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

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This commit is contained in:
Erwin Coumans 2015-10-28 13:44:30 -07:00
commit 6a6c0297fe
28 changed files with 838 additions and 187 deletions
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23
data/cube.mtl
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@ -1,11 +1,14 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl cube
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 0.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.5880 0.5880 0.5880
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
map_Ka cube.png
map_Kd cube.png
newmtl Material
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2

72
data/cube.obj
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@ -1,26 +1,48 @@
# Blender v2.66 (sub 1) OBJ File: ''
# www.blender.org
# cube.obj
#
o cube
mtllib cube.mtl
o Cube
v 1.000000 -1.000000 -1.000000
v 1.000000 -1.000000 1.000000
v -1.000000 -1.000000 1.000000
v -1.000000 -1.000000 -1.000000
v 1.000000 1.000000 -0.999999
v 0.999999 1.000000 1.000001
v -1.000000 1.000000 1.000000
v -1.000000 1.000000 -1.000000
usemtl Material
s off
f 1 2 3
f 5 8 7
f 1 5 6
f 2 6 3
f 3 7 4
f 5 1 4
f 4 1 3
f 6 5 7
f 2 1 6
f 6 7 3
f 7 8 4
f 8 5 4
v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
v -0.500000 0.500000 0.500000
v 0.500000 0.500000 0.500000
v -0.500000 0.500000 -0.500000
v 0.500000 0.500000 -0.500000
v -0.500000 -0.500000 -0.500000
v 0.500000 -0.500000 -0.500000
vt 0.000000 0.000000
vt 1.000000 0.000000
vt 0.000000 1.000000
vt 1.000000 1.000000
vn 0.000000 0.000000 1.000000
vn 0.000000 1.000000 0.000000
vn 0.000000 0.000000 -1.000000
vn 0.000000 -1.000000 0.000000
vn 1.000000 0.000000 0.000000
vn -1.000000 0.000000 0.000000
g cube
usemtl cube
s 1
f 1/1/1 2/2/1 3/3/1
f 3/3/1 2/2/1 4/4/1
s 2
f 3/1/2 4/2/2 5/3/2
f 5/3/2 4/2/2 6/4/2
s 3
f 5/4/3 6/3/3 7/2/3
f 7/2/3 6/3/3 8/1/3
s 4
f 7/1/4 8/2/4 1/3/4
f 1/3/4 8/2/4 2/4/4
s 5
f 2/1/5 8/2/5 4/3/5
f 4/3/5 8/2/5 6/4/5
s 6
f 7/1/6 1/2/6 5/3/6
f 5/3/6 1/2/6 3/4/6

16
examples/Collision/CollisionSdkC_Api.cpp
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@ -61,6 +61,22 @@ plCollisionShapeHandle plCreatePlaneShape(plCollisionSdkHandle collisionSdkHandl
return sdk->createPlaneShape(worldHandle,planeNormalX,planeNormalY,planeNormalZ,planeConstant);
}
plCollisionShapeHandle plCreateCapsuleShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plReal radius, plReal height, int capsuleAxis)
{
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
return sdk->createCapsuleShape(worldHandle,radius,height,capsuleAxis);
}
plCollisionShapeHandle plCreateCompoundShape(plCollisionSdkHandle collisionSdkHandle,plCollisionWorldHandle worldHandle)
{
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
return sdk->createCompoundShape(worldHandle);
}
void plAddChildShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn)
{
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
sdk->addChildShape(worldHandle,compoundShape,childShape,childPos,childOrn);
}
void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle shapeHandle)
{

11
examples/Collision/CollisionSdkC_Api.h
View File

@ -35,8 +35,11 @@ extern "C" {
/* Collision SDK */
extern plCollisionSdkHandle plCreateBullet2CollisionSdk();
#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
extern plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk();
#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
// extern plCollisionSdkHandle plCreateCustomCollisionSdk();
extern void plDeleteCollisionSdk(plCollisionSdkHandle collisionSdkHandle);
@ -63,14 +66,14 @@ extern "C" {
/* Collision Shape definition */
extern plCollisionShapeHandle plCreateSphereShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius);
extern plCollisionShapeHandle plNewCapsuleShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius, plReal height);
extern plCollisionShapeHandle plCreateCapsuleShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius, plReal height, int capsuleAxis);
extern plCollisionShapeHandle plCreatePlaneShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle,
plReal planeNormalX,
plReal planeNormalY,
plReal planeNormalZ,
plReal planeConstant);
extern plCollisionShapeHandle plNewCompoundShape(plCollisionSdkHandle sdk,plCollisionWorldHandle worldHandle);
extern void plAddChildShape(plCollisionSdkHandle sdk, plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
extern plCollisionShapeHandle plCreateCompoundShape(plCollisionSdkHandle sdk,plCollisionWorldHandle worldHandle);
extern void plAddChildShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
extern void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);

92
examples/Collision/CollisionTutorialBullet2.cpp
View File

@ -22,11 +22,18 @@
///todo: use the 'userData' to prevent this use of global variables
static int gTotalPoints = 0;
const int sPointCapacity = 10000;
const int sNumSpheres = 128;
const int sNumCompounds = 10;
const int sNumSpheres = 10;
lwContactPoint pointsOut[sPointCapacity];
int numNearCallbacks = 0;
static btVector4 sColors[4] =
{
btVector4(1,0.7,0.7,1),
btVector4(1,1,0.7,1),
btVector4(0.7,1,0.7,1),
btVector4(0.7,1,1,1),
};
void myNearCallback(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB)
{
@ -69,23 +76,25 @@ public:
m_counter(0),
m_timeSeriesCanvas0(0)
{
int numBodies = 1;
gTotalPoints = 0;
m_app->setUpAxis(1);
m_app->m_renderer->enableBlend(true);
switch (m_tutorialIndex)
{
case TUT_SPHERE_SPHERE_RTB3:
case TUT_SPHERE_SPHERE_BULLET2:
case TUT_SPHERE_PLANE_RTB3:
case TUT_SPHERE_PLANE_BULLET2:
{
numBodies=10;
if (m_tutorialIndex==TUT_SPHERE_SPHERE_BULLET2)
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
{
m_collisionSdkHandle = plCreateBullet2CollisionSdk();
} else
{
#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
m_collisionSdkHandle = plCreateRealTimeBullet3CollisionSdk();
#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
}
if (m_collisionSdkHandle)
{
@ -97,29 +106,54 @@ public:
//create objects, do query etc
{
float radius = 1.f;
plCollisionShapeHandle colShape = plCreateSphereShape(m_collisionSdkHandle, m_collisionWorldHandle,radius);
void* userPointer = 0;
int sphereGfxShapeId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH);//, textureIndex);
for (int i=0;i<sNumSpheres;i++)
void* userPointer = 0;
{
btVector3 pos(i*1.5,btScalar(0.8),0);
btQuaternion orn(0,0,0,1);
btVector4 color(0,1,0,0.8);
btVector3 scaling(radius,radius,radius);
for (int j=0;j<sNumCompounds;j++)
{
plCollisionShapeHandle compoundShape = plCreateCompoundShape(m_collisionSdkHandle,m_collisionWorldHandle);
for (int i=0;i<sNumSpheres;i++)
{
btVector3 childPos(i*1.5,0,0);
btQuaternion childOrn(0,0,0,1);
btVector3 scaling(radius,radius,radius);
int gfxIndex = m_app->m_renderer->registerGraphicsInstance(sphereGfxShapeId,pos, orn,color,scaling);
plCollisionShapeHandle childShape = plCreateSphereShape(m_collisionSdkHandle, m_collisionWorldHandle,radius);
plAddChildShape(m_collisionSdkHandle,m_collisionWorldHandle,compoundShape, childShape,childPos,childOrn);
plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, gfxIndex,colShape,pos,orn);
colliders.push_back(colObj);
plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObj);
//m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
}
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
{
btCollisionShape* colShape = (btCollisionShape*) compoundShape;
m_guiHelper->createCollisionShapeGraphicsObject(colShape);
} else
{
}
{
btVector3 pos(j*sNumSpheres*1.5,-2.4,0);
btQuaternion orn(0,0,0,1);
plCollisionObjectHandle colObjHandle = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, -1,compoundShape,pos,orn);
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
{
btCollisionObject* colObj = (btCollisionObject*) colObjHandle;
btVector4 color=sColors[j&3];
m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
colliders.push_back(colObjHandle);
plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObjHandle);
}
}
}
}
}
{
plCollisionShapeHandle colShape = plCreatePlaneShape(m_collisionSdkHandle, m_collisionWorldHandle,0,1,0,0);
plCollisionShapeHandle colShape = plCreatePlaneShape(m_collisionSdkHandle, m_collisionWorldHandle,0,1,0,-3.5);
btVector3 pos(0,0,0);
btQuaternion orn(0,0,0,1);
void* userPointer = 0;
@ -140,6 +174,7 @@ public:
//plDeleteShape(m_collisionSdkHandle,colShape);
}
/*
m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Constant Velocity");
@ -151,11 +186,7 @@ public:
break;
}
case TUT_SPHERE_PLANE_RTB3:
case TUT_SPHERE_PLANE_BULLET2:
{
break;
}
default:
{
@ -169,7 +200,7 @@ public:
{
int boxId = m_app->registerCubeShape(100,1,100);
int boxId = m_app->registerCubeShape(100,0.01,100);
b3Vector3 pos = b3MakeVector3(0,-3.5,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = b3MakeVector4(1,1,1,1);
@ -245,7 +276,10 @@ public:
numNearCallbacks = 0;
{
BT_PROFILE("plWorldCollide");
plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
if (m_collisionSdkHandle && m_collisionWorldHandle)
{
plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
}
}
#if 0

6
examples/Collision/CollisionTutorialBullet2.h
View File

@ -3,10 +3,8 @@
enum EnumCollisionTutorialTypes
{
TUT_SPHERE_SPHERE_BULLET2=0,
TUT_SPHERE_PLANE_BULLET2,
TUT_SPHERE_SPHERE_RTB3,
TUT_SPHERE_PLANE_RTB3,
TUT_SPHERE_PLANE_BULLET2=0,
TUT_SPHERE_PLANE_RTB3,
};
class CommonExampleInterface* CollisionTutorialBullet2CreateFunc(struct CommonExampleOptions& options);

46
examples/Collision/Internal/Bullet2CollisionSdk.cpp
View File

@ -75,6 +75,52 @@ plCollisionShapeHandle Bullet2CollisionSdk::createPlaneShape(plCollisionWorldHan
return (plCollisionShapeHandle) planeShape;
}
plCollisionShapeHandle Bullet2CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
plReal radius,
plReal height,
int capsuleAxis)
{
btCapsuleShape* capsule = 0;
switch (capsuleAxis)
{
case 0:
{
capsule = new btCapsuleShapeX(radius,height);
break;
}
case 1:
{
capsule = new btCapsuleShape(radius,height);
break;
}
case 2:
{
capsule = new btCapsuleShapeZ(radius,height);
break;
}
default:
{
btAssert(0);
}
}
return (plCollisionShapeHandle)capsule;
}
plCollisionShapeHandle Bullet2CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
{
return (plCollisionShapeHandle) new btCompoundShape();
}
void Bullet2CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShapeHandle, plCollisionShapeHandle childShapeHandle,plVector3 childPos,plQuaternion childOrn)
{
btCompoundShape* compound = (btCompoundShape*) compoundShapeHandle;
btCollisionShape* childShape = (btCollisionShape*) childShapeHandle;
btTransform localTrans;
localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2]));
localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3]));
compound->addChildShape(localTrans,childShape);
}
void Bullet2CollisionSdk::deleteShape(plCollisionWorldHandle /*worldHandle*/, plCollisionShapeHandle shapeHandle)
{

8
examples/Collision/Internal/Bullet2CollisionSdk.h
View File

@ -25,6 +25,14 @@ public:
plReal planeNormalZ,
plReal planeConstant);
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
plReal radius,
plReal height,
int capsuleAxis);
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle);
virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn);
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);

8
examples/Collision/Internal/CollisionSdkInterface.h
View File

@ -23,6 +23,14 @@ public:
plReal planeNormalZ,
plReal planeConstant) = 0;
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
plReal radius,
plReal height,
int capsuleAxis) = 0;
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle) = 0;
virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn)=0;
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape) = 0;
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)=0;

55
examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp
View File

@ -3,6 +3,7 @@
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
//convert the opaque pointer to int
struct RTB3_ColliderOpaque2Int
@ -26,9 +27,9 @@ enum RTB3ShapeTypes
{
RTB3_SHAPE_SPHERE=0,
RTB3_SHAPE_PLANE,
// RTB3_SHAPE_CAPSULE,
RTB3_SHAPE_CAPSULE,
MAX_NUM_SINGLE_SHAPE_TYPES,
RTB3_SHAPE_COMPOUND_INTERNAL
RTB3_SHAPE_COMPOUND_INTERNAL,
};
@ -48,6 +49,8 @@ struct RTB3CollisionWorld
b3AlignedObjectArray<b3Collidable> m_collidables;
b3AlignedObjectArray<b3GpuChildShape> m_childShapes;
b3AlignedObjectArray<b3Aabb> m_localSpaceAabbs;
b3AlignedObjectArray<b3Aabb> m_worldSpaceAabbs;
b3AlignedObjectArray<b3GpuFace> m_planeFaces;
b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
int m_nextFreeShapeIndex;
@ -149,7 +152,49 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollision
return 0;
}
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
plReal radius,
plReal height,
int capsuleAxis)
{
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
{
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
shape.m_childPosition.setZero();
shape.m_childOrientation.setValue(0,0,0,1);
shape.m_radius = radius;
shape.m_height = height;
shape.m_shapeIndex = capsuleAxis;
shape.m_shapeType = RTB3_SHAPE_CAPSULE;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
}
return 0;
}
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
{
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
{
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
shape.m_childPosition.setZero();
shape.m_childOrientation.setValue(0,0,0,1);
shape.m_numChildShapes = 0;
shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
}
return 0;
}
void RealTimeBullet3CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn)
{
}
void RealTimeBullet3CollisionSdk::deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape)
{
///todo
@ -203,7 +248,7 @@ plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject( plC
}
case RTB3_SHAPE_COMPOUND_INTERNAL:
{
b3Assert(0);
break;
}
default:
@ -396,8 +441,8 @@ int RealTimeBullet3CollisionSdk::collide(plCollisionWorldHandle worldHandle,plCo
{
if (contactCache.numAddedPoints<pointCapacity)
{
funcTbl_detectCollision[world->m_childShapes[colA.m_shapeIndex+i].m_shapeType]
[world->m_childShapes[colB.m_shapeIndex+j].m_shapeType](world,colAIndex,colA.m_shapeIndex+i,colBIndex,colB.m_shapeIndex+j,&contactCache);
//funcTbl_detectCollision[world->m_childShapes[colA.m_shapeIndex+i].m_shapeType]
// [world->m_childShapes[colB.m_shapeIndex+j].m_shapeType](world,colAIndex,colA.m_shapeIndex+i,colBIndex,colB.m_shapeIndex+j,&contactCache);
}
}
return contactCache.numAddedPoints;

7
examples/Collision/Internal/RealTimeBullet3CollisionSdk.h
View File

@ -23,6 +23,13 @@ public:
plReal planeNormalY,
plReal planeNormalZ,
plReal planeConstant);
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
plReal radius,
plReal height,
int capsuleAxis);
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle);
virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn);
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);

8
examples/ExampleBrowser/ExampleEntries.cpp
View File

@ -117,11 +117,9 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Spring constraint","A rigid body with a spring constraint attached", Dof6ConstraintTutorialCreateFunc,0),
ExampleEntry(0,"Collision"),
ExampleEntry(1, "Sphere-Sphere C-API (Bullet2)", "Collision C-API using Bullet 2.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_SPHERE_BULLET2),
ExampleEntry(1, "Sphere-Plane C-API (Bullet2)", "Collision C-API using Bullet 2.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_BULLET2),
ExampleEntry(1, "Sphere-Sphere C-API (Bullet3)", "Collision C-API using Bullet 3.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_SPHERE_RTB3),
ExampleEntry(1, "Sphere-Plane C-API (Bullet3)", "Collision C-API using Bullet 3.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_RTB3),
ExampleEntry(1, "Spheres & Plane C-API (Bullet2)", "Collision C-API using Bullet 2.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_BULLET2),
//ExampleEntry(1, "Spheres & Plane C-API (Bullet3)", "Collision C-API using Bullet 3.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_RTB3),
#ifdef INCLUDE_CLOTH_DEMOS

4
examples/Importers/ImportObjDemo/ImportObjExample.cpp
View File

@ -59,7 +59,7 @@ void ImportObjSetup::initPhysics()
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
const char* fileName = "sphere8.obj";//sponza_closed.obj";//sphere8.obj";
const char* fileName = "cube.obj";//sphere8.obj";//sponza_closed.obj";//sphere8.obj";
char relativeFileName[1024];
if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
{
@ -70,7 +70,7 @@ void ImportObjSetup::initPhysics()
btVector3 shift(0,0,0);
btVector3 scaling(10,10,10);
btVector3 scaling(1,1,1);
// int index=10;
{

82
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@ -95,6 +95,7 @@ int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_DELTA_TIME;
command->m_physSimParamArgs.m_deltaTime = timeStep;
return 0;
}
@ -190,7 +191,7 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
}
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient)
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
@ -198,7 +199,7 @@ b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandl
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_ACTUAL_STATE;
command->m_requestActualStateInformationCommandArgument.m_bodyUniqueId = 0;
command->m_requestActualStateInformationCommandArgument.m_bodyUniqueId = bodyUniqueId;
return (b3SharedMemoryCommandHandle) command;
}
@ -245,6 +246,45 @@ int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle
return 0;
}
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_HALF_EXTENTS;
command->m_createBoxShapeArguments.m_halfExtentsX = halfExtentsX;
command->m_createBoxShapeArguments.m_halfExtentsY = halfExtentsY;
command->m_createBoxShapeArguments.m_halfExtentsZ = halfExtentsZ;
return 0;
}
int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle commandHandle, double mass)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_MASS;
command->m_createBoxShapeArguments.m_mass = mass;
return 0;
}
int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandHandle, int collisionShapeType)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE;
command->m_createBoxShapeArguments.m_collisionShapeType = collisionShapeType;
return 0;
}
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@ -313,30 +353,20 @@ int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHand
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
b3JointInfo info;
b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId,jointIndex, &info);
command->m_initPoseArgs.m_initialStateQ[info.m_qIndex] = jointPosition;
btAssert((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0);
if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0)
{
command->m_initPoseArgs.m_initialStateQ[info.m_qIndex] = jointPosition;
}
return 0;
}
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_HALF_EXTENTS;
command->m_createBoxShapeArguments.m_halfExtentsX = halfExtentsX;
command->m_createBoxShapeArguments.m_halfExtentsY = halfExtentsY;
command->m_createBoxShapeArguments.m_halfExtentsZ = halfExtentsZ;
return 0;
}
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient)
@ -393,6 +423,7 @@ b3PhysicsClientHandle b3ConnectSharedMemory(int key)
return (b3PhysicsClientHandle ) cl;
}
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
@ -436,6 +467,11 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
bodyId = status->m_dataStreamArguments.m_bodyUniqueId;
break;
}
case CMD_RIGID_BODY_CREATION_COMPLETED:
{
bodyId = status->m_rigidBodyCreateArgs.m_bodyUniqueId;
break;
}
default:
{
b3Assert(0);
@ -447,7 +483,11 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
int b3CanSubmitCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
return (int)cl->canSubmitCommand();
if (cl)
{
return (int)cl->canSubmitCommand();
}
return false;
}
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)

7
examples/SharedMemory/PhysicsClientC_API.h
View File

@ -15,7 +15,7 @@ B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
extern "C" {
#endif
///make sure to start the server first, before connecting client to physics server
///make sure to start the server first, before connecting client to a physics server over shared memory or UDP
b3PhysicsClientHandle b3ConnectSharedMemory(int key);
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
@ -84,6 +84,9 @@ b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle ph
int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandHandle, int collisionShapeType);
///Initialize (teleport) the pose of a body/robot. You can individually set the base position, base orientation and joint angles.
///This will set all velocities of base and joints to zero.
@ -97,7 +100,7 @@ b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle phys
int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable);
int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient);
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
int b3PickBody(struct SharedMemoryCommand *command,

27
examples/SharedMemory/PhysicsClientExample.cpp
View File

@ -194,7 +194,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
case CMD_LOAD_URDF:
{
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "r2d2.urdf");//kuka_lwr/kuka.urdf");
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_lwr/kuka.urdf");
//setting the initial position, orientation and other arguments are optional
double startPosX = 0;
@ -214,10 +214,26 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_CREATE_RIGID_BODY:
{
b3SharedMemoryCommandHandle commandHandle = b3CreateBoxShapeCommandInit(m_physicsClientHandle);
b3CreateBoxCommandSetStartPosition(commandHandle,0,0,0);
b3CreateBoxCommandSetMass(commandHandle,1);
b3CreateBoxCommandSetCollisionShapeType(commandHandle,COLLISION_SHAPE_TYPE_CYLINDER_Y);
double radius = 0.2;
double halfHeight = 0.5;
b3CreateBoxCommandSetHalfExtents(commandHandle,radius,halfHeight,radius);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
b3SharedMemoryCommandHandle commandHandle = b3RequestActualStateCommandInit(m_physicsClientHandle);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
if (m_selectedBody>=0)
{
b3SharedMemoryCommandHandle commandHandle = b3RequestActualStateCommandInit(m_physicsClientHandle,m_selectedBody);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
break;
};
@ -360,6 +376,7 @@ void PhysicsClientExample::createButtons()
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
createButton("Initialize Pose",CMD_INIT_POSE, isTrigger);
@ -515,8 +532,8 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
enqueueCommand(CMD_SEND_DESIRED_STATE);
enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
enqueueCommand(CMD_REQUEST_DEBUG_LINES);
enqueueCommand(CMD_REQUEST_ACTUAL_STATE);
//enqueueCommand(CMD_REQUEST_DEBUG_LINES);
//enqueueCommand(CMD_REQUEST_ACTUAL_STATE);
}
}
}

5
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@ -450,6 +450,11 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break;
}
case CMD_RIGID_BODY_CREATION_COMPLETED:
{
break;
}
case CMD_DEBUG_LINES_OVERFLOW_FAILED: {
b3Warning("Error receiving debug lines");
m_data->m_debugLinesFrom.resize(0);

115
examples/SharedMemory/PhysicsLoopBack.cpp Normal file
View File

@ -0,0 +1,115 @@
#include "PhysicsLoopBack.h"
#include "PhysicsServer.h"
#include "PhysicsClientSharedMemory.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
struct PhysicsLoopBackInternalData
{
PhysicsClientSharedMemory* m_physicsClient;
PhysicsServerSharedMemory* m_physicsServer;
DummyGUIHelper m_noGfx;
PhysicsLoopBackInternalData()
:m_physicsClient(0),
m_physicsServer(0)
{
}
};
PhysicsLoopBack::PhysicsLoopBack()
{
m_data = new PhysicsLoopBackInternalData;
m_data->m_physicsServer = new PhysicsServerSharedMemory();
m_data->m_physicsClient = new PhysicsClientSharedMemory();
}
PhysicsLoopBack::~PhysicsLoopBack()
{
delete m_data->m_physicsClient;
delete m_data->m_physicsServer;
delete m_data;
}
// return true if connection succesfull, can also check 'isConnected'
bool PhysicsLoopBack::connect()
{
m_data->m_physicsServer->connectSharedMemory(&m_data->m_noGfx);
m_data->m_physicsClient->connect();
return m_data->m_physicsClient->isConnected();
}
////todo: rename to 'disconnect'
void PhysicsLoopBack::disconnectSharedMemory()
{
m_data->m_physicsClient->disconnectSharedMemory();
m_data->m_physicsServer->disconnectSharedMemory(true);
}
bool PhysicsLoopBack::isConnected() const
{
return m_data->m_physicsClient->isConnected();
}
// return non-null if there is a status, nullptr otherwise
const SharedMemoryStatus* PhysicsLoopBack::processServerStatus()
{
m_data->m_physicsServer->processClientCommands();
return m_data->m_physicsClient->processServerStatus();
}
SharedMemoryCommand* PhysicsLoopBack::getAvailableSharedMemoryCommand()
{
return m_data->m_physicsClient->getAvailableSharedMemoryCommand();
}
bool PhysicsLoopBack::canSubmitCommand() const
{
return m_data->m_physicsClient->canSubmitCommand();
}
bool PhysicsLoopBack::submitClientCommand(const struct SharedMemoryCommand& command)
{
return m_data->m_physicsClient->submitClientCommand(command);
}
int PhysicsLoopBack::getNumJoints(int bodyIndex) const
{
return m_data->m_physicsClient->getNumJoints(bodyIndex);
}
void PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
{
m_data->m_physicsClient->getJointInfo(bodyIndex,jointIndex,info);
}
///todo: move this out of the
void PhysicsLoopBack::setSharedMemoryKey(int key)
{
m_data->m_physicsServer->setSharedMemoryKey(key);
m_data->m_physicsClient->setSharedMemoryKey(key);
}
void PhysicsLoopBack::uploadBulletFileToSharedMemory(const char* data, int len)
{
m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
}
int PhysicsLoopBack::getNumDebugLines() const
{
return m_data->m_physicsClient->getNumDebugLines();
}
const float* PhysicsLoopBack::getDebugLinesFrom() const
{
return m_data->m_physicsClient->getDebugLinesFrom();
}
const float* PhysicsLoopBack::getDebugLinesTo() const
{
return m_data->m_physicsClient->getDebugLinesTo();
}
const float* PhysicsLoopBack::getDebugLinesColor() const
{
return m_data->m_physicsClient->getDebugLinesColor();
}

58
examples/SharedMemory/PhysicsLoopBack.h Normal file
View File

@ -0,0 +1,58 @@
#ifndef PHYSICS_LOOP_BACK_H
#define PHYSICS_LOOP_BACK_H
//#include "SharedMemoryCommands.h"
#include "PhysicsClient.h"
#include "LinearMath/btVector3.h"
///todo: the PhysicsClient API was designed with shared memory in mind,
///now it become more general we need to move out the shared memory specifics away
///for example naming [disconnectSharedMemory -> disconnect] [ move setSharedMemoryKey to shared memory specific subclass ]
class PhysicsLoopBack : public PhysicsClient
{
struct PhysicsLoopBackInternalData* m_data;
public:
PhysicsLoopBack();
virtual ~PhysicsLoopBack();
// return true if connection succesfull, can also check 'isConnected'
virtual bool connect();
////todo: rename to 'disconnect'
virtual void disconnectSharedMemory();
virtual bool isConnected() const;
// return non-null if there is a status, nullptr otherwise
virtual const SharedMemoryStatus* processServerStatus();
virtual SharedMemoryCommand* getAvailableSharedMemoryCommand();
virtual bool canSubmitCommand() const;
virtual bool submitClientCommand(const struct SharedMemoryCommand& command);
virtual int getNumJoints(int bodyIndex) const;
virtual void getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
///todo: move this out of the
virtual void setSharedMemoryKey(int key);
void uploadBulletFileToSharedMemory(const char* data, int len);
virtual int getNumDebugLines() const;
virtual const float* getDebugLinesFrom() const;
virtual const float* getDebugLinesTo() const;
virtual const float* getDebugLinesColor() const;
};
#endif //PHYSICS_LOOP_BACK_H

19
examples/SharedMemory/PhysicsLoopBackC_API.h Normal file
View File

@ -0,0 +1,19 @@
#ifndef PHYSICS_LOOPBACK_C_API_H
#define PHYSICS_LOOPBACK_C_API_H
#include "PhysicsClientC_API.h"
#ifdef __cplusplus
extern "C" {
#endif
///think more about naming. The b3ConnectPhysicsLoopback
b3PhysicsClientHandle b3ConnectPhysicsLoopback(int key);
#ifdef __cplusplus
}
#endif
#endif //PHYSICS_LOOPBACK_C_API_H

15
examples/SharedMemory/PhysicsLoopBackC_Api.cpp Normal file
View File

@ -0,0 +1,15 @@
#include "PhysicsLoopBackC_API.h"
#include "PhysicsLoopBack.h"
//think more about naming. The b3ConnectPhysicsLoopback
b3PhysicsClientHandle b3ConnectPhysicsLoopback(int key)
{
PhysicsLoopBack* loopBack = new PhysicsLoopBack();
loopBack->setSharedMemoryKey(key);
bool connected = loopBack->connect();
return (b3PhysicsClientHandle )loopBack;
}

148
examples/SharedMemory/PhysicsServer.cpp
View File

@ -79,12 +79,14 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw
struct InteralBodyData
{
btMultiBody* m_multiBody;
btRigidBody* m_rigidBody;
int m_testData;
btTransform m_rootLocalInertialFrame;
InteralBodyData()
:m_multiBody(0),
m_rigidBody(0),
m_testData(0)
{
m_rootLocalInertialFrame.setIdentity();
@ -1089,14 +1091,10 @@ void PhysicsServerSharedMemory::processClientCommands()
}
int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId;
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
btMultiBody* mb = 0;
if (body)
if (body && body->m_multiBody)
{
mb = body->m_multiBody;
}
if (mb)
{
btMultiBody* mb = body->m_multiBody;
SharedMemoryStatus& serverCmd = m_data->createServerStatus(CMD_ACTUAL_STATE_UPDATE_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
@ -1192,10 +1190,48 @@ void PhysicsServerSharedMemory::processClientCommands()
} else
{
if (body && body->m_rigidBody)
{
btRigidBody* rb = body->m_rigidBody;
SharedMemoryStatus& serverCmd = m_data->createServerStatus(CMD_ACTUAL_STATE_UPDATE_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
int totalDegreeOfFreedomQ = 0;
int totalDegreeOfFreedomU = 0;
b3Warning("Request state but no multibody available");
SharedMemoryStatus& serverCmd = m_data->createServerStatus(CMD_ACTUAL_STATE_UPDATE_FAILED,clientCmd.m_sequenceNumber,timeStamp);
m_data->submitServerStatus(serverCmd);
btTransform tr = rb->getWorldTransform();
//base position in world space, carthesian
serverCmd.m_sendActualStateArgs.m_actualStateQ[0] = tr.getOrigin()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQ[1] = tr.getOrigin()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQ[2] = tr.getOrigin()[2];
//base orientation, quaternion x,y,z,w, in world space, carthesian
serverCmd.m_sendActualStateArgs.m_actualStateQ[3] = tr.getRotation()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQ[4] = tr.getRotation()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQ[5] = tr.getRotation()[2];
serverCmd.m_sendActualStateArgs.m_actualStateQ[6] = tr.getRotation()[3];
totalDegreeOfFreedomQ +=7;//pos + quaternion
//base linear velocity (in world space, carthesian)
serverCmd.m_sendActualStateArgs.m_actualStateQdot[0] = rb->getLinearVelocity()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[1] = rb->getLinearVelocity()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[2] = rb->getLinearVelocity()[2];
//base angular velocity (in world space, carthesian)
serverCmd.m_sendActualStateArgs.m_actualStateQdot[3] = rb->getAngularVelocity()[0];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[4] = rb->getAngularVelocity()[1];
serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = rb->getAngularVelocity()[2];
totalDegreeOfFreedomU += 6;//3 linear and 3 angular DOF
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU;
m_data->submitServerStatus(serverCmd);
} else
{
b3Warning("Request state but no multibody or rigid body available");
SharedMemoryStatus& serverCmd = m_data->createServerStatus(CMD_ACTUAL_STATE_UPDATE_FAILED,clientCmd.m_sequenceNumber,timeStamp);
m_data->submitServerStatus(serverCmd);
}
}
break;
@ -1246,7 +1282,7 @@ void PhysicsServerSharedMemory::processClientCommands()
{
b3Printf("Server Init Pose not implemented yet");
}
int bodyUniqueId = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId;
int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId;
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
if (body && body->m_multiBody)
@ -1301,13 +1337,15 @@ void PhysicsServerSharedMemory::processClientCommands()
m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
}
deleteDynamicsWorld();
createEmptyDynamicsWorld();
createEmptyDynamicsWorld();
m_data->exitHandles();
m_data->initHandles();
SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_RESET_SIMULATION_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
m_data->submitServerStatus(serverCmd);
break;
}
case CMD_CREATE_RIGID_BODY:
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
btVector3 halfExtents(1,1,1);
@ -1338,16 +1376,92 @@ void PhysicsServerSharedMemory::processClientCommands()
clientCmd.m_createBoxShapeArguments.m_initialOrientation[3]));
}
btScalar mass = 0.f;
if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_MASS)
{
mass = clientCmd.m_createBoxShapeArguments.m_mass;
}
int shapeType = COLLISION_SHAPE_TYPE_BOX;
if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE)
{
shapeType = clientCmd.m_createBoxShapeArguments.m_collisionShapeType;
}
btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld);
m_data->m_worldImporters.push_back(worldImporter);
btCollisionShape* shape = worldImporter->createBoxShape(halfExtents);
btScalar mass = 0.f;
btCollisionShape* shape = 0;
switch (shapeType)
{
case COLLISION_SHAPE_TYPE_CYLINDER_X:
{
btScalar radius = halfExtents[1];
btScalar height = halfExtents[0];
shape = worldImporter->createCylinderShapeX(radius,height);
break;
}
case COLLISION_SHAPE_TYPE_CYLINDER_Y:
{
btScalar radius = halfExtents[0];
btScalar height = halfExtents[1];
shape = worldImporter->createCylinderShapeY(radius,height);
break;
}
case COLLISION_SHAPE_TYPE_CYLINDER_Z:
{
btScalar radius = halfExtents[1];
btScalar height = halfExtents[2];
shape = worldImporter->createCylinderShapeZ(radius,height);
break;
}
case COLLISION_SHAPE_TYPE_CAPSULE_X:
{
btScalar radius = halfExtents[1];
btScalar height = halfExtents[0];
shape = worldImporter->createCapsuleShapeX(radius,height);
break;
}
case COLLISION_SHAPE_TYPE_CAPSULE_Y:
{
btScalar radius = halfExtents[0];
btScalar height = halfExtents[1];
shape = worldImporter->createCapsuleShapeY(radius,height);
break;
}
case COLLISION_SHAPE_TYPE_CAPSULE_Z:
{
btScalar radius = halfExtents[1];
btScalar height = halfExtents[2];
shape = worldImporter->createCapsuleShapeZ(radius,height);
break;
}
case COLLISION_SHAPE_TYPE_SPHERE:
{
btScalar radius = halfExtents[0];
shape = worldImporter->createSphereShape(radius);
break;
}
case COLLISION_SHAPE_TYPE_BOX:
default:
{
shape = worldImporter->createBoxShape(halfExtents);
}
}
bool isDynamic = (mass>0);
worldImporter->createRigidBody(isDynamic,mass,startTrans,shape,0);
btRigidBody* rb = worldImporter->createRigidBody(isDynamic,mass,startTrans,shape,0);
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_RIGID_BODY_CREATION_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
int bodyUniqueId = m_data->allocHandle();
InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
serverCmd.m_rigidBodyCreateArgs.m_bodyUniqueId = bodyUniqueId;
bodyHandle->m_rootLocalInertialFrame.setIdentity();
bodyHandle->m_rigidBody = rb;
m_data->submitServerStatus(serverCmd);
break;

12
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -202,7 +202,9 @@ enum EnumBoxShapeFlags
{
BOX_SHAPE_HAS_INITIAL_POSITION=1,
BOX_SHAPE_HAS_INITIAL_ORIENTATION=2,
BOX_SHAPE_HAS_HALF_EXTENTS=4
BOX_SHAPE_HAS_HALF_EXTENTS=4,
BOX_SHAPE_HAS_MASS=8,
BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE=16,
};
///This command will be replaced to allow arbitrary collision shape types
struct CreateBoxShapeArgs
@ -211,6 +213,9 @@ struct CreateBoxShapeArgs
double m_halfExtentsY;
double m_halfExtentsZ;
double m_mass;
int m_collisionShapeType;//see SharedMemoryPublic.h
double m_initialPosition[3];
double m_initialOrientation[4];
};
@ -240,6 +245,10 @@ struct SharedMemoryCommand
};
};
struct RigidBodyCreateArgs
{
int m_bodyUniqueId;
};
struct SharedMemoryStatus
{
@ -253,6 +262,7 @@ struct SharedMemoryStatus
struct BulletDataStreamArgs m_dataStreamArguments;
struct SendActualStateArgs m_sendActualStateArgs;
struct SendDebugLinesArgs m_sendDebugLinesArgs;
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
};
};

17
examples/SharedMemory/SharedMemoryPublic.h
View File

@ -9,8 +9,8 @@ enum EnumSharedMemoryClientCommand
CMD_SEND_BULLET_DATA_STREAM,
CMD_CREATE_BOX_COLLISION_SHAPE,
// CMD_DELETE_BOX_COLLISION_SHAPE,
// CMD_CREATE_RIGID_BODY,
// CMD_DELETE_RIGID_BODY,
CMD_CREATE_RIGID_BODY,
CMD_DELETE_RIGID_BODY,
CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors
// CMD_REQUEST_SENSOR_MEASUREMENTS,//see CMD_REQUEST_ACTUAL_STATE/CMD_ACTUAL_STATE_UPDATE_COMPLETED
CMD_INIT_POSE,
@ -57,6 +57,19 @@ enum JointInfoFlags
{
JOINT_HAS_MOTORIZED_POWER=1,
};
enum
{
COLLISION_SHAPE_TYPE_BOX=1,
COLLISION_SHAPE_TYPE_CYLINDER_X,
COLLISION_SHAPE_TYPE_CYLINDER_Y,
COLLISION_SHAPE_TYPE_CYLINDER_Z,
COLLISION_SHAPE_TYPE_CAPSULE_X,
COLLISION_SHAPE_TYPE_CAPSULE_Y,
COLLISION_SHAPE_TYPE_CAPSULE_Z,
COLLISION_SHAPE_TYPE_SPHERE
};
struct b3JointInfo
{
char* m_linkName;

32
examples/ThirdPartyLibs/Gwen/Gwen.h
View File

@ -1,27 +1,17 @@
/*
GWEN
Copyright (c) 2010 Facepunch Studios
GWEN modified and adapted for the Bullet Physics Library
Using the Zlib license with permission from Garry Newman
MIT License
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
Copyright (c) 2010 Facepunch Studios
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef GWEN_GWEN_H

6
src/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h
View File

@ -46,7 +46,11 @@ struct b3GpuChildShape
{
b3Float4 m_childPosition;
b3Quat m_childOrientation;
int m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS
union
{
int m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS
int m_capsuleAxis;
};
union
{
float m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES

55
test/SharedMemory/premake4.lua
View File

@ -1,4 +1,4 @@
project ("Test_SharedMemoryPhysicsClient")
project ("Test_SharedMemoryPhysicsClient")
language "C++"
kind "ConsoleApp"
@ -25,4 +25,57 @@
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
}
project ("Test_PhysicsLoopBack")
language "C++"
kind "ConsoleApp"
includedirs {"../../src", "../../examples/SharedMemory",
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_LOOP_BACK"}
links {
"BulletFileLoader",
"BulletWorldImporter",
"Bullet3Common",
"BulletDynamics",
"BulletCollision",
"LinearMath"
}
files {
"test.c",
"../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsLoopback.cpp",
"../../examples/SharedMemory/PhysicsLoopback.h",
"../../examples/SharedMemory/PhysicsLoopbackC_Api.cpp",
"../../examples/SharedMemory/PhysicsLoopbackC_Api.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
"../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
}

71
test/SharedMemory/test.c
View File

@ -1,13 +1,14 @@
//#include "SharedMemoryCommands.h"
#include "PhysicsClientC_API.h"
#ifdef PHYSICS_LOOP_BACK
#include "PhysicsLoopbackC_API.h"
#endif //PHYSICS_LOOP_BACK
#include "SharedMemoryPublic.h"
#include "Bullet3Common/b3Logging.h"
#include <string.h>
struct test
{
int unused;
};
#include <stdio.h>
@ -24,12 +25,18 @@ int main(int argc, char* argv[])
int imuLinkIndex = -1;
b3PhysicsClientHandle sm;
b3PhysicsClientHandle sm=0;
int bodyIndex = -1;
printf("hello world\n");
#ifdef PHYSICS_LOOP_BACK
sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
#else
sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
#endif
if (b3CanSubmitCommand(sm))
{
{
@ -114,7 +121,7 @@ int main(int argc, char* argv[])
{
int statusType;
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(sm);
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(sm,bodyIndex);
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
@ -150,35 +157,35 @@ int main(int argc, char* argv[])
}
{
b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm));
}
b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm,bodyIndex));
if (sensorJointIndexLeft>=0)
{
struct b3JointSensorState sensorState;
b3GetJointState(sm,state,sensorJointIndexLeft,&sensorState);
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexLeft,
sensorState.m_jointForceTorque[0],
sensorState.m_jointForceTorque[1],
sensorState.m_jointForceTorque[2]);
}
if (sensorJointIndexRight>=0)
{
struct b3JointSensorState sensorState;
b3GetJointState(sm,state,sensorJointIndexRight,&sensorState);
b3GetJointInfo(sm,bodyIndex,sensorJointIndexRight,&sensorState);
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexRight,
sensorState.m_jointForceTorque[0],
sensorState.m_jointForceTorque[1],
sensorState.m_jointForceTorque[2]);
if (sensorJointIndexLeft>=0)
{
struct b3JointSensorState info;
b3GetJointInfo(sm,bodyIndex,sensorJointIndexLeft,&info);
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexLeft,
info.m_jointForceTorque[0],
info.m_jointForceTorque[1],
info.m_jointForceTorque[2]);
}
}
}
if (sensorJointIndexRight>=0)
{
struct b3JointSensorState info;
b3GetJointInfo(sm,bodyIndex,sensorJointIndexRight,&info);
b3Printf("Sensor for joint [%d] = %f,%f,%f\n", sensorJointIndexRight,
info.m_jointForceTorque[0],
info.m_jointForceTorque[1],
info.m_jointForceTorque[2]);
}
{
b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));