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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
erwincoumans 2019-03-18 10:12:55 -07:00
commit 28148eb1ed
17 changed files with 65 additions and 38 deletions
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10
examples/DynamicControlDemo/MotorDemo.cpp
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@ -18,6 +18,8 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
#include "MotorDemo.h"
#include <cmath>
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
@ -158,8 +160,8 @@ public:
for (i = 0; i < NUM_LEGS; i++)
{
float fAngle = 2 * M_PI * i / NUM_LEGS;
float fSin = sin(fAngle);
float fCos = cos(fAngle);
float fSin = std::sin(fAngle);
float fCos = std::cos(fAngle);
transform.setIdentity();
btVector3 vBoneOrigin = btVector3(btScalar(fCos * (fBodySize + 0.5 * fLegLength)), btScalar(fHeight), btScalar(fSin * (fBodySize + 0.5 * fLegLength)));
@ -197,8 +199,8 @@ public:
for (i = 0; i < NUM_LEGS; i++)
{
float fAngle = 2 * M_PI * i / NUM_LEGS;
float fSin = sin(fAngle);
float fCos = cos(fAngle);
float fSin = std::sin(fAngle);
float fCos = std::cos(fAngle);
// hip joints
localA.setIdentity();

8
examples/Evolution/NN3DWalkers.cpp
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@ -15,6 +15,8 @@ subject to the following restrictions:
#include "NN3DWalkers.h"
#include <cmath>
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
@ -282,8 +284,8 @@ public:
for (i = 0; i < NUM_LEGS; i++)
{
float footAngle = 2 * SIMD_PI * i / NUM_LEGS; // legs are uniformly distributed around the root body
float footYUnitPosition = sin(footAngle); // y position of the leg on the unit circle
float footXUnitPosition = cos(footAngle); // x position of the leg on the unit circle
float footYUnitPosition = std::sin(footAngle); // y position of the leg on the unit circle
float footXUnitPosition = std::cos(footAngle); // x position of the leg on the unit circle
transform.setIdentity();
btVector3 legCOM = btVector3(btScalar(footXUnitPosition * (gRootBodyRadius + 0.5 * gLegLength)), btScalar(rootAboveGroundHeight), btScalar(footYUnitPosition * (gRootBodyRadius + 0.5 * gLegLength)));
@ -1017,7 +1019,7 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick)
}
// apply the activation function
targetAngle = (tanh(targetAngle) + 1.0f) * 0.5f;
targetAngle = (std::tanh(targetAngle) + 1.0f) * 0.5f;
}
btScalar targetLimitAngle = hingeC->getLowerLimit() + targetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
btScalar currentAngle = hingeC->getHingeAngle();

14
examples/ExampleBrowser/GL_ShapeDrawer.cpp
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@ -48,6 +48,8 @@ subject to the following restrictions:
#include <stdio.h> //printf debugging
#include <cmath>
#if defined(BT_USE_DOUBLE_PRECISION)
#define btglLoadMatrix glLoadMatrixd
#define btglMultMatrix glMultMatrixd
@ -149,19 +151,19 @@ void GL_ShapeDrawer::drawSphere(btScalar radius, int lats, int longs)
for (i = 0; i <= lats; i++)
{
btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar)(i - 1) / lats);
btScalar z0 = radius * sin(lat0);
btScalar zr0 = radius * cos(lat0);
btScalar z0 = radius * std::sin(lat0);
btScalar zr0 = radius * std::cos(lat0);
btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar)i / lats);
btScalar z1 = radius * sin(lat1);
btScalar zr1 = radius * cos(lat1);
btScalar z1 = radius * std::sin(lat1);
btScalar zr1 = radius * std::cos(lat1);
glBegin(GL_QUAD_STRIP);
for (j = 0; j <= longs; j++)
{
btScalar lng = 2 * SIMD_PI * (btScalar)(j - 1) / longs;
btScalar x = cos(lng);
btScalar y = sin(lng);
btScalar x = std::cos(lng);
btScalar y = std::sin(lng);
glNormal3f(x * zr1, y * zr1, z1);
glVertex3f(x * zr1, y * zr1, z1);
glNormal3f(x * zr0, y * zr0, z0);

5
examples/ExtendedTutorials/MultiPendulum.cpp
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@ -15,8 +15,9 @@
#include "MultiPendulum.h"
#include <vector> // TODO: Should I use another data structure?
#include <cmath>
#include <iterator>
#include <vector> // TODO: Should I use another data structure?
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btVector3.h"
@ -159,7 +160,7 @@ void MultiPendulumExample::initPhysics()
m_collisionShapes.push_back(pendulumShape);
// create multi-pendulum
createMultiPendulum(pendulumShape, floor(gPendulaQty), position,
createMultiPendulum(pendulumShape, std::floor(gPendulaQty), position,
gInitialPendulumLength, pendulumMass);
}

5
examples/ExtendedTutorials/NewtonsCradle.cpp
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@ -15,8 +15,9 @@
#include "NewtonsCradle.h"
#include <vector> // TODO: Should I use another data structure?
#include <cmath>
#include <iterator>
#include <vector> // TODO: Should I use another data structure?
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btVector3.h"
@ -158,7 +159,7 @@ void NewtonsCradleExample::initPhysics()
btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
m_collisionShapes.push_back(pendulumShape);
for (int i = 0; i < floor(gPendulaQty); i++)
for (int i = 0; i < std::floor(gPendulaQty); i++)
{
// create pendulum
createPendulum(pendulumShape, position, gInitialPendulumLength, pendulumMass);

5
examples/ExtendedTutorials/NewtonsRopeCradle.cpp
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@ -15,8 +15,9 @@
#include "NewtonsRopeCradle.h"
#include <vector> // TODO: Should I use another data structure?
#include <cmath>
#include <iterator>
#include <vector> // TODO: Should I use another data structure?
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btVector3.h"
@ -204,7 +205,7 @@ void NewtonsRopeCradleExample::initPhysics()
btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
m_collisionShapes.push_back(pendulumShape);
for (int i = 0; i < floor(gPendulaQty); i++)
for (int i = 0; i < std::floor(gPendulaQty); i++)
{
// create pendulum
createRopePendulum(pendulumShape, position, orientation, gInitialPendulumWidth,

3
examples/MultiThreadedDemo/MultiThreadedDemo.cpp
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@ -22,6 +22,7 @@ subject to the following restrictions:
#include <stdio.h> //printf debugging
#include <algorithm>
#include <cmath>
static btScalar gSliderStackRows = 1.0f;
static btScalar gSliderStackColumns = 1.0f;
@ -107,7 +108,7 @@ public:
// update ground
const float cyclesPerSecond = 1.0f;
m_groundMovePhase += cyclesPerSecond * deltaTime;
m_groundMovePhase -= floor(m_groundMovePhase); // keep phase between 0 and 1
m_groundMovePhase -= std::floor(m_groundMovePhase); // keep phase between 0 and 1
btTransform xf = m_groundStartXf;
float gndHOffset = btSin(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude;
float gndHVel = btCos(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude * cyclesPerSecond * SIMD_2_PI; // d(gndHOffset)/dt

2
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -1082,7 +1082,7 @@ B3_SHARED_API int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemor
int numLinks = status->m_sendActualStateArgs.m_numLinks;
b3Assert(linkIndex < numLinks);
if ((bodyIndex >= 0) && (linkIndex >= 0) && linkIndex < numLinks)
if (status->m_sendActualStateArgs.m_stateDetails != NULL && (bodyIndex >= 0) && (linkIndex >= 0) && linkIndex < numLinks)
{
b3Transform wlf, com, inertial;

9
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -1613,6 +1613,7 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps;
btScalar m_simulationTimestamp;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
@ -7608,10 +7609,12 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
if (m_data->m_numSimulationSubSteps > 0)
{
numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, m_data->m_numSimulationSubSteps, m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps);
m_data->m_simulationTimestamp += deltaTimeScaled;
}
else
{
numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, 0);
m_data->m_simulationTimestamp += deltaTimeScaled;
}
if (numSteps > 0)
@ -8161,6 +8164,7 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom
serverCmd.m_simulationParameterResultArgs.m_allowedCcdPenetration = m_data->m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration;
serverCmd.m_simulationParameterResultArgs.m_collisionFilterMode = m_data->m_broadphaseCollisionFilterCallback->m_filterMode;
serverCmd.m_simulationParameterResultArgs.m_deltaTime = m_data->m_physicsDeltaTime;
serverCmd.m_simulationParameterResultArgs.m_simulationTimestamp = m_data->m_simulationTimestamp;
serverCmd.m_simulationParameterResultArgs.m_contactBreakingThreshold = gContactBreakingThreshold;
serverCmd.m_simulationParameterResultArgs.m_contactSlop = m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop;
serverCmd.m_simulationParameterResultArgs.m_enableSAT = m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex;
@ -11718,7 +11722,9 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
gSubStep = m_data->m_physicsDeltaTime;
}
int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec * simTimeScalingFactor, maxSteps, gSubStep);
btScalar deltaTimeScaled = dtInSec * simTimeScalingFactor;
int numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, maxSteps, gSubStep);
m_data->m_simulationTimestamp += deltaTimeScaled;
gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;
if (numSteps)
@ -11797,6 +11803,7 @@ void PhysicsServerCommandProcessor::resetSimulation()
{
//clean up all data
m_data->m_simulationTimestamp = 0;
m_data->m_cachedVUrdfisualShapes.clear();
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD

1
examples/SharedMemory/SharedMemoryPublic.h
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@ -900,6 +900,7 @@ struct b3PluginArguments
struct b3PhysicsSimulationParameters
{
double m_deltaTime;
double m_simulationTimestamp; // Output only timestamp of simulation.
double m_gravityAcceleration[3];
int m_numSimulationSubSteps;
int m_numSolverIterations;

4
examples/ThirdPartyLibs/BussIK/Misc.cpp
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@ -21,6 +21,8 @@ subject to the following restrictions:
*/
#include <math.h>
#include <cmath>
#include "LinearR3.h"
#if 0
@ -121,7 +123,7 @@ float unit(float vin[3], float vout[3])
if (dist > 0.0)
{
dist = sqrt(dist);
dist = std::sqrt(dist);
f = 1. / dist;
vout[0] = f * vin[0];
vout[1] = f * vin[1];

10
examples/ThirdPartyLibs/Gwen/BaseRender.cpp
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@ -11,6 +11,8 @@
#include <math.h>
#include <cmath>
namespace Gwen
{
namespace Renderer
@ -87,16 +89,16 @@ void Base::Translate(int& x, int& y)
x += m_RenderOffset.x;
y += m_RenderOffset.y;
x = ceil(((float)x) * m_fScale);
y = ceil(((float)y) * m_fScale);
x = std::ceil(((float)x) * m_fScale);
y = std::ceil(((float)y) * m_fScale);
}
void Base::Translate(Gwen::Rect& rect)
{
Translate(rect.x, rect.y);
rect.w = ceil(((float)rect.w) * m_fScale);
rect.h = ceil(((float)rect.h) * m_fScale);
rect.w = std::ceil(((float)rect.w) * m_fScale);
rect.h = std::ceil(((float)rect.h) * m_fScale);
}
void Gwen::Renderer::Base::SetClipRegion(Gwen::Rect rect)

3
examples/ThirdPartyLibs/Gwen/Controls/Slider.cpp
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@ -5,6 +5,7 @@
*/
#include <math.h>
#include <cmath>
#include "Gwen/Controls/Slider.h"
using namespace Gwen;
@ -68,7 +69,7 @@ void Slider::SetValueInternal(float val)
{
if (m_bClampToNotches)
{
val = floor((val * (float)m_iNumNotches) + 0.5f);
val = std::floor((val * (float)m_iNumNotches) + 0.5f);
val /= (float)m_iNumNotches;
}

2
examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py
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@ -316,7 +316,7 @@ class KukaDiverseObjectEnv(KukaGymEnv):
if test:
urdf_pattern = os.path.join(self._urdfRoot, 'random_urdfs/*0/*.urdf')
else:
urdf_pattern = os.path.join(self._urdfRoot, 'random_urdfs/*[^0]/*.urdf')
urdf_pattern = os.path.join(self._urdfRoot, 'random_urdfs/*[1-9]/*.urdf')
found_object_directories = glob.glob(urdf_pattern)
total_num_objects = len(found_object_directories)
selected_objects = np.random.choice(np.arange(total_num_objects),

4
src/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
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@ -22,6 +22,8 @@ subject to the following restrictions:
#include <string.h> //for memset
#include <cmath>
const int kNoMerge = -1;
bool btBatchedConstraints::s_debugDrawBatches = false;
@ -520,7 +522,7 @@ static void writeGrainSizes(btBatchedConstraints* bc)
{
const Range& phase = bc->m_phases[iPhase];
int numBatches = phase.end - phase.begin;
float grainSize = floor((0.25f * numBatches / float(numThreads)) + 0.0f);
float grainSize = std::floor((0.25f * numBatches / float(numThreads)) + 0.0f);
bc->m_phaseGrainSize[iPhase] = btMax(1, int(grainSize));
}
}

5
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@ -19,6 +19,7 @@ Written by: Marcus Hennix
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btMinMax.h"
#include <cmath>
#include <new>
//#define CONETWIST_USE_OBSOLETE_SOLVER true
@ -842,7 +843,7 @@ void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone,
btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
swingLimit = sqrt(swingLimit2);
swingLimit = std::sqrt(swingLimit2);
}
// test!
@ -887,7 +888,7 @@ btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btSc
btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2);
norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1);
btScalar swingLimit2 = (1 + surfaceSlope2) / norm;
swingLimit = sqrt(swingLimit2);
swingLimit = std::sqrt(swingLimit2);
}
// convert into point in constraint space:

5
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
View File

@ -40,6 +40,7 @@ http://gimpact.sf.net
#include "btGeneric6DofSpring2Constraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
#include <cmath>
#include <new>
btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, RotateOrder rotOrder)
@ -845,7 +846,7 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
if (m_rbA.getInvMass() == 0) m = mB; else
if (m_rbB.getInvMass() == 0) m = mA; else
m = mA*mB / (mA + mB);
btScalar angularfreq = sqrt(ks / m);
btScalar angularfreq = btSqrt(ks / m);
//limit stiffness (the spring should not be sampled faster that the quarter of its angular frequency)
if (limot->m_springStiffnessLimited && 0.25 < angularfreq * dt)
@ -1085,7 +1086,7 @@ void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar targetOr
btScalar target = targetOrg + SIMD_PI;
if (1)
{
btScalar m = target - SIMD_2_PI * floor(target / SIMD_2_PI);
btScalar m = target - SIMD_2_PI * std::floor(target / SIMD_2_PI);
// handle boundary cases resulted from floating-point cut off:
{
if (m >= SIMD_2_PI)