInfo.push_back(info);
|
|
}
|
|
qOffset += mb->m_links[link].m_posVarCount;
|
|
uOffset += mb->m_links[link].m_dofCount;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif //BODY_JOINT_INFO_UTILITY_H
|