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Merge pull request #1806 from erwincoumans/master

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prepare build system(s) for collisionFilterPlugin
This commit is contained in:
erwincoumans 2018-08-03 17:43:13 -07:00 committed by GitHub
commit 961d8adad1
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GPG Key ID: 4AEE18F83AFDEB23
23 changed files with 96 additions and 30 deletions
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1
Extras/BulletRobotics/CMakeLists.txt
View File

@ -9,6 +9,7 @@ INCLUDE_DIRECTORIES(
)
SET(BulletRobotics_SRCS
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp

1
Extras/BulletRobotics/premake4.lua
View File

@ -81,6 +81,7 @@ if not _OPTIONS["no-enet"] then
files {
"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",

2
examples/ExampleBrowser/CMakeLists.txt
View File

@ -145,6 +145,8 @@ SET(BulletExampleBrowser_SRCS
../TinyRenderer/tgaimage.cpp
../TinyRenderer/our_gl.cpp
../TinyRenderer/TinyRenderer.cpp
../SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
../SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
../SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
../SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp

2
examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
View File

@ -158,7 +158,7 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
btVector3 pos1 =parentTransform*hull->getVertexPointer()[index1];
btVector3 pos2 =parentTransform*hull->getVertexPointer()[index2];
triNormal = (pos1-pos0).cross(pos2-pos0);
triNormal.normalize();
triNormal.safeNormalize();
for (int v=0;v<3;v++)
{

1
examples/ExampleBrowser/premake4.lua
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@ -115,6 +115,7 @@ project "App_BulletExampleBrowser"
"../SharedMemory/PhysicsServerCommandProcessor.cpp",
"../SharedMemory/PhysicsServerCommandProcessor.h",
"../SharedMemory/b3PluginManager.cpp",
"../SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"../SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",

2
examples/SharedMemory/CMakeLists.txt
View File

@ -1,5 +1,7 @@
SET(SharedMemory_SRCS
plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
plugins/collisionFilterPlugin/collisionFilterPlugin.h
plugins/pdControlPlugin/pdControlPlugin.cpp
plugins/pdControlPlugin/pdControlPlugin.h
b3RobotSimulatorClientAPI_NoDirect.cpp

12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -46,6 +46,10 @@
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "LinearMath/TaskScheduler/btThreadSupportInterface.h"
#ifndef SKIP_COLLISION_FILTER_PLUGIN
#include "plugins/collisionFilterPlugin/collisionFilterPlugin.h"
#endif
#ifndef SKIP_STATIC_PD_CONTROL_PLUGIN
#include "plugins/pdControlPlugin/pdControlPlugin.h"
#endif //SKIP_STATIC_PD_CONTROL_PLUGIN
@ -1625,6 +1629,8 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_oldPickingDist;
bool m_prevCanSleep;
int m_pdControlPlugin;
int m_collisionFilterPlugin;
#ifdef B3_ENABLE_TINY_AUDIO
b3SoundEngine m_soundEngine;
#endif
@ -1662,6 +1668,7 @@ struct PhysicsServerCommandProcessorInternalData
m_pickedConstraint(0),
m_pickingMultiBodyPoint2Point(0),
m_pdControlPlugin(-1),
m_collisionFilterPlugin(-1),
m_threadPool(0)
{
@ -1677,6 +1684,11 @@ struct PhysicsServerCommandProcessorInternalData
}
#endif //SKIP_STATIC_PD_CONTROL_PLUGIN
#ifndef SKIP_COLLISION_FILTER_PLUGIN
{
m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", initPlugin_collisionFilterPlugin, exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin, 0,0,0);
}
#endif
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin);

24
examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
View File

@ -8,22 +8,22 @@
#include "../b3PluginContext.h"
#include <stdio.h>
struct MyClass
struct CollisionFilterMyClass
{
int m_testData;
MyClass()
CollisionFilterMyClass()
:m_testData(42)
{
}
virtual ~MyClass()
virtual ~CollisionFilterMyClass()
{
}
};
B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context)
B3_SHARED_API int initPlugin_collisionFilterPlugin(struct b3PluginContext* context)
{
MyClass* obj = new MyClass();
CollisionFilterMyClass* obj = new CollisionFilterMyClass();
context->m_userPointer = obj;
printf("hi!\n");
@ -31,21 +31,21 @@ B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context)
}
B3_SHARED_API int preTickPluginCallback_testPlugin(struct b3PluginContext* context)
B3_SHARED_API int preTickPluginCallback_collisionFilterPlugin(struct b3PluginContext* context)
{
//apply pd control here, apply forces using the PD gains
return 0;
}
B3_SHARED_API int postTickPluginCallback_testPlugin(struct b3PluginContext* context)
B3_SHARED_API int postTickPluginCallback_collisionFilterPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass* )context->m_userPointer;
CollisionFilterMyClass* obj = (CollisionFilterMyClass* )context->m_userPointer;
obj->m_testData++;
return 0;
}
B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
B3_SHARED_API int executePluginCommand_collisionFilterPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{
//set the PD gains
printf("text argument:%s\n",arguments->m_text);
@ -69,7 +69,7 @@ B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* contex
}
printf("]\n");
MyClass* obj = (MyClass*) context->m_userPointer;
CollisionFilterMyClass* obj = (CollisionFilterMyClass*) context->m_userPointer;
b3SharedMemoryStatusHandle statusHandle;
int statusType = -1;
@ -88,9 +88,9 @@ B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* contex
}
B3_SHARED_API void exitPlugin_testPlugin(struct b3PluginContext* context)
B3_SHARED_API void exitPlugin_collisionFilterPlugin(struct b3PluginContext* context)
{
MyClass* obj = (MyClass*) context->m_userPointer;
CollisionFilterMyClass* obj = (CollisionFilterMyClass*) context->m_userPointer;
delete obj;
context->m_userPointer = 0;

2
examples/SharedMemory/premake4.lua
View File

@ -60,6 +60,7 @@ myfiles =
"PhysicsServerCommandProcessor.h",
"b3PluginManager.cpp",
"b3PluginManager.h",
"plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"plugins/pdControlPlugin/pdControlPlugin.cpp",
"plugins/pdControlPlugin/pdControlPlugin.h",
"../OpenGLWindow/SimpleCamera.cpp",
@ -472,4 +473,3 @@ include "plugins/tinyRendererPlugin"
include "plugins/pdControlPlugin"
include "plugins/collisionFilterPlugin"

1
examples/SharedMemory/tcp/premake4.lua
View File

@ -93,6 +93,7 @@ myfiles =
"../PhysicsDirect.cpp",
"../PhysicsClientC_API.cpp",
"../PhysicsClient.cpp",
"../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../plugins/pdControlPlugin/pdControlPlugin.cpp",
"../plugins/pdControlPlugin/pdControlPlugin.h",
"../b3RobotSimulatorClientAPI_NoDirect.cpp",

1
examples/SharedMemory/udp/premake4.lua
View File

@ -77,6 +77,7 @@ language "C++"
myfiles =
{
"../plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../plugins/pdControlPlugin/pdControlPlugin.cpp",
"../plugins/pdControlPlugin/pdControlPlugin.h",
"../b3RobotSimulatorClientAPI_NoDirect.cpp",

1
examples/TwoJoint/CMakeLists.txt
View File

@ -10,6 +10,7 @@ INCLUDE_DIRECTORIES(
SET(RobotSimulator_SRCS
TwoJointMain.cpp
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp

7
examples/Utils/ChromeTraceUtil.cpp
View File

@ -4,6 +4,7 @@
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "Bullet3Common/b3Logging.h"
#include <stdio.h>
struct btTiming
{
@ -155,13 +156,13 @@ struct btTimings
int m_activeBuffer;
btAlignedObjectArray<btTiming> m_timings[1];
};
#ifndef BT_NO_PROFILE
//#ifndef BT_NO_PROFILE
btTimings gTimings[BT_QUICKPROF_MAX_THREAD_COUNT];
#define MAX_NESTING 1024
int gStackDepths[BT_QUICKPROF_MAX_THREAD_COUNT] = { 0 };
const char* gFuncNames[BT_QUICKPROF_MAX_THREAD_COUNT][MAX_NESTING];
unsigned long long int gStartTimes[BT_QUICKPROF_MAX_THREAD_COUNT][MAX_NESTING];
#endif
//#endif
btClock clk;
@ -276,4 +277,4 @@ void b3ChromeUtilsStopTimingsAndWriteJsonFile(const char* fileNamePrefix)
void b3ChromeUtilsEnableProfiling()
{
gProfileDisabled = false;
}
}

1
examples/pybullet/CMakeLists.txt
View File

@ -15,6 +15,7 @@ ENDIF()
SET(pybullet_SRCS
pybullet.c
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp

1
examples/pybullet/premake4.lua
View File

@ -155,6 +155,7 @@ if not _OPTIONS["no-enet"] then
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
}

28
examples/pybullet/pybullet.c
View File

@ -4,6 +4,7 @@
#ifdef BT_ENABLE_ENET
#include "../SharedMemory/PhysicsClientUDP_C_API.h"
#endif //BT_ENABLE_ENET
#define PYBULLET_PI (3.1415926535897932384626433832795029)
#ifdef BT_ENABLE_DART
#include "../SharedMemory/dart/DARTPhysicsC_API.h"
@ -8239,13 +8240,28 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self,
sqy = quat[1] * quat[1];
sqz = quat[2] * quat[2];
squ = quat[3] * quat[3];
rpy[0] = atan2(2 * (quat[1] * quat[2] + quat[3] * quat[0]),
squ - sqx - sqy + sqz);
sarg = -2 * (quat[0] * quat[2] - quat[3] * quat[1]);
rpy[1] = sarg <= -1.0 ? -0.5 * 3.141592538
: (sarg >= 1.0 ? 0.5 * 3.141592538 : asin(sarg));
rpy[2] = atan2(2 * (quat[0] * quat[1] + quat[3] * quat[2]),
squ + sqx - sqy - sqz);
// If the pitch angle is PI/2 or -PI/2, we can only compute
// the sum roll + yaw. However, any combination that gives
// the right sum will produce the correct orientation, so we
// set rollX = 0 and compute yawZ.
if (sarg <= -0.99999)
{
rpy[0] = 0;
rpy[1] = -0.5*PYBULLET_PI;
rpy[2] = 2 * atan2(quat[0],-quat[1]);
} else if (sarg >= 0.99999)
{
rpy[0] = 0;
rpy[1] = 0.5*PYBULLET_PI;
rpy[2] = 2 * atan2(-quat[0], quat[1]);
} else
{
rpy[0] = atan2(2 * (quat[1] * quat[2] + quat[3] * quat[0]), squ - sqx - sqy + sqz);
rpy[1] = asin(sarg);
rpy[2] = atan2(2 * (quat[0] * quat[1] + quat[3] * quat[2]), squ + sqx - sqy - sqz);
}
{
PyObject* pylist;
int i;

1
setup.py
View File

@ -50,6 +50,7 @@ sources = ["examples/pybullet/pybullet.c"]\
+["examples/TinyRenderer/our_gl.cpp"]\
+["examples/TinyRenderer/TinyRenderer.cpp"]\
+["examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp"]\
+["examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp"]\
+["examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp"]\
+["examples/SharedMemory/IKTrajectoryHelper.cpp"]\
+["examples/SharedMemory/InProcessMemory.cpp"]\

3
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@ -970,6 +970,9 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
- spatCoriolisAcc[i].dot(hDof)
;
}
for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
}
btScalar *D_row = &D[dof * m_links[i].m_dofCount];
for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
{

26
src/LinearMath/btQuaternion.h
View File

@ -173,10 +173,28 @@ public:
sqy = m_floats[1] * m_floats[1];
sqz = m_floats[2] * m_floats[2];
squ = m_floats[3] * m_floats[3];
rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]);
pitchY = sarg <= btScalar(-1.0) ? btScalar(-0.5) * SIMD_PI: (sarg >= btScalar(1.0) ? btScalar(0.5) * SIMD_PI : btAsin(sarg));
yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz);
sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]);
// If the pitch angle is PI/2 or -PI/2, we can only compute
// the sum roll + yaw. However, any combination that gives
// the right sum will produce the correct orientation, so we
// set rollX = 0 and compute yawZ.
if (sarg <= -btScalar(0.99999))
{
pitchY = btScalar(-0.5)*SIMD_PI;
rollX = 0;
yawZ = btScalar(2) * btAtan2(m_floats[0],-m_floats[1]);
} else if (sarg >= btScalar(0.99999))
{
pitchY = btScalar(0.5)*SIMD_PI;
rollX = 0;
yawZ = btScalar(2) * btAtan2(-m_floats[0], m_floats[1]);
} else
{
pitchY = btAsin(sarg);
rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz);
}
}
/**@brief Add two quaternions

2
src/LinearMath/btQuickprof.cpp
View File

@ -729,11 +729,9 @@ unsigned int btQuickprofGetCurrentThreadIndex2() {
void btEnterProfileZoneDefault(const char* name)
{
CProfileManager::Start_Profile( name );
}
void btLeaveProfileZoneDefault()
{
CProfileManager::Stop_Profile();
}

3
src/LinearMath/btQuickprof.h
View File

@ -70,11 +70,12 @@ void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc);
//#define BT_NO_PROFILE 1
#endif //BT_NO_PROFILE
const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64;
#ifndef BT_NO_PROFILE
//btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined,
//otherwise returns thread index in range [0..maxThreads]
unsigned int btQuickprofGetCurrentThreadIndex2();
const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64;
#include <stdio.h>//@todo remove this, backwards compatibility

1
test/SharedMemory/CMakeLists.txt
View File

@ -29,6 +29,7 @@ ENDIF()
ADD_EXECUTABLE(Test_PhysicsClientServer
gtestwrap.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp

3
test/SharedMemory/premake4.lua
View File

@ -172,6 +172,7 @@ project ("Test_PhysicsServerLoopBack")
"test.c",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
@ -264,6 +265,7 @@ end
"test.c",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
@ -372,6 +374,7 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
"test.c",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",