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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans 2017-08-24 10:16:25 -07:00
commit 16d9e2fb38
6 changed files with 53 additions and 4 deletions
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12
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@ -187,6 +187,7 @@ struct BulletMJCFImporterInternalData
//those collision shapes are deleted by caller (todo: make sure this happens!)
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
BulletMJCFImporterInternalData()
:m_activeModel(-1),
@ -1855,6 +1856,8 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes( int linkI
{
btTriangleMesh* meshInterface = new btTriangleMesh();
m_data->m_allocatedMeshInterfaces.push_back(meshInterface);
for (int i=0;i<glmesh->m_numIndices/3;i++)
{
float* v0 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3)).xyzw;
@ -1926,6 +1929,15 @@ class btCollisionShape* BulletMJCFImporter::getAllocatedCollisionShape(int index
return m_data->m_allocatedCollisionShapes[index];
}
int BulletMJCFImporter::getNumAllocatedMeshInterfaces() const
{
return m_data->m_allocatedMeshInterfaces.size();
}
btStridingMeshInterface* BulletMJCFImporter::getAllocatedMeshInterface(int index)
{
return m_data->m_allocatedMeshInterfaces[index];
}
int BulletMJCFImporter::getNumModels() const
{

3
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@ -78,6 +78,9 @@ public:
virtual int getNumModels() const;
virtual void activateModel(int modelIndex);
virtual int getNumAllocatedMeshInterfaces() const;
virtual btStridingMeshInterface* getAllocatedMeshInterface(int index);
};

17
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@ -54,6 +54,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
int m_bodyId;
btHashMap<btHashInt,UrdfMaterialColor> m_linkColors;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
LinkVisualShapesConverter* m_customVisualShapesConverter;
@ -572,7 +573,7 @@ bool findExistingMeshFile(
}
}
btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix) const
{
BT_PROFILE("convertURDFToCollisionShape");
@ -775,6 +776,7 @@ upAxisMat.setIdentity();
{
BT_PROFILE("convert trimesh");
btTriangleMesh* meshInterface = new btTriangleMesh();
m_data->m_allocatedMeshInterfaces.push_back(meshInterface);
{
BT_PROFILE("convert vertices");
@ -1229,6 +1231,19 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
return m_data->m_allocatedCollisionShapes[index];
}
int BulletURDFImporter::getNumAllocatedMeshInterfaces() const
{
return m_data->m_allocatedMeshInterfaces.size();
}
btStridingMeshInterface* BulletURDFImporter::getAllocatedMeshInterface(int index)
{
return m_data->m_allocatedMeshInterfaces[index];
}
class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
{

6
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@ -62,6 +62,8 @@ public:
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int bodyUniqueId) const;
class btCollisionShape* convertURDFToCollisionShape(const struct UrdfCollision* collision, const char* urdfPathPrefix) const;
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
@ -69,7 +71,9 @@ public:
virtual int getNumAllocatedCollisionShapes() const;
virtual class btCollisionShape* getAllocatedCollisionShape(int index);
virtual int getNumAllocatedMeshInterfaces() const;
virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);
};

2
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@ -80,6 +80,8 @@ public:
virtual class btCollisionShape* getAllocatedCollisionShape(int /*index*/ ) {return 0;}
virtual int getNumModels() const {return 0;}
virtual void activateModel(int /*modelIndex*/) { }
virtual int getNumAllocatedMeshInterfaces() const { return 0;}
virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index) {return 0;}
};

17
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -1191,6 +1191,7 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<std::string*> m_strings;
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btAlignedObjectArray<btStridingMeshInterface*> m_meshInterfaces;
MyOverlapFilterCallback* m_broadphaseCollisionFilterCallback;
btHashedOverlappingPairCache* m_pairCache;
@ -2027,6 +2028,11 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
btCollisionShape* shape = m_data->m_collisionShapes[j];
delete shape;
}
for (int j=0;j<m_data->m_meshInterfaces.size();j++)
{
delete m_data->m_meshInterfaces[j];
}
m_data->m_meshInterfaces.clear();
m_data->m_collisionShapes.clear();
delete m_data->m_dynamicsWorld;
@ -2232,7 +2238,12 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
}
}
for (int i=0;i<u2b.getNumAllocatedMeshInterfaces();i++)
{
m_data->m_meshInterfaces.push_back(u2b.getAllocatedMeshInterface(i));
}
for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
{
btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
@ -2278,7 +2289,6 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
bool loadOk = u2b.loadMJCF(fileName, &logger, useFixedBase);
if (loadOk)
{
processImportedObjects(fileName,bufferServerToClient,bufferSizeInBytes,useMultiBody,flags, u2b);
}
return loadOk;
@ -3787,6 +3797,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
BT_PROFILE("convert trimesh");
btTriangleMesh* meshInterface = new btTriangleMesh();
this->m_data->m_meshInterfaces.push_back(meshInterface);
{
BT_PROFILE("convert vertices");
@ -3801,6 +3812,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
BT_PROFILE("create btBvhTriangleMeshShape");
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
m_data->m_collisionShapes.push_back(trimesh);
//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
shape = trimesh;
if (compound)
@ -3808,6 +3820,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
compound->addChildShape(childTransform,shape);
}
}
delete glmesh;
} else
{