This commit is contained in:
Erwin Coumans 2017-11-28 11:52:07 -08:00
commit b031ba0333
55 changed files with 7293 additions and 6344 deletions

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@ -110,6 +110,8 @@ typedef struct bInvalidHandle {
class btMultiBodyLinkFloatData;
class btMultiBodyDoubleData;
class btMultiBodyFloatData;
class btMultiBodyLinkColliderFloatData;
class btMultiBodyLinkColliderDoubleData;
// -------------------------------------------------- //
class PointerArray
{
@ -1440,5 +1442,27 @@ typedef struct bInvalidHandle {
};
// -------------------------------------------------- //
class btMultiBodyLinkColliderFloatData
{
public:
btCollisionObjectFloatData m_colObjData;
void *m_multiBody;
int m_link;
char m_padding[4];
};
// -------------------------------------------------- //
class btMultiBodyLinkColliderDoubleData
{
public:
btCollisionObjectDoubleData m_colObjData;
void *m_multiBody;
int m_link;
char m_padding[4];
};
}
#endif//__BULLET_H__

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@ -181,6 +181,11 @@ void btBulletFile::parseData()
m_multiBodies.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_MB_LINKCOLLIDER_CODE)
{
m_multiBodyLinkColliders.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_SOFTBODY_CODE)
{
m_softBodies.push_back((bStructHandle*) id);

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@ -41,6 +41,8 @@ namespace bParse {
btAlignedObjectArray<bStructHandle*> m_multiBodies;
btAlignedObjectArray<bStructHandle*> m_multiBodyLinkColliders;
btAlignedObjectArray<bStructHandle*> m_softBodies;
btAlignedObjectArray<bStructHandle*> m_rigidBodies;

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@ -5,6 +5,7 @@ INCLUDE_DIRECTORIES(
ADD_LIBRARY(
BulletWorldImporter
btMultiBodyWorldImporter.cpp
btBulletWorldImporter.cpp
btBulletWorldImporter.h
btWorldImporter.cpp

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@ -0,0 +1,204 @@
#include "btMultiBodyWorldImporter.h"
#include "LinearMath/btSerializer.h"
#include "../BulletFileLoader/btBulletFile.h"
#include "btBulletWorldImporter.h"
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/Featherstone/btMultiBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
struct btMultiBodyWorldImporterInternalData
{
btMultiBodyDynamicsWorld* m_mbDynamicsWorld;
btHashMap<btHashPtr, btMultiBody*> m_mbMap;
};
btMultiBodyWorldImporter::btMultiBodyWorldImporter(btMultiBodyDynamicsWorld* world)
:btBulletWorldImporter(world)
{
m_data = new btMultiBodyWorldImporterInternalData;
m_data->m_mbDynamicsWorld = world;
}
btMultiBodyWorldImporter::~btMultiBodyWorldImporter()
{
delete m_data;
}
void btMultiBodyWorldImporter::deleteAllData()
{
btBulletWorldImporter::deleteAllData();
}
bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile2)
{
bool result = btBulletWorldImporter::convertAllObjects(bulletFile2);
//convert all multibodies
for (int i=0;i<bulletFile2->m_multiBodies.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*) bulletFile2->m_multiBodies[i];
bool isFixedBase = mbd->m_baseMass==0;
bool canSleep = false;
btVector3 baseInertia;
baseInertia.deSerializeDouble(mbd->m_baseInertia);
btMultiBody* mb = new btMultiBody(mbd->m_numLinks,mbd->m_baseMass,baseInertia,isFixedBase,canSleep);
mb->setHasSelfCollision(false);
m_data->m_mbMap.insert(mbd,mb);
for (int i=0;i<mbd->m_numLinks;i++)
{
btVector3 localInertiaDiagonal;
localInertiaDiagonal.deSerializeDouble(mbd->m_links[i].m_linkInertia);
btQuaternion parentRotToThis;
parentRotToThis.deSerializeDouble(mbd->m_links[i].m_zeroRotParentToThis);
btVector3 parentComToThisPivotOffset;
parentComToThisPivotOffset.deSerializeDouble(mbd->m_links[i].m_parentComToThisComOffset);
btVector3 thisPivotToThisComOffset;
thisPivotToThisComOffset.deSerializeDouble(mbd->m_links[i].m_thisPivotToThisComOffset);
switch (mbd->m_links[i].m_jointType)
{
case btMultibodyLink::eFixed:
{
mb->setupFixed(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, parentComToThisPivotOffset,thisPivotToThisComOffset);
//search for the collider
//mbd->m_links[i].m_linkCollider
break;
}
case btMultibodyLink::ePrismatic:
{
btVector3 jointAxis;
jointAxis.deSerializeDouble(mbd->m_links[i].m_jointAxisBottom[0]);
bool disableParentCollision = true;//todo
mb->setupPrismatic(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
parentRotToThis,jointAxis, parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
break;
}
case btMultibodyLink::eRevolute:
{
btVector3 jointAxis;
jointAxis.deSerializeDouble(mbd->m_links[i].m_jointAxisTop[0]);
bool disableParentCollision = true;//todo
mb->setupRevolute(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
parentRotToThis, jointAxis,parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
break;
}
case btMultibodyLink::eSpherical:
{
btAssert(0);
bool disableParentCollision = true;//todo
mb->setupSpherical(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
parentRotToThis,parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
break;
}
case btMultibodyLink::ePlanar:
{
btAssert(0);
break;
}
default:
{
btAssert(0);
}
}
}
}
}
//convert all multibody link colliders
for (int i=0;i<bulletFile2->m_multiBodyLinkColliders.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btMultiBodyLinkColliderDoubleData* mblcd = (btMultiBodyLinkColliderDoubleData*) bulletFile2->m_multiBodyLinkColliders[i];
btMultiBody** ptr = m_data->m_mbMap[mblcd->m_multiBody];
if (ptr)
{
btMultiBody* multiBody = *ptr;
btCollisionShape** shapePtr = m_shapeMap.find(mblcd->m_colObjData.m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
mblcd->m_colObjData.m_worldTransform.m_origin.m_floats[3] = 0.f;
startTransform.deSerializeDouble(mblcd->m_colObjData.m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
if (shape)
{
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(multiBody, mblcd->m_link);
col->setCollisionShape( shape );
//btCollisionObject* body = createCollisionObject(startTransform,shape,mblcd->m_colObjData.m_name);
col->setFriction(btScalar(mblcd->m_colObjData.m_friction));
col->setRestitution(btScalar(mblcd->m_colObjData.m_restitution));
//m_bodyMap.insert(colObjData,body);
if (mblcd->m_link==-1)
{
multiBody->setBaseCollider(col);
} else
{
multiBody->getLink(mblcd->m_link).m_collider = col;
}
int mbLinkIndex = mblcd->m_link;
bool isDynamic = (mbLinkIndex<0 && multiBody->hasFixedBase())? false : true;
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
#if 0
int colGroup=0, colMask=0;
int collisionFlags = mblcd->m_colObjData.m_collisionFlags;
if (collisionFlags & URDF_HAS_COLLISION_GROUP)
{
collisionFilterGroup = colGroup;
}
if (collisionFlags & URDF_HAS_COLLISION_MASK)
{
collisionFilterMask = colMask;
}
#endif
m_data->m_mbDynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
}
} else
{
printf("error: no shape found\n");
}
#if 0
//base and fixed? -> static, otherwise flag as dynamic
world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
#endif
}
}
}
for (int i=0;i<m_data->m_mbMap.size();i++)
{
btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
if (ptr)
{
btMultiBody* mb = *ptr;
mb->finalizeMultiDof();
m_data->m_mbDynamicsWorld->addMultiBody(mb);
}
}
return result;
}

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@ -0,0 +1,20 @@
#ifndef BT_MULTIBODY_WORLD_IMPORTER_H
#define BT_MULTIBODY_WORLD_IMPORTER_H
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
class btMultiBodyWorldImporter : public btBulletWorldImporter
{
struct btMultiBodyWorldImporterInternalData* m_data;
public:
btMultiBodyWorldImporter(class btMultiBodyDynamicsWorld* world);
virtual ~btMultiBodyWorldImporter();
virtual bool convertAllObjects( bParse::btBulletFile* bulletFile2);
virtual void deleteAllData();
};
#endif //BT_MULTIBODY_WORLD_IMPORTER_H

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@ -149,6 +149,7 @@ typedef unsigned __int64 uint64_t;
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletSoftBody/btSoftBodyData.h"
#include "BulletDynamics/Featherstone/btMultiBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
@ -198,6 +199,7 @@ char *includefiles[] = {
"../../../src/BulletSoftBody/btSoftBodyData.h",
"../../../src/BulletDynamics/Featherstone/btMultiBody.h",
"../../../src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h",
// empty string to indicate end of includefiles
""
};

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@ -1 +1 @@
2.87
2.88

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@ -284,9 +284,7 @@ end
_OPTIONS["glfw_lib_name"] = default_glfw_lib_name
end
if (_OPTIONS["enable_static_vr_plugin"]) then
defines("STATIC_LINK_VR_PLUGIN")
end
newoption
{

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@ -0,0 +1,30 @@
<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="base_link">
<contact>
<rolling_friction value="0.001"/>
<spinning_friction value="0.001"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="textured_sphere_smooth.obj" scale="0.03 0.03 0.03"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
</link>
</robot>

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@ -4,7 +4,7 @@
struct Common2dCanvasInterface
{
virtual ~Common2dCanvasInterface() {}
virtual int createCanvas(const char* canvasName, int width, int height)=0;
virtual int createCanvas(const char* canvasName, int width, int height, int xPos, int yPos)=0;
virtual void destroyCanvas(int canvasId)=0;
virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)=0;
virtual void getPixel(int canvasId, int x, int y, unsigned char& red, unsigned char& green,unsigned char& blue, unsigned char& alpha)=0;

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@ -233,6 +233,19 @@ struct CommonMultiBodyBase : public CommonExampleInterface
virtual bool keyboardCallback(int key, int state)
{
if ((key==B3G_F3) && state && m_dynamicsWorld)
{
btDefaultSerializer* serializer = new btDefaultSerializer();
m_dynamicsWorld->serialize(serializer);
FILE* file = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
fclose(file);
//b3Printf("btDefaultSerializer wrote testFile.bullet");
delete serializer;
return true;
}
return false;//don't handle this key
}

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@ -259,6 +259,7 @@ SET(BulletExampleBrowser_SRCS
../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../Importers/ImportMeshUtility/b3ImportMeshUtility.h
../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
../../Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
../../Extras/Serialize/BulletFileLoader/bChunk.cpp
../../Extras/Serialize/BulletFileLoader/bFile.cpp

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@ -732,12 +732,11 @@ struct QuickCanvas : public Common2dCanvasInterface
MyGraphWindow* m_gw[MAX_GRAPH_WINDOWS];
GraphingTexture* m_gt[MAX_GRAPH_WINDOWS];
int m_curNumGraphWindows;
int m_curXpos;
QuickCanvas(GL3TexLoader* myTexLoader)
:m_myTexLoader(myTexLoader),
m_curNumGraphWindows(0),
m_curXpos(0)
m_curNumGraphWindows(0)
{
for (int i=0;i<MAX_GRAPH_WINDOWS;i++)
{
@ -746,7 +745,7 @@ struct QuickCanvas : public Common2dCanvasInterface
}
}
virtual ~QuickCanvas() {}
virtual int createCanvas(const char* canvasName, int width, int height)
virtual int createCanvas(const char* canvasName, int width, int height, int xPos, int yPos)
{
if (m_curNumGraphWindows<MAX_GRAPH_WINDOWS)
{
@ -761,9 +760,8 @@ struct QuickCanvas : public Common2dCanvasInterface
MyGraphInput input(gui2->getInternalData());
input.m_width=width;
input.m_height=height;
input.m_xPos = m_curXpos;//GUI will clamp it to the right//300;
m_curXpos+=width+20;
input.m_yPos = 10000;//GUI will clamp it to bottom
input.m_xPos = xPos;
input.m_yPos = yPos;
input.m_name=canvasName;
input.m_texName = canvasName;
m_gt[slot] = new GraphingTexture;
@ -778,7 +776,6 @@ struct QuickCanvas : public Common2dCanvasInterface
}
virtual void destroyCanvas(int canvasId)
{
m_curXpos = 0;
btAssert(canvasId>=0);
delete m_gt[canvasId];
m_gt[canvasId] = 0;
@ -1329,7 +1326,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
float camPos[3];
s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPosition(camPos);
s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
sprintf(msg,"camPos=%f,%f,%f, dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camPos[0],camPos[1],camPos[2],camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
sprintf(msg,"camTargetPos=%2.2f,%2.2f,%2.2f, dist=%2.2f, pitch=%2.2f, yaw=%2.2f", camPos[0],camPos[1],camPos[2],camDist,pitch,yaw);
gui2->setStatusBarMessage(msg, true);
}

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@ -440,7 +440,7 @@ void Win32Window::setWindowTitle(const char* titleChar)
{
#ifdef _WIN64
SetWindowText(m_data->m_hWnd, titleChar);
SetWindowTextA(m_data->m_hWnd, titleChar);
#else
DWORD dwResult;
SendMessageTimeout(m_data->m_hWnd, WM_SETTEXT, 0,

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@ -142,7 +142,7 @@ void RaytracerPhysicsSetup::initPhysics()
if (m_internalData->m_canvas)
{
m_internalData->m_canvasIndex = m_internalData->m_canvas->createCanvas("raytracer",m_internalData->m_width,m_internalData->m_height);
m_internalData->m_canvasIndex = m_internalData->m_canvas->createCanvas("raytracer",m_internalData->m_width,m_internalData->m_height, 15,55);
for (int i=0;i<m_internalData->m_width;i++)
{
for (int j=0;j<m_internalData->m_height;j++)

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@ -78,7 +78,7 @@ TimeSeriesCanvas::TimeSeriesCanvas(struct Common2dCanvasInterface* canvasInterfa
if (canvasInterface)
{
m_internalData->m_canvasIndex = m_internalData->m_canvasInterface->createCanvas(windowTitle,m_internalData->m_width,m_internalData->m_height);
m_internalData->m_canvasIndex = m_internalData->m_canvasInterface->createCanvas(windowTitle,m_internalData->m_width,m_internalData->m_height,20,50);
}
}

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@ -28,7 +28,7 @@ struct TestCanvasInterface2 : public Common2dCanvasInterface
virtual ~TestCanvasInterface2()
{}
virtual int createCanvas(const char* canvasName, int width, int height)
virtual int createCanvas(const char* canvasName, int width, int height,int posX,int posY)
{
return 0;
}

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@ -606,6 +606,19 @@ B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle,
return 0;
}
B3_SHARED_API int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double maximumVelocity)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
if ((dofIndex>=0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
{
command->m_sendDesiredStateCommandArgument.m_rhsClamp[dofIndex] = maximumVelocity;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_RHS_CLAMP;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_RHS_CLAMP;
}
return 0;
}
B3_SHARED_API int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

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@ -367,6 +367,8 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2(b3PhysicsC
B3_SHARED_API int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
B3_SHARED_API int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
B3_SHARED_API int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double maximumVelocity);
///Only use when controlMode is CONTROL_MODE_VELOCITY
B3_SHARED_API int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); /* find a better name for dof/q/u indices, point to b3JointInfo */

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@ -22,8 +22,9 @@ struct MyMotorInfo2
int m_qIndex;
};
static int camVisualizerWidth = 320;//1024/3;
static int camVisualizerHeight = 240;//768/3;
static int camVisualizerWidth = 228;//1024/3;
static int camVisualizerHeight = 192;//768/3;
enum CustomCommands
{
@ -758,10 +759,10 @@ void PhysicsClientExample::initPhysics()
m_canvas = m_guiHelper->get2dCanvasInterface();
if (m_canvas)
{
m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",camVisualizerWidth, camVisualizerHeight);
m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",camVisualizerWidth, camVisualizerHeight);
m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",camVisualizerWidth, camVisualizerHeight);
m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",camVisualizerWidth, camVisualizerHeight, 8,55);
m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",camVisualizerWidth, camVisualizerHeight,8,75+camVisualizerHeight);
m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",camVisualizerWidth, camVisualizerHeight,8,95+camVisualizerHeight*2);
for (int i=0;i<camVisualizerWidth;i++)
{

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@ -29,6 +29,9 @@ struct PhysicsDirectInternalData
btAlignedObjectArray<char> m_serverDNA;
SharedMemoryCommand m_command;
SharedMemoryStatus m_serverStatus;
SharedMemoryCommand m_tmpInfoRequestCommand;
SharedMemoryStatus m_tmpInfoStatus;
bool m_hasStatus;
bool m_verboseOutput;
@ -79,6 +82,9 @@ struct PhysicsDirectInternalData
PhysicsDirect::PhysicsDirect(PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership)
{
int sz = sizeof(SharedMemoryCommand);
int sz2 = sizeof(SharedMemoryStatus);
m_data = new PhysicsDirectInternalData;
m_data->m_commandProcessor = physSdk;
m_data->m_ownsCommandProcessor = passSdkOwnership;
@ -814,12 +820,12 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
for (int i=0;i<numConstraints;i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
SharedMemoryCommand infoRequestCommand;
infoRequestCommand.m_type = CMD_USER_CONSTRAINT;
infoRequestCommand.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
infoRequestCommand.m_userConstraintArguments.m_userConstraintUniqueId = constraintUid;
SharedMemoryStatus infoStatus;
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_tmpInfoRequestCommand.m_type = CMD_USER_CONSTRAINT;
m_data->m_tmpInfoRequestCommand.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
m_data->m_tmpInfoRequestCommand.m_userConstraintArguments.m_userConstraintUniqueId = constraintUid;
bool hasStatus = m_data->m_commandProcessor->processCommand(m_data->m_tmpInfoRequestCommand, m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
@ -828,13 +834,13 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
hasStatus = m_data->m_commandProcessor->receiveStatus(m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
if (hasStatus)
{
int cid = infoStatus.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,infoStatus.m_userConstraintResultArgs);
int cid = m_data->m_tmpInfoStatus.m_userConstraintResultArgs.m_userConstraintUniqueId;
m_data->m_userConstraintInfoMap.insert(cid,m_data->m_tmpInfoStatus.m_userConstraintResultArgs);
}
}
@ -842,11 +848,11 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
for (int i = 0; i<numBodies; i++)
{
int bodyUniqueId = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
SharedMemoryCommand infoRequestCommand;
infoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
infoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
SharedMemoryStatus infoStatus;
bool hasStatus = m_data->m_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
m_data->m_tmpInfoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
bool hasStatus = m_data->m_commandProcessor->processCommand(m_data->m_tmpInfoRequestCommand, m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
b3Clock clock;
@ -855,12 +861,12 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
hasStatus = m_data->m_commandProcessor->receiveStatus(m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
}
if (hasStatus)
{
processBodyJointInfo(bodyUniqueId, infoStatus);
processBodyJointInfo(bodyUniqueId, m_data->m_tmpInfoStatus);
}
}
break;

File diff suppressed because it is too large Load Diff

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@ -25,6 +25,61 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface
protected:
bool processStateLoggingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSaveWorldCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCustomCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processUserDebugDrawCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSetVRCameraStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestVREventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestMouseEventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestKeyboardEventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestRaycastIntersectionsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestDebugLinesCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSyncBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSendDesiredStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadSDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadURDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadBunnyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateSensorCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processProfileTimingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestCollisionInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestInternalDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processChangeDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSetAdditionalSearchPathCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processGetDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestPhysicsSimulationParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSendPhysicsParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processInitPoseCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processResetSimulationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateRigidBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processPickBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processMovePickedBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRemovePickingConstraintCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestAabbOverlapCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestOpenGLVisualizeCameraCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processConfigureOpenGLVisualizerCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processInverseDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCalculateJacobianCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCalculateMassMatrixCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processApplyExternalForceCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRemoveBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateUserConstraintCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCalculateInverseKinematicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestVisualShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processUpdateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processChangeTextureCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadTextureCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadBulletCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSaveBulletCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadMJCFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, btScalar globalScaling);

View File

@ -30,8 +30,8 @@ bool gActivedVRRealTimeSimulation = false;
bool gEnableSyncPhysicsRendering= true;
bool gEnableUpdateDebugDrawLines = true;
static int gCamVisualizerWidth = 320;
static int gCamVisualizerHeight = 240;
static int gCamVisualizerWidth = 228;
static int gCamVisualizerHeight = 192;
static bool gEnableDefaultKeyboardShortcuts = true;
static bool gEnableDefaultMousePicking = true;
@ -1751,9 +1751,9 @@ void PhysicsServerExample::initPhysics()
{
m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",gCamVisualizerWidth, gCamVisualizerHeight);
//m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",gCamVisualizerWidth, gCamVisualizerHeight);
//m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight);
m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",gCamVisualizerWidth, gCamVisualizerHeight, 8,55);
m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",gCamVisualizerWidth, gCamVisualizerHeight,8,75+gCamVisualizerHeight);
m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight,8,95+gCamVisualizerHeight*2);
for (int i=0;i<gCamVisualizerWidth;i++)
{
@ -1898,6 +1898,60 @@ void PhysicsServerExample::updateGraphics()
int flag = m_multiThreadedHelper->m_visualizerFlag;
int enable = m_multiThreadedHelper->m_visualizerEnable;
if (flag == COV_ENABLE_RGB_BUFFER_PREVIEW)
{
if (enable)
{
if (m_canvasRGBIndex<0)
{
m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",gCamVisualizerWidth, gCamVisualizerHeight, 8,55);
}
} else
{
if (m_canvasRGBIndex>=0)
{
m_canvas->destroyCanvas(m_canvasRGBIndex);
m_canvasRGBIndex = -1;
}
}
}
if (flag == COV_ENABLE_DEPTH_BUFFER_PREVIEW)
{
if (enable)
{
if (m_canvasDepthIndex<0)
{
m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",gCamVisualizerWidth, gCamVisualizerHeight,8,75+gCamVisualizerHeight);
}
} else
{
if (m_canvasDepthIndex>=0)
{
m_canvas->destroyCanvas(m_canvasDepthIndex);
m_canvasDepthIndex = -1;
}
}
}
if (flag == COV_ENABLE_SEGMENTATION_MARK_PREVIEW)
{
if (enable)
{
if (m_canvasSegMaskIndex<0)
{
m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight,8,95+gCamVisualizerHeight*2);
}
} else
{
if (m_canvasSegMaskIndex>=0)
{
m_canvas->destroyCanvas(m_canvasSegMaskIndex);
m_canvasSegMaskIndex = -1;
}
}
}
if (flag==COV_ENABLE_VR_TELEPORTING)
{
gEnableTeleporting = (enable!=0);
@ -2042,8 +2096,9 @@ void PhysicsServerExample::updateGraphics()
int startSegIndex = m_multiThreadedHelper->m_startPixelIndex;
int endSegIndex = startSegIndex + (*m_multiThreadedHelper->m_numPixelsCopied);
btScalar frustumZNear = m_multiThreadedHelper->m_projectionMatrix[14]/(m_multiThreadedHelper->m_projectionMatrix[10]-1);
btScalar frustumZFar = 20;//m_multiThreadedHelper->m_projectionMatrix[14]/(m_multiThreadedHelper->m_projectionMatrix[10]+1);
//btScalar frustumZNear = m_multiThreadedHelper->m_projectionMatrix[14]/(m_multiThreadedHelper->m_projectionMatrix[10]-1);
//btScalar frustumZFar = m_multiThreadedHelper->m_projectionMatrix[14]/(m_multiThreadedHelper->m_projectionMatrix[10]+1);
for (int i=0;i<gCamVisualizerWidth;i++)
{
@ -2077,17 +2132,16 @@ void PhysicsServerExample::updateGraphics()
if (depthValue>-1e20)
{
int rgb = 0;
btScalar minDepthValue = 0.98;//todo: compute more reasonably min/max depth range
btScalar maxDepthValue = 1;
btScalar frustumZNear = 0.1;
btScalar frustumZFar = 30;
btScalar minDepthValue = frustumZNear;//todo: compute more reasonably min/max depth range
btScalar maxDepthValue = frustumZFar;
if (maxDepthValue!=minDepthValue)
{
rgb = (depthValue-minDepthValue)*(255. / (btFabs(maxDepthValue-minDepthValue)));
if (rgb<0 || rgb>255)
{
//printf("rgb=%d\n",rgb);
}
}
float depth = depthValue;
btScalar linearDepth = 255.*(2.0 * frustumZNear) / (frustumZFar + frustumZNear - depth * (frustumZFar - frustumZNear));
btClamp(linearDepth, btScalar(0),btScalar(255));
rgb = linearDepth;
m_canvas->setPixel(m_canvasDepthIndex,i,j,
rgb,
rgb,

View File

@ -358,10 +358,11 @@ struct SendDesiredStateArgs
{
int m_bodyUniqueId;
int m_controlMode;
//PD parameters in case m_controlMode == CONTROL_MODE_POSITION_VELOCITY_PD
double m_Kp[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link
double m_Kd[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link
double m_rhsClamp[MAX_DEGREE_OF_FREEDOM];
int m_hasDesiredStateFlags[MAX_DEGREE_OF_FREEDOM];
@ -389,6 +390,7 @@ enum EnumSimDesiredStateUpdateFlags
SIM_DESIRED_STATE_HAS_KD=4,
SIM_DESIRED_STATE_HAS_KP=8,
SIM_DESIRED_STATE_HAS_MAX_FORCE=16,
SIM_DESIRED_STATE_HAS_RHS_CLAMP=32
};

View File

@ -355,7 +355,7 @@ enum b3VREventType
#define MAX_KEYBOARD_EVENTS 256
#define MAX_MOUSE_EVENTS 256
#define MAX_SDF_BODIES 1024
#define MAX_SDF_BODIES 512
enum b3VRButtonInfo
@ -600,6 +600,10 @@ enum b3ConfigureDebugVisualizerEnum
COV_ENABLE_MOUSE_PICKING,
COV_ENABLE_Y_AXIS_UP,
COV_ENABLE_TINY_RENDERER,
COV_ENABLE_RGB_BUFFER_PREVIEW,
COV_ENABLE_DEPTH_BUFFER_PREVIEW,
COV_ENABLE_SEGMENTATION_MARK_PREVIEW,
};
enum b3AddUserDebugItemEnum

View File

@ -772,12 +772,13 @@ void TinyRendererVisualShapeConverter::resetCamera(float camDist, float yaw, flo
void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
{
float farPlane = m_data->m_camera.getCameraFrustumFar();
for(int y=0;y<m_data->m_swHeight;++y)
{
for(int x=0;x<m_data->m_swWidth;++x)
{
m_data->m_rgbColorBuffer.set(x,y,clearColor);
m_data->m_depthBuffer[x+y*m_data->m_swWidth] = -1e30f;
m_data->m_depthBuffer[x+y*m_data->m_swWidth] = -farPlane;
m_data->m_shadowBuffer[x+y*m_data->m_swWidth] = -1e30f;
m_data->m_segmentationMaskBuffer[x+y*m_data->m_swWidth] = -1;
}
@ -806,13 +807,13 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
clearColor.bgra[2] = 255;
clearColor.bgra[3] = 255;
clearBuffers(clearColor);
float near = projMat[14]/(projMat[10]-1);
float far = projMat[14]/(projMat[10]+1);
m_data->m_camera.setCameraFrustumNear( near);
m_data->m_camera.setCameraFrustumFar(far);
clearBuffers(clearColor);
ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
@ -1025,16 +1026,20 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
{
if (depthBuffer)
{
float distance = -m_data->m_depthBuffer[i+startPixelIndex];
float farPlane = m_data->m_camera.getCameraFrustumFar();
float nearPlane = m_data->m_camera.getCameraFrustumNear();
btClamp(distance,nearPlane,farPlane);
// the depth buffer value is between 0 and 1
float a = farPlane / (farPlane - nearPlane);
float b = farPlane * nearPlane / (nearPlane - farPlane);
depthBuffer[i] = a + b / distance;
// TinyRenderer returns clip coordinates, transform to eye coordinates first
float z_c = -m_data->m_depthBuffer[i+startPixelIndex];
// float distance = (farPlane - nearPlane) / (farPlane + nearPlane) * (z_c + 2. * farPlane * nearPlane / (farPlane - nearPlane));
// The depth buffer value is between 0 and 1
// float a = farPlane / (farPlane - nearPlane);
// float b = farPlane * nearPlane / (nearPlane - farPlane);
// depthBuffer[i] = a + b / distance;
// Simply the above expressions
depthBuffer[i] = farPlane * (nearPlane + z_c) / (2. * farPlane * nearPlane + farPlane * z_c - nearPlane * z_c);
}
if (segmentationMaskBuffer)
{

View File

@ -13,7 +13,7 @@
typedef HMODULE B3_DYNLIB_HANDLE;
#define B3_DYNLIB_OPEN LoadLibrary
#define B3_DYNLIB_OPEN LoadLibraryA
#define B3_DYNLIB_CLOSE FreeLibrary
#define B3_DYNLIB_IMPORT GetProcAddress
#else

View File

@ -111,6 +111,7 @@ files {
}
if (_OPTIONS["enable_static_vr_plugin"]) then
defines("STATIC_LINK_VR_PLUGIN")
files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
end
@ -208,6 +209,7 @@ files {
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
}
if (_OPTIONS["enable_static_vr_plugin"]) then
defines("STATIC_LINK_VR_PLUGIN")
files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
end
@ -363,6 +365,7 @@ if os.is("Windows") then
"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
}
if (_OPTIONS["enable_static_vr_plugin"]) then
defines("STATIC_LINK_VR_PLUGIN")
files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
end

View File

@ -51,14 +51,14 @@ LinearMapR2 LinearMapR2::Inverse() const // Returns inverse
{
register double detInv = 1.0/(m11*m22 - m12*m21) ;
double detInv = 1.0/(m11*m22 - m12*m21) ;
return( LinearMapR2( m22*detInv, -m21*detInv, -m12*detInv, m11*detInv ) );
}
LinearMapR2& LinearMapR2::Invert() // Converts into inverse.
{
register double detInv = 1.0/(m11*m22 - m12*m21) ;
double detInv = 1.0/(m11*m22 - m12*m21) ;
double temp;
temp = m11*detInv;

View File

@ -90,7 +90,7 @@ public:
VectorR2& operator*= ( double m )
{ x*=m; y*=m; return(*this); }
VectorR2& operator/= ( double m )
{ register double mInv = 1.0/m;
{ double mInv = 1.0/m;
x*=mInv; y*=mInv;
return(*this); }
VectorR2 operator- () const { return ( VectorR2(-x, -y) ); }
@ -108,7 +108,7 @@ public:
VectorR2& MakeUnit(); // Normalize() with error checking
VectorR2& ReNormalize();
bool IsUnit( double tolerance = 1.0e-15 ) const
{ register double norm = Norm();
{ double norm = Norm();
return ( 1.0+tolerance>=norm && norm>=1.0-tolerance ); }
bool IsZero() const { return ( x==0.0 && y==0.0 ); }
bool NearZero(double tolerance) const { return( MaxAbs()<=tolerance );}
@ -369,7 +369,7 @@ inline VectorR2& VectorR2::MakeUnit () // Convert to unit vector (or leave zero
inline VectorR2& VectorR2::ReNormalize() // Convert near unit back to unit
{
double nSq = NormSq();
register double mFact = 1.0-0.5*(nSq-1.0); // Multiplicative factor
double mFact = 1.0-0.5*(nSq-1.0); // Multiplicative factor
*this *= mFact;
return *this;
}
@ -395,7 +395,7 @@ inline VectorR2& VectorR2::Rotate( double costheta, double sintheta )
inline double VectorR2::MaxAbs() const
{
register double m;
double m;
m = (x>=0.0) ? x : -x;
if ( y>m ) m=y;
else if ( -y >m ) m = -y;
@ -410,17 +410,17 @@ inline VectorR2 operator-( const VectorR2& u, const VectorR2& v )
{
return VectorR2(u.x-v.x, u.y-v.y );
}
inline VectorR2 operator*( const VectorR2& u, register double m)
inline VectorR2 operator*( const VectorR2& u, double m)
{
return VectorR2( u.x*m, u.y*m );
}
inline VectorR2 operator*( register double m, const VectorR2& u)
inline VectorR2 operator*( double m, const VectorR2& u)
{
return VectorR2( u.x*m, u.y*m );
}
inline VectorR2 operator/( const VectorR2& u, double m)
{
register double mInv = 1.0/m;
double mInv = 1.0/m;
return VectorR2( u.x*mInv, u.y*mInv );
}
@ -454,7 +454,7 @@ inline VectorR2::VectorR2( const VectorHgR2& uH )
inline double NormalizeError (const VectorR2& u)
{
register double discrepancy;
double discrepancy;
discrepancy = u.x*u.x + u.y*u.y - 1.0;
if ( discrepancy < 0.0 ) {
discrepancy = -discrepancy;
@ -626,7 +626,7 @@ inline double Matrix2x2::Diagonal( int i )
}
inline void Matrix2x2::MakeTranspose() // Transposes it.
{
register double temp;
double temp;
temp = m12;
m12 = m21;
m21=temp;
@ -647,8 +647,8 @@ inline void Matrix2x2::operator*= (const Matrix2x2& B) // Matrix product
inline Matrix2x2& Matrix2x2::ReNormalize() // Re-normalizes nearly orthonormal matrix
{
register double alpha = m11*m11+m21*m21; // First column's norm squared
register double beta = m12*m12+m22*m22; // Second column's norm squared
double alpha = m11*m11+m21*m21; // First column's norm squared
double beta = m12*m12+m22*m22; // Second column's norm squared
alpha = 1.0 - 0.5*(alpha-1.0); // Get mult. factor
beta = 1.0 - 0.5*(beta-1.0);
m11 *= alpha; // Renormalize first column
@ -657,7 +657,7 @@ inline Matrix2x2& Matrix2x2::ReNormalize() // Re-normalizes nearly orthonormal m
m22 *= beta;
alpha = m11*m12+m21*m22; // Columns' inner product
alpha *= 0.5; // times 1/2
register double temp;
double temp;
temp = m11-alpha*m12; // Subtract alpha times other column
m12 -= alpha*m11;
m11 = temp;
@ -671,8 +671,8 @@ inline Matrix2x2& Matrix2x2::ReNormalize() // Re-normalizes nearly orthonormal m
// Mostly intended for diagnostic purposes.
inline double NormalizeError( const Matrix2x2& A)
{
register double discrepancy;
register double newdisc;
double discrepancy;
double newdisc;
discrepancy = A.m11*A.m11 + A.m21*A.m21 -1.0; // First column - inner product - 1
if (discrepancy<0.0) {
discrepancy = -discrepancy;
@ -780,7 +780,7 @@ inline LinearMapR2 operator- (const LinearMapR2& A, const LinearMapR2& B)
A.m12-B.m12, A.m22-B.m22 ) );
}
inline LinearMapR2& LinearMapR2::operator*= (register double b)
inline LinearMapR2& LinearMapR2::operator*= ( double b)
{
m11 *= b;
m12 *= b;
@ -789,13 +789,13 @@ inline LinearMapR2& LinearMapR2::operator*= (register double b)
return ( *this);
}
inline LinearMapR2 operator* ( const LinearMapR2& A, register double b)
inline LinearMapR2 operator* ( const LinearMapR2& A, double b)
{
return( LinearMapR2( A.m11*b, A.m21*b,
A.m12*b, A.m22*b ) );
}
inline LinearMapR2 operator* ( register double b, const LinearMapR2& A)
inline LinearMapR2 operator* ( double b, const LinearMapR2& A)
{
return( LinearMapR2( A.m11*b, A.m21*b,
A.m12*b, A.m22*b ) );
@ -803,13 +803,13 @@ inline LinearMapR2 operator* ( register double b, const LinearMapR2& A)
inline LinearMapR2 operator/ ( const LinearMapR2& A, double b)
{
register double bInv = 1.0/b;
double bInv = 1.0/b;
return ( A*bInv );
}
inline LinearMapR2& LinearMapR2::operator/= (register double b)
inline LinearMapR2& LinearMapR2::operator/= ( double b)
{
register double bInv = 1.0/b;
double bInv = 1.0/b;
return ( *this *= bInv );
}

View File

@ -47,7 +47,7 @@ const Matrix3x4 Matrix3x4::Identity(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0,
double VectorR3::MaxAbs() const
{
register double m;
double m;
m = (x>0.0) ? x : -x;
if ( y>m ) m=y;
else if ( -y >m ) m = -y;
@ -124,9 +124,9 @@ VectorR3& VectorR3::RotateUnitInDirection ( const VectorR3& dir)
Matrix3x3& Matrix3x3::ReNormalize() // Re-normalizes nearly orthonormal matrix
{
register double alpha = m11*m11+m21*m21+m31*m31; // First column's norm squared
register double beta = m12*m12+m22*m22+m32*m32; // Second column's norm squared
register double gamma = m13*m13+m23*m23+m33*m33; // Third column's norm squared
double alpha = m11*m11+m21*m21+m31*m31; // First column's norm squared
double beta = m12*m12+m22*m22+m32*m32; // Second column's norm squared
double gamma = m13*m13+m23*m23+m33*m33; // Third column's norm squared
alpha = 1.0 - 0.5*(alpha-1.0); // Get mult. factor
beta = 1.0 - 0.5*(beta-1.0);
gamma = 1.0 - 0.5*(gamma-1.0);
@ -145,7 +145,7 @@ Matrix3x3& Matrix3x3::ReNormalize() // Re-normalizes nearly orthonormal matrix
alpha *= 0.5;
beta *= 0.5;
gamma *= 0.5;
register double temp1, temp2;
double temp1, temp2;
temp1 = m11-alpha*m12-beta*m13; // Update row1
temp2 = m12-alpha*m11-gamma*m13;
m13 -= beta*m11+gamma*m12;
@ -199,7 +199,7 @@ VectorR3 Matrix3x3::Solve(const VectorR3& u) const // Returns solution
double sd23 = m31*m12-m11*m32;
double sd33 = m11*m22-m21*m12;
register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
double rx = (u.x*sd11 + u.y*sd21 + u.z*sd31)*detInv;
double ry = (u.x*sd12 + u.y*sd22 + u.z*sd32)*detInv;
@ -215,9 +215,9 @@ VectorR3 Matrix3x3::Solve(const VectorR3& u) const // Returns solution
Matrix3x4& Matrix3x4::ReNormalize() // Re-normalizes nearly orthonormal matrix
{
register double alpha = m11*m11+m21*m21+m31*m31; // First column's norm squared
register double beta = m12*m12+m22*m22+m32*m32; // Second column's norm squared
register double gamma = m13*m13+m23*m23+m33*m33; // Third column's norm squared
double alpha = m11*m11+m21*m21+m31*m31; // First column's norm squared
double beta = m12*m12+m22*m22+m32*m32; // Second column's norm squared
double gamma = m13*m13+m23*m23+m33*m33; // Third column's norm squared
alpha = 1.0 - 0.5*(alpha-1.0); // Get mult. factor
beta = 1.0 - 0.5*(beta-1.0);
gamma = 1.0 - 0.5*(gamma-1.0);
@ -236,7 +236,7 @@ Matrix3x4& Matrix3x4::ReNormalize() // Re-normalizes nearly orthonormal matrix
alpha *= 0.5;
beta *= 0.5;
gamma *= 0.5;
register double temp1, temp2;
double temp1, temp2;
temp1 = m11-alpha*m12-beta*m13; // Update row1
temp2 = m12-alpha*m11-gamma*m13;
m13 -= beta*m11+gamma*m12;
@ -340,7 +340,7 @@ LinearMapR3 LinearMapR3::Inverse() const // Returns inverse
double sd23 = m31*m12-m11*m32;
double sd33 = m11*m22-m21*m12;
register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
return( LinearMapR3( sd11*detInv, sd12*detInv, sd13*detInv,
sd21*detInv, sd22*detInv, sd23*detInv,
@ -359,7 +359,7 @@ LinearMapR3& LinearMapR3::Invert() // Converts into inverse.
double sd23 = m31*m12-m11*m32;
double sd33 = m11*m22-m21*m12;
register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
m11 = sd11*detInv;
m12 = sd21*detInv;
@ -441,7 +441,7 @@ AffineMapR3 AffineMapR3::Inverse() const // Returns inverse
double sd23 = m31*m12-m11*m32;
double sd33 = m11*m22-m21*m12;
register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
// Make sd's hold the (transpose of) the inverse of the 3x3 part
sd11 *= detInv;
@ -475,7 +475,7 @@ AffineMapR3& AffineMapR3::Invert() // Converts into inverse.
double sd23 = m31*m12-m11*m32;
double sd33 = m11*m22-m21*m12;
register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13);
m11 = sd11*detInv;
m12 = sd21*detInv;
@ -541,9 +541,9 @@ RotationMapR3& RotationMapR3::Set( const Quaternion& quat )
RotationMapR3& RotationMapR3::Set( const VectorR3& u, double theta )
{
assert ( fabs(u.NormSq()-1.0)<2.0e-6 );
register double c = cos(theta);
register double s = sin(theta);
register double mc = 1.0-c;
double c = cos(theta);
double s = sin(theta);
double mc = 1.0-c;
double xmc = u.x*mc;
double xymc = xmc*u.y;
double xzmc = xmc*u.z;
@ -673,9 +673,9 @@ RotationMapR3 RotateToMap( const VectorR3& fromVec, const VectorR3& toVec)
RigidMapR3& RigidMapR3::SetRotationPart( const VectorR3& u, double theta )
{
assert ( fabs(u.NormSq()-1.0)<2.0e-6 );
register double c = cos(theta);
register double s = sin(theta);
register double mc = 1.0-c;
double c = cos(theta);
double s = sin(theta);
double mc = 1.0-c;
double xmc = u.x*mc;
double xymc = xmc*u.y;
double xzmc = xmc*u.z;

View File

@ -110,7 +110,7 @@ public:
VectorR3& operator*= ( double m )
{ x*=m; y*=m; z*=m; return(*this); }
VectorR3& operator/= ( double m )
{ register double mInv = 1.0/m;
{ double mInv = 1.0/m;
x*=mInv; y*=mInv; z*=mInv;
return(*this); }
VectorR3 operator- () const { return ( VectorR3(-x, -y, -z) ); }
@ -130,10 +130,10 @@ public:
inline VectorR3& MakeUnit(); // Normalize() with error checking
inline VectorR3& ReNormalize();
bool IsUnit( ) const
{ register double norm = Norm();
{ double norm = Norm();
return ( 1.000001>=norm && norm>=0.999999 ); }
bool IsUnit( double tolerance ) const
{ register double norm = Norm();
{ double norm = Norm();
return ( 1.0+tolerance>=norm && norm>=1.0-tolerance ); }
bool NearZero(double tolerance) const { return( MaxAbs()<=tolerance );}
// tolerance should be non-negative
@ -646,17 +646,17 @@ inline VectorR3 operator-( const VectorR3& u, const VectorR3& v )
{
return VectorR3(u.x-v.x, u.y-v.y, u.z-v.z);
}
inline VectorR3 operator*( const VectorR3& u, register double m)
inline VectorR3 operator*( const VectorR3& u, double m)
{
return VectorR3( u.x*m, u.y*m, u.z*m);
}
inline VectorR3 operator*( register double m, const VectorR3& u)
inline VectorR3 operator*( double m, const VectorR3& u)
{
return VectorR3( u.x*m, u.y*m, u.z*m);
}
inline VectorR3 operator/( const VectorR3& u, double m)
{
register double mInv = 1.0/m;
double mInv = 1.0/m;
return VectorR3( u.x*mInv, u.y*mInv, u.z*mInv);
}
@ -716,14 +716,14 @@ inline VectorR3::VectorR3( const VectorHgR3& uH )
inline VectorR3& VectorR3::ReNormalize() // Convert near unit back to unit
{
double nSq = NormSq();
register double mFact = 1.0-0.5*(nSq-1.0); // Multiplicative factor
double mFact = 1.0-0.5*(nSq-1.0); // Multiplicative factor
*this *= mFact;
return *this;
}
inline double NormalizeError (const VectorR3& u)
{
register double discrepancy;
double discrepancy;
discrepancy = u.x*u.x + u.y*u.y + u.z*u.z - 1.0;
if ( discrepancy < 0.0 ) {
discrepancy = -discrepancy;
@ -1000,7 +1000,7 @@ inline double Matrix3x3::Diagonal( int i )
inline void Matrix3x3::MakeTranspose() // Transposes it.
{
register double temp;
double temp;
temp = m12;
m12 = m21;
m21=temp;
@ -1515,7 +1515,7 @@ inline LinearMapR3 operator- (const LinearMapR3& A, const Matrix3x3& B)
A.m13-B.m13, A.m23-B.m23, A.m33-B.m33 ) );
}
inline LinearMapR3& LinearMapR3::operator*= (register double b)
inline LinearMapR3& LinearMapR3::operator*= ( double b)
{
m11 *= b;
m12 *= b;
@ -1529,14 +1529,14 @@ inline LinearMapR3& LinearMapR3::operator*= (register double b)
return ( *this);
}
inline LinearMapR3 operator* ( const LinearMapR3& A, register double b)
inline LinearMapR3 operator* ( const LinearMapR3& A, double b)
{
return( LinearMapR3( A.m11*b, A.m21*b, A.m31*b,
A.m12*b, A.m22*b, A.m32*b,
A.m13*b, A.m23*b, A.m33*b ) );
}
inline LinearMapR3 operator* ( register double b, const LinearMapR3& A)
inline LinearMapR3 operator* ( double b, const LinearMapR3& A)
{
return( LinearMapR3( A.m11*b, A.m21*b, A.m31*b,
A.m12*b, A.m22*b, A.m32*b,
@ -1545,15 +1545,15 @@ inline LinearMapR3 operator* ( register double b, const LinearMapR3& A)
inline LinearMapR3 operator/ ( const LinearMapR3& A, double b)
{
register double bInv = 1.0/b;
double bInv = 1.0/b;
return( LinearMapR3( A.m11*bInv, A.m21*bInv, A.m31*bInv,
A.m12*bInv, A.m22*bInv, A.m32*bInv,
A.m13*bInv, A.m23*bInv, A.m33*bInv ) );
}
inline LinearMapR3& LinearMapR3::operator/= (register double b)
inline LinearMapR3& LinearMapR3::operator/= ( double b)
{
register double bInv = 1.0/b;
double bInv = 1.0/b;
return ( *this *= bInv );
}
@ -1730,7 +1730,7 @@ inline AffineMapR3 operator- (const LinearMapR3& B, const AffineMapR3& A)
}
inline AffineMapR3& AffineMapR3::operator*= (register double b)
inline AffineMapR3& AffineMapR3::operator*= ( double b)
{
m11 *= b;
m12 *= b;
@ -1747,7 +1747,7 @@ inline AffineMapR3& AffineMapR3::operator*= (register double b)
return (*this);
}
inline AffineMapR3 operator* (const AffineMapR3& A, register double b)
inline AffineMapR3 operator* (const AffineMapR3& A, double b)
{
return(AffineMapR3( A.m11*b, A.m21*b, A.m31*b,
A.m12*b, A.m22*b, A.m32*b,
@ -1755,7 +1755,7 @@ inline AffineMapR3 operator* (const AffineMapR3& A, register double b)
A.m14*b, A.m24*b, A.m34*b ) );
}
inline AffineMapR3 operator* (register double b, const AffineMapR3& A)
inline AffineMapR3 operator* ( double b, const AffineMapR3& A)
{
return(AffineMapR3( A.m11*b, A.m21*b, A.m31*b,
A.m12*b, A.m22*b, A.m32*b,
@ -1765,14 +1765,14 @@ inline AffineMapR3 operator* (register double b, const AffineMapR3& A)
inline AffineMapR3& AffineMapR3::operator/= (double b)
{
register double bInv = 1.0/b;
double bInv = 1.0/b;
*this *= bInv;
return( *this );
}
inline AffineMapR3 operator/ (const AffineMapR3& A, double b)
{
register double bInv = 1.0/b;
double bInv = 1.0/b;
return(AffineMapR3( A.m11*bInv, A.m21*bInv, A.m31*bInv,
A.m12*bInv, A.m22*bInv, A.m32*bInv,
A.m13*bInv, A.m23*bInv, A.m33*bInv,
@ -1823,7 +1823,7 @@ inline RotationMapR3 RotationMapR3::Inverse() const // Returns inverse
inline RotationMapR3& RotationMapR3::Invert() // Converts into inverse.
{
register double temp;
double temp;
temp = m12;
m12 = m21;
m21 = temp;
@ -1934,7 +1934,7 @@ inline RigidMapR3& RigidMapR3::Invert() // Converts into inverse.
m14 = new14;
m24 = new24;
register double temp;
double temp;
temp = m12;
m12 = m21;
m21 = temp;

View File

@ -45,7 +45,7 @@ const Matrix4x4 Matrix4x4::Identity(1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0,
double VectorR4::MaxAbs() const
{
register double m;
double m;
m = (x>0.0) ? x : -x;
if ( y>m ) m=y;
else if ( -y >m ) m = -y;
@ -99,7 +99,7 @@ void Matrix4x4::operator*= (const Matrix4x4& B) // Matrix product
inline void ReNormalizeHelper ( double &a, double &b, double &c, double &d )
{
register double scaleF = a*a+b*b+c*c+d*d; // Inner product of Vector-R4
double scaleF = a*a+b*b+c*c+d*d; // Inner product of Vector-R4
scaleF = 1.0-0.5*(scaleF-1.0);
a *= scaleF;
b *= scaleF;
@ -212,7 +212,7 @@ LinearMapR4 LinearMapR4::Inverse() const // Returns inverse
double sd44 = m11*Tbt23C23 - m12*Tbt23C13 + m13*Tbt23C12;
register double detInv = 1.0/(m11*sd11 - m12*sd12 + m13*sd13 - m14*sd14);
double detInv = 1.0/(m11*sd11 - m12*sd12 + m13*sd13 - m14*sd14);
return( LinearMapR4( sd11*detInv, -sd12*detInv, sd13*detInv, -sd14*detInv,
-sd21*detInv, sd22*detInv, -sd23*detInv, sd24*detInv,
@ -258,7 +258,7 @@ LinearMapR4& LinearMapR4::Invert() // Converts into inverse.
double sd43 = m11*Tbt23C24 - m12*Tbt23C14 + m14*Tbt23C12;
double sd44 = m11*Tbt23C23 - m12*Tbt23C13 + m13*Tbt23C12;
register double detInv = 1.0/(m11*sd11 - m12*sd12 + m13*sd13 - m14*sd14);
double detInv = 1.0/(m11*sd11 - m12*sd12 + m13*sd13 - m14*sd14);
m11 = sd11*detInv;
m12 = -sd21*detInv;

View File

@ -91,7 +91,7 @@ public:
VectorR4& operator*= ( double m )
{ x*=m; y*=m; z*=m; w*=m; return(*this); }
VectorR4& operator/= ( double m )
{ register double mInv = 1.0/m;
{ double mInv = 1.0/m;
x*=mInv; y*=mInv; z*=mInv; w*=mInv;
return(*this); }
VectorR4 operator- () const { return ( VectorR4(-x, -y, -z, -w) ); }
@ -109,10 +109,10 @@ public:
inline VectorR4& MakeUnit(); // Normalize() with error checking
inline VectorR4& ReNormalize();
bool IsUnit( ) const
{ register double norm = Norm();
{ double norm = Norm();
return ( 1.000001>=norm && norm>=0.999999 ); }
bool IsUnit( double tolerance ) const
{ register double norm = Norm();
{ double norm = Norm();
return ( 1.0+tolerance>=norm && norm>=1.0-tolerance ); }
bool IsZero() const { return ( x==0.0 && y==0.0 && z==0.0 && w==0.0); }
bool NearZero(double tolerance) const { return( MaxAbs()<=tolerance );}
@ -428,17 +428,17 @@ inline VectorR4 operator-( const VectorR4& u, const VectorR4& v )
{
return VectorR4(u.x-v.x, u.y-v.y, u.z-v.z, u.w-v.w);
}
inline VectorR4 operator*( const VectorR4& u, register double m)
inline VectorR4 operator*( const VectorR4& u, double m)
{
return VectorR4( u.x*m, u.y*m, u.z*m, u.w*m );
}
inline VectorR4 operator*( register double m, const VectorR4& u)
inline VectorR4 operator*( double m, const VectorR4& u)
{
return VectorR4( u.x*m, u.y*m, u.z*m, u.w*m );
}
inline VectorR4 operator/( const VectorR4& u, double m)
{
register double mInv = 1.0/m;
double mInv = 1.0/m;
return VectorR4( u.x*mInv, u.y*mInv, u.z*mInv, u.w*mInv );
}
@ -486,14 +486,14 @@ inline VectorR4& VectorR4::AddScaled( const VectorR4& u, double s )
inline VectorR4& VectorR4::ReNormalize() // Convert near unit back to unit
{
double nSq = NormSq();
register double mFact = 1.0-0.5*(nSq-1.0); // Multiplicative factor
double mFact = 1.0-0.5*(nSq-1.0); // Multiplicative factor
*this *= mFact;
return *this;
}
inline double NormalizeError (const VectorR4& u)
{
register double discrepancy;
double discrepancy;
discrepancy = u.x*u.x + u.y*u.y + u.z*u.z + u.w*u.w - 1.0;
if ( discrepancy < 0.0 ) {
discrepancy = -discrepancy;
@ -796,7 +796,7 @@ inline double Matrix4x4::Diagonal( int i )
inline void Matrix4x4::MakeTranspose() // Transposes it.
{
register double temp;
double temp;
temp = m12;
m12 = m21;
m21=temp;
@ -924,7 +924,7 @@ inline LinearMapR4 operator- (const LinearMapR4& A, const LinearMapR4& B)
A.m14-B.m14, A.m24-B.m24, A.m34-B.m34, A.m44-B.m44 ) );
}
inline LinearMapR4& LinearMapR4::operator*= (register double b)
inline LinearMapR4& LinearMapR4::operator*= ( double b)
{
m11 *= b;
m12 *= b;
@ -945,7 +945,7 @@ inline LinearMapR4& LinearMapR4::operator*= (register double b)
return ( *this);
}
inline LinearMapR4 operator* ( const LinearMapR4& A, register double b)
inline LinearMapR4 operator* ( const LinearMapR4& A, double b)
{
return( LinearMapR4( A.m11*b, A.m21*b, A.m31*b, A.m41*b,
A.m12*b, A.m22*b, A.m32*b, A.m42*b,
@ -953,7 +953,7 @@ inline LinearMapR4 operator* ( const LinearMapR4& A, register double b)
A.m14*b, A.m24*b, A.m34*b, A.m44*b) );
}
inline LinearMapR4 operator* ( register double b, const LinearMapR4& A)
inline LinearMapR4 operator* ( double b, const LinearMapR4& A)
{
return( LinearMapR4( A.m11*b, A.m21*b, A.m31*b, A.m41*b,
A.m12*b, A.m22*b, A.m32*b, A.m42*b,
@ -963,13 +963,13 @@ inline LinearMapR4 operator* ( register double b, const LinearMapR4& A)
inline LinearMapR4 operator/ ( const LinearMapR4& A, double b)
{
register double bInv = 1.0/b;
double bInv = 1.0/b;
return ( A*bInv );
}
inline LinearMapR4& LinearMapR4::operator/= (register double b)
inline LinearMapR4& LinearMapR4::operator/= ( double b)
{
register double bInv = 1.0/b;
double bInv = 1.0/b;
return ( *this *= bInv );
}

View File

@ -182,7 +182,7 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
bool discard = shader.fragment(bc_clip, color);
if (frag_depth<-shader.m_farPlane)
discard=true;
if (frag_depth>-shader.m_nearPlane)
if (frag_depth>shader.m_nearPlane)
discard=true;
if (!discard) {

View File

@ -0,0 +1,45 @@
import pybullet as p
import time
import math
p.connect(p.GUI)
useMaximalCoordinates = False
p.setGravity(0,0,-10)
plane=p.loadURDF("plane.urdf",[0,0,-1],useMaximalCoordinates=useMaximalCoordinates)
p.setRealTimeSimulation(0)
velocity = 1
num = 40
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)#disable this to make it faster
p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
for i in range (num):
print("progress:",i,num)
x = velocity*math.sin(2.*3.1415*float(i)/num)
y = velocity*math.cos(2.*3.1415*float(i)/num)
print("velocity=",x,y)
sphere=p.loadURDF("sphere_small_zeroinertia.urdf", flags=p.URDF_USE_INERTIA_FROM_FILE, useMaximalCoordinates=useMaximalCoordinates)
p.changeDynamics(sphere,-1,lateralFriction=0.02)
#p.changeDynamics(sphere,-1,rollingFriction=10)
p.changeDynamics(sphere,-1,linearDamping=0)
p.changeDynamics(sphere,-1,angularDamping=0)
p.resetBaseVelocity(sphere,linearVelocity=[x,y,0])
prevPos = [0,0,0]
for i in range (2048):
p.stepSimulation()
pos = p.getBasePositionAndOrientation(sphere)[0]
if (i&64):
p.addUserDebugLine(prevPos,pos,[1,0,0],1)
prevPos = pos
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
while (1):
time.sleep(0.01)

View File

@ -0,0 +1,12 @@
import pybullet as p
import time
p.connect(p.GUI)
cartpole=p.loadURDF("cartpole.urdf")
p.setRealTimeSimulation(1)
p.setJointMotorControl2(cartpole,1,p.POSITION_CONTROL,targetPosition=1000,targetVelocity=0,force=1000, positionGain=1, velocityGain=0, maxVelocity=0.5)
while (1):
p.setGravity(0,0,-10)
js = p.getJointState(cartpole,1)
print("position=",js[0],"velocity=",js[1])
time.sleep(0.01)

View File

@ -1,48 +1,70 @@
import numpy as np
import matplotlib.pyplot as plt
import pybullet
pybullet.connect(pybullet.GUI)
pybullet.loadURDF("plane.urdf")
#testrender.py is a bit slower than testrender_np.py: pixels are copied from C to Python one by one
import matplotlib.pyplot as plt
import pybullet
import time
plt.ion()
img = [[1,2,3]*50]*100#np.random.rand(200, 320)
#img = [tandard_normal((50,100))
image = plt.imshow(img,interpolation='none',animated=True,label="blah")
ax = plt.gca()
pybullet.connect(pybullet.DIRECT)
pybullet.loadURDF("plane.urdf",[0,0,-1])
pybullet.loadURDF("r2d2.urdf")
camTargetPos = [0.,0.,0.]
pybullet.setGravity(0,0,-10)
camTargetPos = [0,0,0]
cameraUp = [0,0,1]
cameraPos = [1,1,1]
yaw = 40
pitch = 10.0
pitch = -10.0
roll=0
upAxisIndex = 2
camDistance = 4
pixelWidth = 320
pixelHeight = 240
pixelHeight = 200
nearPlane = 0.01
farPlane = 1000
lightDirection = [0.4,0.4,0]
lightColor = [.3,.3,.3]#1,1,1]#optional argument
farPlane = 100
fov = 60
#img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
#renderImage(w, h, view[16], projection[16])
#img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane)
for pitch in range (0,360,10) :
main_start = time.time()
while(1):
for yaw in range (0,360,10) :
pybullet.stepSimulation()
start = time.time()
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
aspect = pixelWidth / pixelHeight;
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
#getCameraImage can also use renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightAmbientCoeff = 0.3, lightDiffuseCoeff = 0.4, shadow=1, renderer=pybullet.ER_TINY_RENDERER)
w=img_arr[0]
h=img_arr[1]
rgb=img_arr[2]
dep=img_arr[3]
#print 'width = %d height = %d' % (w,h)
# reshape creates np array
np_img_arr = np.reshape(rgb, (h, w, 4))
np_img_arr = np_img_arr*(1./255.)
#show
plt.imshow(np_img_arr,interpolation='none')
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
stop = time.time()
print ("renderImage %f" % (stop - start))
w=img_arr[0] #width of the image, in pixels
h=img_arr[1] #height of the image, in pixels
rgb=img_arr[2] #color data RGB
dep=img_arr[3] #depth data
#print(rgb)
print ('width = %d height = %d' % (w,h))
#note that sending the data using imshow to matplotlib is really slow, so we use set_data
#plt.imshow(rgb,interpolation='none')
image.set_data(rgb)
ax.plot([0])
#plt.draw()
#plt.show()
plt.pause(0.01)
main_stop = time.time()
print ("Total time %f" % (main_stop - main_start))
pybullet.resetSimulation()

View File

@ -1,37 +1,53 @@
#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled, otherwise use testrender.py (slower but compatible without numpy)
#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled
#otherwise use testrender.py (slower but compatible without numpy)
#you can also use GUI mode, for faster OpenGL rendering (instead of TinyRender CPU)
import numpy as np
import matplotlib.pyplot as plt
import pybullet
import time
pybullet.connect(pybullet.GUI)
plt.ion()
img = np.random.rand(200, 320)
#img = [tandard_normal((50,100))
image = plt.imshow(img,interpolation='none',animated=True,label="blah")
ax = plt.gca()
#pybullet.connect(pybullet.GUI)
pybullet.connect(pybullet.DIRECT)
pybullet.loadURDF("plane.urdf",[0,0,-1])
pybullet.loadURDF("r2d2.urdf")
camTargetPos = [0,0,0]
cameraUp = [0,0,1]
cameraPos = [1,1,1]
yaw = 40
pitch = 10.0
pybullet.setGravity(0,0,-10)
pitch = -10.0
roll=0
upAxisIndex = 2
camDistance = 4
pixelWidth = 1024
pixelHeight = 768
pixelWidth = 320
pixelHeight = 200
nearPlane = 0.01
farPlane = 1000
farPlane = 100
fov = 60
main_start = time.time()
for pitch in range (0,360,10) :
while (1):
for yaw in range (0,360,10):
pybullet.stepSimulation()
start = time.time()
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
aspect = pixelWidth / pixelHeight;
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, [0,1,0],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
stop = time.time()
print ("renderImage %f" % (stop - start))
@ -44,8 +60,21 @@ for pitch in range (0,360,10) :
#note that sending the data to matplotlib is really slow
plt.imshow(rgb,interpolation='none')
plt.pause(0.001)
#reshape is not needed
#np_img_arr = np.reshape(rgb, (h, w, 4))
#np_img_arr = np_img_arr*(1./255.)
#show
#plt.imshow(np_img_arr,interpolation='none',extent=(0,1600,0,1200))
#image = plt.imshow(np_img_arr,interpolation='none',animated=True,label="blah")
image.set_data(rgb)#np_img_arr)
ax.plot([0])
#plt.draw()
#plt.show()
plt.pause(0.01)
#image.draw()
main_stop = time.time()

View File

@ -20,4 +20,4 @@ from __future__ import print_function
from . import train_ppo
from . import utility
from . import visualize
from . import visualize_ppo

View File

@ -119,6 +119,15 @@ def pybullet_racecar():
return locals()
def pybullet_humanoid():
locals().update(default())
randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer())
env = 'HumanoidBulletEnv-v0'
max_length = 1000
steps = 3e7 # 30M
return locals()
def pybullet_minitaur():
"""Configuration specific to minitaur_gym_env.MinitaurBulletEnv class."""
locals().update(default())

View File

@ -1748,12 +1748,13 @@ static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args,
double force = 100000.0;
double kp = 0.1;
double kd = 1.0;
double maxVelocity = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|dddddi", kwlist, &bodyUniqueId, &jointIndex, &controlMode,
&targetPosition, &targetVelocity, &force, &kp, &kd, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "maxVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|ddddddi", kwlist, &bodyUniqueId, &jointIndex, &controlMode,
&targetPosition, &targetVelocity, &force, &kp, &kd, &maxVelocity, &physicsClientId))
{
//backward compatibility, bodyIndex -> bodyUniqueId, don't need to update this function: people have to migrate to bodyUniqueId
static char* kwlist2[] = {"bodyIndex", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "physicsClientId", NULL};
@ -1816,6 +1817,10 @@ static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args,
case CONTROL_MODE_POSITION_VELOCITY_PD:
{
if (maxVelocity>0)
{
b3JointControlSetMaximumVelocity(commandHandle, info.m_uIndex, maxVelocity);
}
b3JointControlSetDesiredPosition(commandHandle, info.m_qIndex,
targetPosition);
b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
@ -5982,7 +5987,7 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
{
PyObject* item2;
PyObject* pyResultList; // store 4 elements in this result: width,
// height, rgbData, depth
@ -5991,22 +5996,21 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
PyObject* pyDep;
PyObject* pySeg;
int i, j, p;
int bytesPerPixel = 4; // Red, Green, Blue, and Alpha each 8 bit values
b3GetCameraImageData(sm, &imageData);
// TODO(hellojas): error handling if image size is 0
int bytesPerPixel = 4; // Red, Green, Blue, and Alpha each 8 bit values
{
npy_intp rgb_dims[3] = {imageData.m_pixelHeight, imageData.m_pixelWidth,
bytesPerPixel};
npy_intp dep_dims[2] = {imageData.m_pixelHeight, imageData.m_pixelWidth};
npy_intp seg_dims[2] = {imageData.m_pixelHeight, imageData.m_pixelWidth};
pyResultList = PyTuple_New(5);
pyResultList = PyTuple_New(5);
PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth));
PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight));
PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth));
PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight));
pyRGB = PyArray_SimpleNew(3, rgb_dims, NPY_UINT8);
pyDep = PyArray_SimpleNew(2, dep_dims, NPY_FLOAT32);
@ -6022,7 +6026,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
PyTuple_SetItem(pyResultList, 2, pyRGB);
PyTuple_SetItem(pyResultList, 3, pyDep);
PyTuple_SetItem(pyResultList, 4, pySeg);
}
#else //PYBULLET_USE_NUMPY
PyObject* item2;
PyObject* pylistRGB;
PyObject* pylistDep;
PyObject* pylistSeg;
@ -6412,7 +6418,7 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
{
PyObject* item2;
PyObject* pyResultList; // store 4 elements in this result: width,
// height, rgbData, depth
@ -6421,16 +6427,15 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
PyObject* pyDep;
PyObject* pySeg;
int i, j, p;
int bytesPerPixel = 4; // Red, Green, Blue, and Alpha each 8 bit values
b3GetCameraImageData(sm, &imageData);
// TODO(hellojas): error handling if image size is 0
pyResultList = PyTuple_New(5);
PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth));
PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight));
int bytesPerPixel = 4; // Red, Green, Blue, and Alpha each 8 bit values
{
npy_intp rgb_dims[3] = {imageData.m_pixelHeight, imageData.m_pixelWidth,
bytesPerPixel};
npy_intp dep_dims[2] = {imageData.m_pixelHeight, imageData.m_pixelWidth};
@ -6450,7 +6455,9 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
PyTuple_SetItem(pyResultList, 2, pyRGB);
PyTuple_SetItem(pyResultList, 3, pyDep);
PyTuple_SetItem(pyResultList, 4, pySeg);
}
#else //PYBULLET_USE_NUMPY
PyObject* item2;
PyObject* pylistRGB;
PyObject* pylistDep;
PyObject* pylistSeg;
@ -8209,6 +8216,9 @@ initpybullet(void)
PyModule_AddIntConstant(m, "COV_ENABLE_KEYBOARD_SHORTCUTS", COV_ENABLE_KEYBOARD_SHORTCUTS);
PyModule_AddIntConstant(m, "COV_ENABLE_MOUSE_PICKING", COV_ENABLE_MOUSE_PICKING);
PyModule_AddIntConstant(m, "COV_ENABLE_RGB_BUFFER_PREVIEW", COV_ENABLE_RGB_BUFFER_PREVIEW);
PyModule_AddIntConstant(m, "COV_ENABLE_DEPTH_BUFFER_PREVIEW", COV_ENABLE_DEPTH_BUFFER_PREVIEW);
PyModule_AddIntConstant(m, "COV_ENABLE_SEGMENTATION_MARK_PREVIEW", COV_ENABLE_SEGMENTATION_MARK_PREVIEW);
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);

View File

@ -274,6 +274,7 @@ sources = ["examples/pybullet/pybullet.c"]\
+["Extras/Serialize/BulletFileLoader/bDNA.cpp"]\
+["Extras/Serialize/BulletFileLoader/bFile.cpp"]\
+["Extras/Serialize/BulletFileLoader/btBulletFile.cpp"]\
+["Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp"]\
+["Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp"]\
+["Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp"]\
+["Extras/InverseDynamics/CloneTreeCreator.cpp"]\
@ -441,7 +442,7 @@ print("-----")
setup(
name = 'pybullet',
version='1.6.6',
version='1.7.3',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',

View File

@ -1646,7 +1646,7 @@ void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if ((colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT) || (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK))
if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)
{
colObj->serializeSingleObject(serializer);
}

View File

@ -70,26 +70,45 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
//solve featherstone frictional contact
for (int j1=0;j1<this->m_multiBodyFrictionContactConstraints.size();j1++)
for (int j1=0;j1<this->m_multiBodyLateralFrictionContactConstraints.size();j1++)
{
if (iteration < infoGlobal.m_numIterations)
{
int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index];
btMultiBodySolverConstraint& frictionConstraint = m_multiBodyLateralFrictionContactConstraints[index];
btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
//adjust friction limits here
if (totalImpulse>btScalar(0))
if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
{
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
leastSquaredResidual += residual*residual;
j1++;
int index2 = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
btMultiBodySolverConstraint& frictionConstraintB = m_multiBodyLateralFrictionContactConstraints[index2];
btAssert(frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex);
if(frictionConstraint.m_multiBodyA)
frictionConstraint.m_multiBodyA->setPosUpdated(false);
if(frictionConstraint.m_multiBodyB)
frictionConstraint.m_multiBodyB->setPosUpdated(false);
if (frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex)
{
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction*totalImpulse);
frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction*totalImpulse;
resolveConeFrictionConstraintRows(frictionConstraint,frictionConstraintB);
}
}
else
{
//adjust friction limits here
if (totalImpulse > btScalar(0))
{
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
leastSquaredResidual += residual*residual;
if (frictionConstraint.m_multiBodyA)
frictionConstraint.m_multiBodyA->setPosUpdated(false);
if (frictionConstraint.m_multiBodyB)
frictionConstraint.m_multiBodyB->setPosUpdated(false);
}
}
}
}
@ -100,7 +119,9 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionOb
{
m_multiBodyNonContactConstraints.resize(0);
m_multiBodyNormalContactConstraints.resize(0);
m_multiBodyFrictionContactConstraints.resize(0);
m_multiBodyLateralFrictionContactConstraints.resize(0);
m_multiBodyTorsionalFrictionContactConstraints.resize(0);
m_data.m_jacobians.resize(0);
m_data.m_deltaVelocitiesUnitImpulse.resize(0);
m_data.m_deltaVelocities.resize(0);
@ -128,49 +149,51 @@ void btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar im
btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
btScalar deltaVelADotn=0;
btScalar deltaVelBDotn=0;
btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm;
btScalar deltaVelADotn = 0;
btScalar deltaVelBDotn = 0;
btSolverBody* bodyA = 0;
btSolverBody* bodyB = 0;
int ndofA=0;
int ndofB=0;
int ndofA = 0;
int ndofB = 0;
if (c.m_multiBodyA)
{
ndofA = c.m_multiBodyA->getNumDofs() + 6;
for (int i = 0; i < ndofA; ++i)
deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i];
} else if(c.m_solverBodyIdA >= 0)
ndofA = c.m_multiBodyA->getNumDofs() + 6;
for (int i = 0; i < ndofA; ++i)
deltaVelADotn += m_data.m_jacobians[c.m_jacAindex + i] * m_data.m_deltaVelocities[c.m_deltaVelAindex + i];
}
else if (c.m_solverBodyIdA >= 0)
{
bodyA = &m_tmpSolverBodyPool[c.m_solverBodyIdA];
deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
}
if (c.m_multiBodyB)
{
ndofB = c.m_multiBodyB->getNumDofs() + 6;
for (int i = 0; i < ndofB; ++i)
deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i];
} else if(c.m_solverBodyIdB >= 0)
ndofB = c.m_multiBodyB->getNumDofs() + 6;
for (int i = 0; i < ndofB; ++i)
deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex + i] * m_data.m_deltaVelocities[c.m_deltaVelBindex + i];
}
else if (c.m_solverBodyIdB >= 0)
{
bodyB = &m_tmpSolverBodyPool[c.m_solverBodyIdB];
deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
}
deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv;
const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
if (sum < c.m_lowerLimit)
{
deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
c.m_appliedImpulse = c.m_lowerLimit;
}
else if (sum > c.m_upperLimit)
else if (sum > c.m_upperLimit)
{
deltaImpulse = c.m_upperLimit-c.m_appliedImpulse;
deltaImpulse = c.m_upperLimit - c.m_appliedImpulse;
c.m_appliedImpulse = c.m_upperLimit;
}
else
@ -180,33 +203,214 @@ btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const bt
if (c.m_multiBodyA)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA);
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA);
#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse);
c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse);
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
} else if(c.m_solverBodyIdA >= 0)
}
else if (c.m_solverBodyIdA >= 0)
{
bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
}
if (c.m_multiBodyB)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB);
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse, c.m_deltaVelBindex, ndofB);
#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse);
c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse);
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
} else if(c.m_solverBodyIdB >= 0)
}
else if (c.m_solverBodyIdB >= 0)
{
bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
}
return deltaImpulse;
}
btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1,const btMultiBodySolverConstraint& cB)
{
int ndofA=0;
int ndofB=0;
btSolverBody* bodyA = 0;
btSolverBody* bodyB = 0;
btScalar deltaImpulseB = 0.f;
btScalar sumB = 0.f;
{
deltaImpulseB = cB.m_rhs-btScalar(cB.m_appliedImpulse)*cB.m_cfm;
btScalar deltaVelADotn=0;
btScalar deltaVelBDotn=0;
if (cB.m_multiBodyA)
{
ndofA = cB.m_multiBodyA->getNumDofs() + 6;
for (int i = 0; i < ndofA; ++i)
deltaVelADotn += m_data.m_jacobians[cB.m_jacAindex+i] * m_data.m_deltaVelocities[cB.m_deltaVelAindex+i];
} else if(cB.m_solverBodyIdA >= 0)
{
bodyA = &m_tmpSolverBodyPool[cB.m_solverBodyIdA];
deltaVelADotn += cB.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cB.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
}
if (cB.m_multiBodyB)
{
ndofB = cB.m_multiBodyB->getNumDofs() + 6;
for (int i = 0; i < ndofB; ++i)
deltaVelBDotn += m_data.m_jacobians[cB.m_jacBindex+i] * m_data.m_deltaVelocities[cB.m_deltaVelBindex+i];
} else if(cB.m_solverBodyIdB >= 0)
{
bodyB = &m_tmpSolverBodyPool[cB.m_solverBodyIdB];
deltaVelBDotn += cB.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cB.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
}
deltaImpulseB -= deltaVelADotn*cB.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
deltaImpulseB -= deltaVelBDotn*cB.m_jacDiagABInv;
sumB = btScalar(cB.m_appliedImpulse) + deltaImpulseB;
}
btScalar deltaImpulseA = 0.f;
btScalar sumA = 0.f;
const btMultiBodySolverConstraint& cA = cA1;
{
{
deltaImpulseA = cA.m_rhs-btScalar(cA.m_appliedImpulse)*cA.m_cfm;
btScalar deltaVelADotn=0;
btScalar deltaVelBDotn=0;
if (cA.m_multiBodyA)
{
ndofA = cA.m_multiBodyA->getNumDofs() + 6;
for (int i = 0; i < ndofA; ++i)
deltaVelADotn += m_data.m_jacobians[cA.m_jacAindex+i] * m_data.m_deltaVelocities[cA.m_deltaVelAindex+i];
} else if(cA.m_solverBodyIdA >= 0)
{
bodyA = &m_tmpSolverBodyPool[cA.m_solverBodyIdA];
deltaVelADotn += cA.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cA.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
}
if (cA.m_multiBodyB)
{
ndofB = cA.m_multiBodyB->getNumDofs() + 6;
for (int i = 0; i < ndofB; ++i)
deltaVelBDotn += m_data.m_jacobians[cA.m_jacBindex+i] * m_data.m_deltaVelocities[cA.m_deltaVelBindex+i];
} else if(cA.m_solverBodyIdB >= 0)
{
bodyB = &m_tmpSolverBodyPool[cA.m_solverBodyIdB];
deltaVelBDotn += cA.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cA.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
}
deltaImpulseA -= deltaVelADotn*cA.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
deltaImpulseA -= deltaVelBDotn*cA.m_jacDiagABInv;
sumA = btScalar(cA.m_appliedImpulse) + deltaImpulseA;
}
}
if (sumA*sumA+sumB*sumB>=cA.m_lowerLimit*cB.m_lowerLimit)
{
btScalar angle = btAtan2(sumA,sumB);
btScalar sumAclipped = btFabs(cA.m_lowerLimit*btSin(angle));
btScalar sumBclipped = btFabs(cB.m_lowerLimit*btCos(angle));
if (sumA < -sumAclipped)
{
deltaImpulseA = -sumAclipped - cA.m_appliedImpulse;
cA.m_appliedImpulse = -sumAclipped;
}
else if (sumA > sumAclipped)
{
deltaImpulseA = sumAclipped - cA.m_appliedImpulse;
cA.m_appliedImpulse = sumAclipped;
}
else
{
cA.m_appliedImpulse = sumA;
}
if (sumB < -sumBclipped)
{
deltaImpulseB = -sumBclipped - cB.m_appliedImpulse;
cB.m_appliedImpulse = -sumBclipped;
}
else if (sumB > sumBclipped)
{
deltaImpulseB = sumBclipped - cB.m_appliedImpulse;
cB.m_appliedImpulse = sumBclipped;
}
else
{
cB.m_appliedImpulse = sumB;
}
//deltaImpulseA = sumAclipped-cA.m_appliedImpulse;
//cA.m_appliedImpulse = sumAclipped;
//deltaImpulseB = sumBclipped-cB.m_appliedImpulse;
//cB.m_appliedImpulse = sumBclipped;
}
else
{
cA.m_appliedImpulse = sumA;
cB.m_appliedImpulse = sumB;
}
if (cA.m_multiBodyA)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex],deltaImpulseA,cA.m_deltaVelAindex,ndofA);
#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
cA.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex],deltaImpulseA);
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
} else if(cA.m_solverBodyIdA >= 0)
{
bodyA->internalApplyImpulse(cA.m_contactNormal1*bodyA->internalGetInvMass(),cA.m_angularComponentA,deltaImpulseA);
}
if (cA.m_multiBodyB)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex],deltaImpulseA,cA.m_deltaVelBindex,ndofB);
#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
cA.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex],deltaImpulseA);
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
} else if(cA.m_solverBodyIdB >= 0)
{
bodyB->internalApplyImpulse(cA.m_contactNormal2*bodyB->internalGetInvMass(),cA.m_angularComponentB,deltaImpulseA);
}
if (cB.m_multiBodyA)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex],deltaImpulseB,cB.m_deltaVelAindex,ndofA);
#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
cB.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex],deltaImpulseB);
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
} else if(cB.m_solverBodyIdA >= 0)
{
bodyA->internalApplyImpulse(cB.m_contactNormal1*bodyA->internalGetInvMass(),cB.m_angularComponentA,deltaImpulseB);
}
if (cB.m_multiBodyB)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex],deltaImpulseB,cB.m_deltaVelBindex,ndofB);
#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
cB.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex],deltaImpulseB);
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
} else if(cB.m_solverBodyIdB >= 0)
{
bodyB->internalApplyImpulse(cB.m_contactNormal2*bodyB->internalGetInvMass(),cB.m_angularComponentB,deltaImpulseB);
}
return deltaImpulseA+deltaImpulseB;
}
void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
@ -871,7 +1075,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
{
BT_PROFILE("addMultiBodyFrictionConstraint");
btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
btMultiBodySolverConstraint& solverConstraint = m_multiBodyLateralFrictionContactConstraints.expandNonInitializing();
solverConstraint.m_orgConstraint = 0;
solverConstraint.m_orgDofIndex = -1;
@ -908,7 +1112,7 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyTorsionalF
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
{
BT_PROFILE("addMultiBodyRollingFrictionConstraint");
btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
btMultiBodySolverConstraint& solverConstraint = m_multiBodyTorsionalFrictionContactConstraints.expandNonInitializing();
solverConstraint.m_orgConstraint = 0;
solverConstraint.m_orgDofIndex = -1;
@ -1275,11 +1479,11 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[i];
writeBackSolverBodyToMultiBody(solverConstraint,infoGlobal.m_timeStep);
writeBackSolverBodyToMultiBody(m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex],infoGlobal.m_timeStep);
writeBackSolverBodyToMultiBody(m_multiBodyLateralFrictionContactConstraints[solverConstraint.m_frictionIndex],infoGlobal.m_timeStep);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
writeBackSolverBodyToMultiBody(m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1],infoGlobal.m_timeStep);
writeBackSolverBodyToMultiBody(m_multiBodyLateralFrictionContactConstraints[solverConstraint.m_frictionIndex+1],infoGlobal.m_timeStep);
}
}
@ -1300,12 +1504,12 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
btManifoldPoint* pt = (btManifoldPoint*) solverConstraint.m_originalContactPoint;
btAssert(pt);
pt->m_appliedImpulse = solverConstraint.m_appliedImpulse;
pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse;
pt->m_appliedImpulseLateral1 = m_multiBodyLateralFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse;
//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
pt->m_appliedImpulseLateral2 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_appliedImpulse;
pt->m_appliedImpulseLateral2 = m_multiBodyLateralFrictionContactConstraints[solverConstraint.m_frictionIndex+1].m_appliedImpulse;
}
//do a callback here?
}

View File

@ -35,7 +35,8 @@ protected:
btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
btMultiBodyConstraintArray m_multiBodyLateralFrictionContactConstraints;
btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints;
btMultiBodyJacobianData m_data;
@ -45,6 +46,9 @@ protected:
btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
//solve 2 friction directions and clamp against the implicit friction cone
btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA, const btMultiBodySolverConstraint& cB);
void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);

View File

@ -990,4 +990,17 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
}
}
//serialize all multibody links (collision objects)
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
int len = colObj->calculateSerializeBufferSize();
btChunk* chunk = serializer->allocate(len,1);
const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk,structType,BT_MB_LINKCOLLIDER_CODE,colObj);
}
}
}

View File

@ -19,6 +19,16 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "btMultiBody.h"
#include "LinearMath/btSerializer.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData
#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData"
#else
#define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData
#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData"
#endif
class btMultiBodyLinkCollider : public btCollisionObject
{
@ -119,7 +129,49 @@ public:
}
return true;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
};
struct btMultiBodyLinkColliderFloatData
{
btCollisionObjectFloatData m_colObjData;
void *m_multiBody;
int m_link;
char m_padding[4];
};
struct btMultiBodyLinkColliderDoubleData
{
btCollisionObjectDoubleData m_colObjData;
void *m_multiBody;
int m_link;
char m_padding[4];
};
SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const
{
return sizeof(btMultiBodyLinkColliderData);
}
SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const
{
btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer;
btCollisionObject::serialize(&dataOut->m_colObjData,serializer);
dataOut->m_link = this->m_link;
dataOut->m_multiBody = serializer->getUniquePointer(m_multiBody);
// Fill padding with zeros to appease msan.
memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
return btMultiBodyLinkColliderDataName;
}
#endif //BT_FEATHERSTONE_LINK_COLLIDER_H

View File

@ -25,7 +25,7 @@ subject to the following restrictions:
#include <float.h>
/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
#define BT_BULLET_VERSION 287
#define BT_BULLET_VERSION 288
inline int btGetVersion()
{

View File

@ -1,5 +1,5 @@
char sBulletDNAstr[]= {
char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-121),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
@ -316,284 +316,292 @@ char(110),char(103),char(80),char(116),char(114),char(0),char(109),char(95),char
char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(98),char(97),char(115),char(101),char(73),char(110),char(101),char(114),char(116),char(105),char(97),
char(0),char(109),char(95),char(98),char(97),char(115),char(101),char(77),char(97),char(115),char(115),char(0),char(42),char(109),char(95),char(98),char(97),char(115),char(101),char(78),
char(97),char(109),char(101),char(0),char(42),char(109),char(95),char(98),char(97),char(115),char(101),char(67),char(111),char(108),char(108),char(105),char(100),char(101),char(114),char(0),
char(84),char(89),char(80),char(69),char(95),char(0),char(0),char(0),char(99),char(104),char(97),char(114),char(0),char(117),char(99),char(104),char(97),char(114),char(0),char(115),
char(104),char(111),char(114),char(116),char(0),char(117),char(115),char(104),char(111),char(114),char(116),char(0),char(105),char(110),char(116),char(0),char(108),char(111),char(110),char(103),
char(0),char(117),char(108),char(111),char(110),char(103),char(0),char(102),char(108),char(111),char(97),char(116),char(0),char(100),char(111),char(117),char(98),char(108),char(101),char(0),
char(118),char(111),char(105),char(100),char(0),char(80),char(111),char(105),char(110),char(116),char(101),char(114),char(65),char(114),char(114),char(97),char(121),char(0),char(98),char(116),
char(80),char(104),char(121),char(115),char(105),char(99),char(115),char(83),char(121),char(115),char(116),char(101),char(109),char(0),char(76),char(105),char(115),char(116),char(66),char(97),
char(115),char(101),char(0),char(98),char(116),char(86),char(101),char(99),char(116),char(111),char(114),char(51),char(70),char(108),char(111),char(97),char(116),char(68),char(97),char(116),
char(97),char(0),char(98),char(116),char(86),char(101),char(99),char(116),char(111),char(114),char(51),char(68),char(111),char(117),char(98),char(108),char(101),char(68),char(97),char(116),
char(97),char(0),char(98),char(116),char(81),char(117),char(97),char(116),char(101),char(114),char(110),char(105),char(111),char(110),char(70),char(108),char(111),char(97),char(116),char(68),
char(97),char(116),char(97),char(0),char(98),char(116),char(81),char(117),char(97),char(116),char(101),char(114),char(110),char(105),char(111),char(110),char(68),char(111),char(117),char(98),
char(108),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(77),char(97),char(116),char(114),char(105),char(120),char(51),char(120),char(51),char(70),char(108),
char(111),char(97),char(116),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(77),char(97),char(116),char(114),char(105),char(120),char(51),char(120),char(51),char(68),
char(111),char(117),char(98),char(108),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(84),char(114),char(97),char(110),char(115),char(102),char(111),char(114),
char(109),char(70),char(108),char(111),char(97),char(116),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(84),char(114),char(97),char(110),char(115),char(102),char(111),
char(114),char(109),char(68),char(111),char(117),char(98),char(108),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(66),char(118),char(104),char(83),char(117),
char(98),char(116),char(114),char(101),char(101),char(73),char(110),char(102),char(111),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(79),char(112),char(116),char(105),
char(109),char(105),char(122),char(101),char(100),char(66),char(118),char(104),char(78),char(111),char(100),char(101),char(70),char(108),char(111),char(97),char(116),char(68),char(97),char(116),
char(97),char(0),char(98),char(116),char(79),char(112),char(116),char(105),char(109),char(105),char(122),char(101),char(100),char(66),char(118),char(104),char(78),char(111),char(100),char(101),
char(68),char(111),char(117),char(98),char(108),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(81),char(117),char(97),char(110),char(116),char(105),char(122),
char(101),char(100),char(66),char(118),char(104),char(78),char(111),char(100),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(81),char(117),char(97),char(110),
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char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(66),char(118),char(104),char(68),char(111),char(117),char(98),char(108),char(101),char(68),char(97),
char(116),char(97),char(0),char(98),char(116),char(67),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(68),
char(97),char(116),char(97),char(0),char(98),char(116),char(83),char(116),char(97),char(116),char(105),char(99),char(80),char(108),char(97),char(110),char(101),char(83),char(104),char(97),
char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(67),char(111),char(110),char(118),char(101),char(120),char(73),char(110),char(116),char(101),char(114),
char(110),char(97),char(108),char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(80),char(111),char(115),char(105),char(116),
char(105),char(111),char(110),char(65),char(110),char(100),char(82),char(97),char(100),char(105),char(117),char(115),char(0),char(98),char(116),char(77),char(117),char(108),char(116),char(105),
char(83),char(112),char(104),char(101),char(114),char(101),char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(73),char(110),
char(116),char(73),char(110),char(100),char(101),char(120),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(83),char(104),char(111),char(114),char(116),char(73),char(110),
char(116),char(73),char(110),char(100),char(101),char(120),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(83),char(104),char(111),char(114),char(116),char(73),char(110),
char(116),char(73),char(110),char(100),char(101),char(120),char(84),char(114),char(105),char(112),char(108),char(101),char(116),char(68),char(97),char(116),char(97),char(0),char(98),char(116),
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char(13),char(0),char(-2),char(0),char(13),char(0),char(-1),char(0),char(13),char(0),char(0),char(1),char(7),char(0),char(-99),char(0),char(7),char(0),char(1),char(1),
char(4),char(0),char(2),char(1),char(4),char(0),char(53),char(0),char(82),char(0),char(4),char(0),char(80),char(0),char(-5),char(0),char(4),char(0),char(3),char(1),
char(7),char(0),char(4),char(1),char(4),char(0),char(5),char(1),char(83),char(0),char(4),char(0),char(13),char(0),char(0),char(1),char(80),char(0),char(-5),char(0),
char(4),char(0),char(6),char(1),char(7),char(0),char(7),char(1),char(84),char(0),char(7),char(0),char(13),char(0),char(8),char(1),char(80),char(0),char(-5),char(0),
char(4),char(0),char(9),char(1),char(7),char(0),char(10),char(1),char(7),char(0),char(11),char(1),char(7),char(0),char(12),char(1),char(4),char(0),char(53),char(0),
char(85),char(0),char(6),char(0),char(17),char(0),char(13),char(1),char(13),char(0),char(11),char(1),char(13),char(0),char(14),char(1),char(60),char(0),char(15),char(1),
char(4),char(0),char(16),char(1),char(7),char(0),char(12),char(1),char(86),char(0),char(26),char(0),char(4),char(0),char(17),char(1),char(7),char(0),char(18),char(1),
char(7),char(0),char(127),char(0),char(7),char(0),char(19),char(1),char(7),char(0),char(20),char(1),char(7),char(0),char(21),char(1),char(7),char(0),char(22),char(1),
char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1),char(7),char(0),char(25),char(1),char(7),char(0),char(26),char(1),char(7),char(0),char(27),char(1),
char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1),char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),char(7),char(0),char(32),char(1),
char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1),char(7),char(0),char(35),char(1),char(7),char(0),char(36),char(1),char(4),char(0),char(37),char(1),
char(4),char(0),char(38),char(1),char(4),char(0),char(39),char(1),char(4),char(0),char(40),char(1),char(4),char(0),char(120),char(0),char(87),char(0),char(12),char(0),
char(17),char(0),char(41),char(1),char(17),char(0),char(42),char(1),char(17),char(0),char(43),char(1),char(13),char(0),char(44),char(1),char(13),char(0),char(45),char(1),
char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1),char(4),char(0),char(48),char(1),char(4),char(0),char(49),char(1),char(4),char(0),char(50),char(1),
char(7),char(0),char(10),char(1),char(4),char(0),char(53),char(0),char(88),char(0),char(27),char(0),char(19),char(0),char(51),char(1),char(17),char(0),char(52),char(1),
char(17),char(0),char(53),char(1),char(13),char(0),char(44),char(1),char(13),char(0),char(54),char(1),char(13),char(0),char(55),char(1),char(13),char(0),char(56),char(1),
char(13),char(0),char(57),char(1),char(13),char(0),char(58),char(1),char(4),char(0),char(59),char(1),char(7),char(0),char(60),char(1),char(4),char(0),char(61),char(1),
char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1),char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1),char(4),char(0),char(66),char(1),
char(4),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1),char(7),char(0),char(71),char(1),
char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(4),char(0),char(74),char(1),char(4),char(0),char(75),char(1),char(4),char(0),char(76),char(1),
char(89),char(0),char(12),char(0),char(9),char(0),char(77),char(1),char(9),char(0),char(78),char(1),char(13),char(0),char(79),char(1),char(7),char(0),char(80),char(1),
char(7),char(0),char(-125),char(0),char(7),char(0),char(81),char(1),char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1),char(4),char(0),char(84),char(1),
char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0),char(50),char(0),char(-109),char(0),
char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1),char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1),char(83),char(0),char(91),char(1),
char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1),char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1),char(4),char(0),char(96),char(1),
char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1),char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1),char(4),char(0),char(100),char(1),
char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(86),char(0),char(103),char(1),char(91),char(0),char(24),char(0),char(16),char(0),char(104),char(1),
char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1),char(14),char(0),char(107),char(1),char(14),char(0),char(108),char(1),char(14),char(0),char(109),char(1),
char(8),char(0),char(110),char(1),char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1),char(4),char(0),char(113),char(1),
char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1),char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1),char(8),char(0),char(118),char(1),
char(8),char(0),char(119),char(1),char(8),char(0),char(120),char(1),char(8),char(0),char(121),char(1),char(8),char(0),char(122),char(1),char(0),char(0),char(123),char(1),
char(0),char(0),char(124),char(1),char(49),char(0),char(125),char(1),char(0),char(0),char(126),char(1),char(92),char(0),char(24),char(0),char(15),char(0),char(104),char(1),
char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),char(13),char(0),char(107),char(1),char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),
char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1),char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),
char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),char(4),char(0),char(113),char(1),char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),
char(7),char(0),char(119),char(1),char(7),char(0),char(120),char(1),char(7),char(0),char(121),char(1),char(7),char(0),char(122),char(1),char(0),char(0),char(123),char(1),
char(0),char(0),char(124),char(1),char(50),char(0),char(125),char(1),char(0),char(0),char(126),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(127),char(1),
char(14),char(0),char(-128),char(1),char(8),char(0),char(-127),char(1),char(0),char(0),char(-126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(-125),char(1),
char(0),char(0),char(126),char(1),char(4),char(0),char(97),char(1),char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(-126),char(1),
char(92),char(0),char(90),char(1),char(50),char(0),char(-125),char(1),char(19),char(0),char(127),char(1),char(13),char(0),char(-128),char(1),char(7),char(0),char(-127),char(1),
char(4),char(0),char(97),char(1),char(95),char(0),char(4),char(0),char(50),char(0),char(-124),char(1),char(9),char(0),char(-123),char(1),char(4),char(0),char(-122),char(1),
char(0),char(0),char(37),char(0),char(96),char(0),char(4),char(0),char(49),char(0),char(-124),char(1),char(9),char(0),char(-123),char(1),char(4),char(0),char(-122),char(1),
char(0),char(0),char(37),char(0),};
int sBulletDNAlen= sizeof(sBulletDNAstr);

View File

@ -115,6 +115,7 @@ public:
#define BT_MULTIBODY_CODE BT_MAKE_ID('M','B','D','Y')
#define BT_MB_LINKCOLLIDER_CODE BT_MAKE_ID('M','B','L','C')
#define BT_SOFTBODY_CODE BT_MAKE_ID('S','B','D','Y')
#define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C','O','B','J')
#define BT_RIGIDBODY_CODE BT_MAKE_ID('R','B','D','Y')
@ -505,7 +506,7 @@ public:
buffer[9] = '2';
buffer[10] = '8';
buffer[11] = '7';
buffer[11] = '8';
}

View File

@ -1,5 +1,5 @@
char sBulletDNAstr64[]= {
char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-121),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
@ -316,284 +316,292 @@ char(110),char(103),char(80),char(116),char(114),char(0),char(109),char(95),char
char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(98),char(97),char(115),char(101),char(73),char(110),char(101),char(114),char(116),char(105),char(97),
char(0),char(109),char(95),char(98),char(97),char(115),char(101),char(77),char(97),char(115),char(115),char(0),char(42),char(109),char(95),char(98),char(97),char(115),char(101),char(78),
char(97),char(109),char(101),char(0),char(42),char(109),char(95),char(98),char(97),char(115),char(101),char(67),char(111),char(108),char(108),char(105),char(100),char(101),char(114),char(0),
char(84),char(89),char(80),char(69),char(95),char(0),char(0),char(0),char(99),char(104),char(97),char(114),char(0),char(117),char(99),char(104),char(97),char(114),char(0),char(115),
char(104),char(111),char(114),char(116),char(0),char(117),char(115),char(104),char(111),char(114),char(116),char(0),char(105),char(110),char(116),char(0),char(108),char(111),char(110),char(103),
char(0),char(117),char(108),char(111),char(110),char(103),char(0),char(102),char(108),char(111),char(97),char(116),char(0),char(100),char(111),char(117),char(98),char(108),char(101),char(0),
char(118),char(111),char(105),char(100),char(0),char(80),char(111),char(105),char(110),char(116),char(101),char(114),char(65),char(114),char(114),char(97),char(121),char(0),char(98),char(116),
char(80),char(104),char(121),char(115),char(105),char(99),char(115),char(83),char(121),char(115),char(116),char(101),char(109),char(0),char(76),char(105),char(115),char(116),char(66),char(97),
char(115),char(101),char(0),char(98),char(116),char(86),char(101),char(99),char(116),char(111),char(114),char(51),char(70),char(108),char(111),char(97),char(116),char(68),char(97),char(116),
char(97),char(0),char(98),char(116),char(86),char(101),char(99),char(116),char(111),char(114),char(51),char(68),char(111),char(117),char(98),char(108),char(101),char(68),char(97),char(116),
char(97),char(0),char(98),char(116),char(81),char(117),char(97),char(116),char(101),char(114),char(110),char(105),char(111),char(110),char(70),char(108),char(111),char(97),char(116),char(68),
char(97),char(116),char(97),char(0),char(98),char(116),char(81),char(117),char(97),char(116),char(101),char(114),char(110),char(105),char(111),char(110),char(68),char(111),char(117),char(98),
char(108),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(77),char(97),char(116),char(114),char(105),char(120),char(51),char(120),char(51),char(70),char(108),
char(111),char(97),char(116),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(77),char(97),char(116),char(114),char(105),char(120),char(51),char(120),char(51),char(68),
char(111),char(117),char(98),char(108),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(84),char(114),char(97),char(110),char(115),char(102),char(111),char(114),
char(109),char(70),char(108),char(111),char(97),char(116),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(84),char(114),char(97),char(110),char(115),char(102),char(111),
char(114),char(109),char(68),char(111),char(117),char(98),char(108),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(66),char(118),char(104),char(83),char(117),
char(98),char(116),char(114),char(101),char(101),char(73),char(110),char(102),char(111),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(79),char(112),char(116),char(105),
char(109),char(105),char(122),char(101),char(100),char(66),char(118),char(104),char(78),char(111),char(100),char(101),char(70),char(108),char(111),char(97),char(116),char(68),char(97),char(116),
char(97),char(0),char(98),char(116),char(79),char(112),char(116),char(105),char(109),char(105),char(122),char(101),char(100),char(66),char(118),char(104),char(78),char(111),char(100),char(101),
char(68),char(111),char(117),char(98),char(108),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(81),char(117),char(97),char(110),char(116),char(105),char(122),
char(101),char(100),char(66),char(118),char(104),char(78),char(111),char(100),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(81),char(117),char(97),char(110),
char(116),char(105),char(122),char(101),char(100),char(66),char(118),char(104),char(70),char(108),char(111),char(97),char(116),char(68),char(97),char(116),char(97),char(0),char(98),char(116),
char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(66),char(118),char(104),char(68),char(111),char(117),char(98),char(108),char(101),char(68),char(97),
char(116),char(97),char(0),char(98),char(116),char(67),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(68),
char(97),char(116),char(97),char(0),char(98),char(116),char(83),char(116),char(97),char(116),char(105),char(99),char(80),char(108),char(97),char(110),char(101),char(83),char(104),char(97),
char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(67),char(111),char(110),char(118),char(101),char(120),char(73),char(110),char(116),char(101),char(114),
char(110),char(97),char(108),char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(80),char(111),char(115),char(105),char(116),
char(105),char(111),char(110),char(65),char(110),char(100),char(82),char(97),char(100),char(105),char(117),char(115),char(0),char(98),char(116),char(77),char(117),char(108),char(116),char(105),
char(83),char(112),char(104),char(101),char(114),char(101),char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(73),char(110),
char(116),char(73),char(110),char(100),char(101),char(120),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(83),char(104),char(111),char(114),char(116),char(73),char(110),
char(116),char(73),char(110),char(100),char(101),char(120),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(83),char(104),char(111),char(114),char(116),char(73),char(110),
char(116),char(73),char(110),char(100),char(101),char(120),char(84),char(114),char(105),char(112),char(108),char(101),char(116),char(68),char(97),char(116),char(97),char(0),char(98),char(116),
char(67),char(104),char(97),char(114),char(73),char(110),char(100),char(101),char(120),char(84),char(114),char(105),char(112),char(108),char(101),char(116),char(68),char(97),char(116),char(97),
char(0),char(98),char(116),char(77),char(101),char(115),char(104),char(80),char(97),char(114),char(116),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(83),char(116),
char(114),char(105),char(100),char(105),char(110),char(103),char(77),char(101),char(115),char(104),char(73),char(110),char(116),char(101),char(114),char(102),char(97),char(99),char(101),char(68),
char(97),char(116),char(97),char(0),char(98),char(116),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(77),char(101),char(115),char(104),char(83),char(104),
char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),
char(102),char(111),char(77),char(97),char(112),char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(83),char(99),char(97),char(108),char(101),char(100),char(84),char(114),
char(105),char(97),char(110),char(103),char(108),char(101),char(77),char(101),char(115),char(104),char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),
char(98),char(116),char(67),char(111),char(109),char(112),char(111),char(117),char(110),char(100),char(83),char(104),char(97),char(112),char(101),char(67),char(104),char(105),char(108),char(100),
char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(67),char(111),char(109),char(112),char(111),char(117),char(110),char(100),char(83),char(104),char(97),char(112),char(101),
char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(67),char(121),char(108),char(105),char(110),char(100),char(101),char(114),char(83),char(104),char(97),char(112),char(101),
char(68),char(97),char(116),char(97),char(0),char(98),char(116),char(67),char(111),char(110),char(101),char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),
char(0),char(98),char(116),char(67),char(97),char(112),char(115),char(117),char(108),char(101),char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),char(97),char(0),
char(98),char(116),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(102),char(111),char(68),char(97),char(116),char(97),char(0),char(98),
char(116),char(71),char(73),char(109),char(112),char(97),char(99),char(116),char(77),char(101),char(115),char(104),char(83),char(104),char(97),char(112),char(101),char(68),char(97),char(116),
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char(97),char(116),char(97),char(0),char(98),char(116),char(67),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),
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char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1),char(7),char(0),char(25),char(1),char(7),char(0),char(26),char(1),char(7),char(0),char(27),char(1),
char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1),char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),char(7),char(0),char(32),char(1),
char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1),char(7),char(0),char(35),char(1),char(7),char(0),char(36),char(1),char(4),char(0),char(37),char(1),
char(4),char(0),char(38),char(1),char(4),char(0),char(39),char(1),char(4),char(0),char(40),char(1),char(4),char(0),char(120),char(0),char(87),char(0),char(12),char(0),
char(17),char(0),char(41),char(1),char(17),char(0),char(42),char(1),char(17),char(0),char(43),char(1),char(13),char(0),char(44),char(1),char(13),char(0),char(45),char(1),
char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1),char(4),char(0),char(48),char(1),char(4),char(0),char(49),char(1),char(4),char(0),char(50),char(1),
char(7),char(0),char(10),char(1),char(4),char(0),char(53),char(0),char(88),char(0),char(27),char(0),char(19),char(0),char(51),char(1),char(17),char(0),char(52),char(1),
char(17),char(0),char(53),char(1),char(13),char(0),char(44),char(1),char(13),char(0),char(54),char(1),char(13),char(0),char(55),char(1),char(13),char(0),char(56),char(1),
char(13),char(0),char(57),char(1),char(13),char(0),char(58),char(1),char(4),char(0),char(59),char(1),char(7),char(0),char(60),char(1),char(4),char(0),char(61),char(1),
char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1),char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1),char(4),char(0),char(66),char(1),
char(4),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1),char(7),char(0),char(71),char(1),
char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(4),char(0),char(74),char(1),char(4),char(0),char(75),char(1),char(4),char(0),char(76),char(1),
char(89),char(0),char(12),char(0),char(9),char(0),char(77),char(1),char(9),char(0),char(78),char(1),char(13),char(0),char(79),char(1),char(7),char(0),char(80),char(1),
char(7),char(0),char(-125),char(0),char(7),char(0),char(81),char(1),char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1),char(4),char(0),char(84),char(1),
char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0),char(50),char(0),char(-109),char(0),
char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1),char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1),char(83),char(0),char(91),char(1),
char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1),char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1),char(4),char(0),char(96),char(1),
char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1),char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1),char(4),char(0),char(100),char(1),
char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(86),char(0),char(103),char(1),char(91),char(0),char(24),char(0),char(16),char(0),char(104),char(1),
char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1),char(14),char(0),char(107),char(1),char(14),char(0),char(108),char(1),char(14),char(0),char(109),char(1),
char(8),char(0),char(110),char(1),char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1),char(4),char(0),char(113),char(1),
char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1),char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1),char(8),char(0),char(118),char(1),
char(8),char(0),char(119),char(1),char(8),char(0),char(120),char(1),char(8),char(0),char(121),char(1),char(8),char(0),char(122),char(1),char(0),char(0),char(123),char(1),
char(0),char(0),char(124),char(1),char(49),char(0),char(125),char(1),char(0),char(0),char(126),char(1),char(92),char(0),char(24),char(0),char(15),char(0),char(104),char(1),
char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),char(13),char(0),char(107),char(1),char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),
char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1),char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),
char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),char(4),char(0),char(113),char(1),char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),
char(7),char(0),char(119),char(1),char(7),char(0),char(120),char(1),char(7),char(0),char(121),char(1),char(7),char(0),char(122),char(1),char(0),char(0),char(123),char(1),
char(0),char(0),char(124),char(1),char(50),char(0),char(125),char(1),char(0),char(0),char(126),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(127),char(1),
char(14),char(0),char(-128),char(1),char(8),char(0),char(-127),char(1),char(0),char(0),char(-126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(-125),char(1),
char(0),char(0),char(126),char(1),char(4),char(0),char(97),char(1),char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(-126),char(1),
char(92),char(0),char(90),char(1),char(50),char(0),char(-125),char(1),char(19),char(0),char(127),char(1),char(13),char(0),char(-128),char(1),char(7),char(0),char(-127),char(1),
char(4),char(0),char(97),char(1),char(95),char(0),char(4),char(0),char(50),char(0),char(-124),char(1),char(9),char(0),char(-123),char(1),char(4),char(0),char(-122),char(1),
char(0),char(0),char(37),char(0),char(96),char(0),char(4),char(0),char(49),char(0),char(-124),char(1),char(9),char(0),char(-123),char(1),char(4),char(0),char(-122),char(1),
char(0),char(0),char(37),char(0),};
int sBulletDNAlen64= sizeof(sBulletDNAstr64);

View File

@ -15,7 +15,7 @@
typedef HMODULE CLEW_DYNLIB_HANDLE;
#define CLEW_DYNLIB_OPEN LoadLibrary
#define CLEW_DYNLIB_OPEN LoadLibraryA
#define CLEW_DYNLIB_CLOSE FreeLibrary
#define CLEW_DYNLIB_IMPORT GetProcAddress
#else