mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-04 17:40:06 +00:00
remove that odd triangle in the origin of samurai castle (VR)
add rolling/spinning friction to cube, remove it from plane/samurai.urdf URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit) add some profiling markers to improve performance
This commit is contained in:
erwin coumans
parent
48d42c7c6e
commit
db3122233f
@ -3,7 +3,6 @@
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<link name="baseLink">
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<contact>
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<lateral_friction value="1.0"/>
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<spinning_friction value="0.1"/>
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<inertia_scaling value="3.0"/>
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</contact>
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<inertial>
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Binary file not shown.
@ -1,6 +1,6 @@
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<?xml version="0.0" ?>
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<robot name="cube.urdf">
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<link name="baseLink">
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<link name="planeLink">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value=".0"/>
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@ -17,7 +17,7 @@
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<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<mass value="100"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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@ -41,12 +41,6 @@
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<mesh filename="l_finger.stl"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="l_finger.stl"/>
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</geometry>
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<origin rpy="0.0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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@ -61,6 +55,7 @@
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<link name="left_tip">
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<contact>
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<lateral_friction value="50.0"/>
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<spinning_friction value="0.1"/>
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</contact>
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<visual>
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<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
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@ -70,9 +65,9 @@
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</visual>
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<collision>
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<geometry>
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<box size=".03 .03 .02"/>
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<box size=".13 .03 .02"/>
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</geometry>
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<origin rpy="0.0 0 0" xyz="0.109137 0.00495 0"/>
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<origin rpy="0.0 0 0" xyz="0.055 0.00495 0"/>
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</collision>
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<inertial>
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<mass value="0.05"/>
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@ -91,6 +86,7 @@
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<link name="right_gripper">
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<contact>
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<lateral_friction value="50.0"/>
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<spinning_friction value="0.1"/>
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</contact>
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
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@ -98,12 +94,6 @@
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<mesh filename="l_finger.stl"/>
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</geometry>
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</visual>
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<collision>
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<geometry>
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<mesh filename="l_finger.stl"/>
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</geometry>
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<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<mass value="0.05"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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@ -118,6 +108,7 @@
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<link name="right_tip">
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<contact>
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<lateral_friction value="50.0"/>
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<spinning_friction value="0.1"/>
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</contact>
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<visual>
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<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
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@ -127,9 +118,9 @@
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</visual>
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<collision>
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<geometry>
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<box size=".03 .03 .02"/>
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<box size=".13 .03 .02"/>
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</geometry>
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<origin rpy="-3.1415 0 0" xyz="0.109137 0.00495 0"/>
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<origin rpy="-3.1415 0 0" xyz="0.055 0.00495 0"/>
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</collision>
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<inertial>
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<mass value="0.05"/>
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@ -1,9 +1,6 @@
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<?xml version="0.0" ?>
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<robot name="cube.urdf">
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<link concave="yes" name="baseLink">
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<contact>
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<rolling_friction value="0.3"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value=".0"/>
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@ -331416,11 +331416,3 @@ f 30335 30336
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f 1329 1330
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f 77715 77717
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f 20619 20622
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o Cube
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v -0.500000 -0.200000 -1.000000
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v 1.000000 -0.000000 0.000000
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v -0.500000 0.200000 1.000000
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usemtl Material
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s off
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f 86188 86189 86190
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f 86189 86188 86190
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@ -1,6 +1,11 @@
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<?xml version="0.0" ?>
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<robot name="urdf_robot">
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<link name="baseLink">
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<contact>
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<rolling_friction value="0.03"/>
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<spinning_friction value="0.03"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="10.0"/>
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32
data/teddy_vhacd.urdf
Normal file
32
data/teddy_vhacd.urdf
Normal file
@ -0,0 +1,32 @@
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<?xml version="0.0" ?>
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<robot name="cube.urdf">
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<link name="baseLink">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<contact_cfm value="0.0"/>
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<contact_erp value="1.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0.7 0.5 0.3"/>
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<mass value="1.0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="teddy2_VHACD_CHs.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="teddy2_VHACD_CHs.obj" scale="1 1 1"/>
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</geometry>
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</collision>
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</link>
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</robot>
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@ -505,6 +505,8 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
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void OpenGLGuiHelper::drawText3D( const char* txt, float posX, float posY, float posZ, float size)
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{
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B3_PROFILE("OpenGLGuiHelper::drawText3D");
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btAssert(m_data->m_glApp);
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m_data->m_glApp->drawText3D(txt,posX,posY,posZ,size);
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}
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@ -14,7 +14,7 @@ subject to the following restrictions:
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#include "BulletUrdfImporter.h"
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#include "../../CommonInterfaces/CommonRenderInterface.h"
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#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
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#include "URDFImporterInterface.h"
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#include "btBulletCollisionCommon.h"
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#include "../ImportObjDemo/LoadMeshFromObj.h"
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@ -360,7 +360,45 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
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return true;
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}
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static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes)
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{
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btCompoundShape* compound = new btCompoundShape();
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btTransform identity;
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identity.setIdentity();
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for (int s = 0; s<(int)shapes.size(); s++)
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{
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btConvexHullShape* convexHull = new btConvexHullShape();
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tinyobj::shape_t& shape = shapes[s];
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int faceCount = shape.mesh.indices.size();
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for (int f = 0; f<faceCount; f += 3)
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{
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btVector3 pt;
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pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
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shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
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shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
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convexHull->addPoint(pt,false);
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pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
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shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
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shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
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convexHull->addPoint(pt, false);
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pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
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shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
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shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
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convexHull->addPoint(pt, false);
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}
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convexHull->recalcLocalAabb();
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convexHull->optimizeConvexHull();
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compound->addChildShape(identity,convexHull);
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}
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return compound;
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}
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btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
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{
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@ -467,7 +505,18 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
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{
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case FILE_OBJ:
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{
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glmesh = LoadMeshFromObj(fullPath,collisionPathPrefix);
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if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
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{
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glmesh = LoadMeshFromObj(fullPath, collisionPathPrefix);
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}
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else
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{
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std::vector<tinyobj::shape_t> shapes;
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std::string err = tinyobj::LoadObj(shapes, fullPath, collisionPathPrefix);
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//create a convex hull for each shape, and store it in a btCompoundShape
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shape = createConvexHullFromShapes(shapes);
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return shape;
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}
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break;
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}
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case FILE_STL:
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@ -162,8 +162,6 @@ void ConvertURDF2BulletInternal(
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int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
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btRigidBody* parentRigidBody = 0;
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//std::string name = u2b.getLinkName(urdfLinkIndex);
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//b3Printf("link name=%s urdf link index=%d\n",name.c_str(),urdfLinkIndex);
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//b3Printf("mb link index = %d\n",mbLinkIndex);
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btTransform parentLocalInertialFrame;
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@ -322,6 +320,14 @@ void ConvertURDF2BulletInternal(
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cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
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cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
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creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
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if (jointLowerLimit <= jointUpperLimit)
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{
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//std::string name = u2b.getLinkName(urdfLinkIndex);
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//printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit);
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btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
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world1->addMultiBodyConstraint(con);
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}
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} else
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{
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@ -343,8 +349,14 @@ void ConvertURDF2BulletInternal(
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-offsetInB.getOrigin(),
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disableParentCollision);
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creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
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btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody,mbLinkIndex,jointLowerLimit, jointUpperLimit);
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world1->addMultiBodyConstraint(con);
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if (jointLowerLimit <= jointUpperLimit)
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{
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//std::string name = u2b.getLinkName(urdfLinkIndex);
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//printf("create btMultiBodyJointLimitConstraint for prismatic link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit,jointUpperLimit);
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btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
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world1->addMultiBodyConstraint(con);
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}
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//printf("joint lower limit=%d, upper limit = %f\n", jointLowerLimit, jointUpperLimit);
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} else
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@ -386,8 +398,9 @@ void ConvertURDF2BulletInternal(
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//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
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col->setWorldTransform(tr);
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bool isDynamic = true;
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//base and fixed? -> static, otherwise flag as dynamic
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bool isDynamic = (mbLinkIndex<0 && cache.m_bulletMultiBody->hasFixedBase())? false : true;
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short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
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short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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@ -816,7 +816,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
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bool UrdfParser::parseJointLimits(UrdfJoint& joint, TiXmlElement* config, ErrorLogger* logger)
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{
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joint.m_lowerLimit = 0.f;
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joint.m_upperLimit = 0.f;
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joint.m_upperLimit = -1.f;
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joint.m_effortLimit = 0.f;
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joint.m_velocityLimit = 0.f;
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joint.m_jointDamping = 0.f;
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@ -138,7 +138,7 @@ struct UrdfJoint
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double m_jointFriction;
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UrdfJoint()
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:m_lowerLimit(0),
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m_upperLimit(0),
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m_upperLimit(-1),
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m_effortLimit(0),
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m_velocityLimit(0),
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m_jointDamping(0),
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@ -1,7 +1,7 @@
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#ifndef NO_OPENGL3
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#include "GLPrimitiveRenderer.h"
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#include "GLPrimInternalData.h"
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#include "Bullet3Common/b3Logging.h"
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#include "LoadShader.h"
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#include <assert.h>
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@ -205,7 +205,8 @@ void GLPrimitiveRenderer::drawRect(float x0, float y0, float x1, float y1, float
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void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVertex& v1,const PrimVertex& v2,const PrimVertex& v3,float viewMat[16],float projMat[16], bool useRGBA)
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{
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B3_PROFILE("GLPrimitiveRenderer::drawTexturedRect3D");
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assert(glGetError()==GL_NO_ERROR);
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@ -230,7 +230,7 @@ struct sth_stash* SimpleOpenGL3App::getFontStash()
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void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float worldPosY, float worldPosZ, float size1)
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{
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B3_PROFILE("SimpleOpenGL3App::drawText3D");
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float viewMat[16];
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float projMat[16];
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CommonCameraInterface* cam = m_instancingRenderer->getActiveCamera();
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@ -273,6 +273,7 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world
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bool measureOnly = false;
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float fontSize= 32;//64;//512;//128;
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sth_draw_text(m_data->m_fontStash,
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m_data->m_droidRegular,fontSize,posX,posY,
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txt,&dx, this->m_instancingRenderer->getScreenWidth(),this->m_instancingRenderer->getScreenHeight(),measureOnly,m_window->getRetinaScale());
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@ -28,6 +28,7 @@
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#include "SharedMemoryCommands.h"
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btVector3 gLastPickPos(0, 0, 0);
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bool gEnableRealTimeSimVR=false;
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struct UrdfLinkNameMapUtil
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{
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@ -596,7 +597,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
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m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
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m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.05;
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m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
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}
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void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
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@ -2850,10 +2851,11 @@ double gDtInSec = 0.f;
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double gSubStep = 0.f;
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void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
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{
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if (m_data->m_allowRealTimeSimulation && m_data->m_guiHelper)
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if ((gEnableRealTimeSimVR || m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
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{
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static btAlignedObjectArray<char> gBufferServerToClient;
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gBufferServerToClient.resize(32768);
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gBufferServerToClient.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
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if (!m_data->m_hasGround)
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@ -2864,7 +2866,8 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
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loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
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loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
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if (m_data->m_gripperRigidbodyFixed == 0)
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{
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int bodyId = 0;
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@ -2874,11 +2877,11 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
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InteralBodyData* parentBody = m_data->getHandle(bodyId);
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if (parentBody->m_multiBody)
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{
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parentBody->m_multiBody->setHasSelfCollision(1);
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btVector3 pivotInParent(0, 0, 0);
|
||||
parentBody->m_multiBody->setHasSelfCollision(0);
|
||||
btVector3 pivotInParent(0.2, 0, 0);
|
||||
btMatrix3x3 frameInParent;
|
||||
frameInParent.setRotation(btQuaternion(0, 0, 0, 1));
|
||||
|
||||
//frameInParent.setRotation(btQuaternion(0, 0, 0, 1));
|
||||
frameInParent.setIdentity();
|
||||
btVector3 pivotInChild(0, 0, 0);
|
||||
btMatrix3x3 frameInChild;
|
||||
frameInChild.setIdentity();
|
||||
@ -2890,62 +2893,109 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
|
||||
m_data->m_gripperMultiBody->setJointPos(0, 0);
|
||||
m_data->m_gripperMultiBody->setJointPos(2, 0);
|
||||
}
|
||||
m_data->m_gripperRigidbodyFixed->setMaxAppliedImpulse(1.);
|
||||
m_data->m_gripperRigidbodyFixed->setMaxAppliedImpulse(10000);
|
||||
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*)m_data->m_dynamicsWorld;
|
||||
world->addMultiBodyConstraint(m_data->m_gripperRigidbodyFixed);
|
||||
}
|
||||
}
|
||||
|
||||
#if 1
|
||||
for (int i = 0; i < 10; i++)
|
||||
{
|
||||
loadUrdf("cube.urdf", btVector3(3, -2, 0.5+i), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
}
|
||||
|
||||
loadUrdf("sphere2.urdf", btVector3(-2, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
loadUrdf("sphere2.urdf", btVector3(-2, 0, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
loadUrdf("sphere2.urdf", btVector3(-2, 0, 3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
loadUrdf("r2d2.urdf", btVector3(2, -2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
|
||||
loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
|
||||
loadUrdf("kuka_iiwa/model.urdf", btVector3(3, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
loadUrdf("cube_small.urdf", btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
loadUrdf("husky/husky.urdf", btVector3(1, 1, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
loadUrdf("cube_small.urdf", btVector3(0.2, 0.2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
|
||||
|
||||
// loadUrdf("cube_small.urdf", btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
#endif
|
||||
//#define JENGA 1
|
||||
#ifdef JENGA
|
||||
int jengaHeight = 17;
|
||||
for (int j = 0; j < jengaHeight; j++)
|
||||
{
|
||||
for (int i = 0; i < 3; i++)
|
||||
{
|
||||
if (j & 1)
|
||||
{
|
||||
loadUrdf("jenga/jenga.urdf", btVector3(-0.5+0, 0.025*i, .0151*0.5 + .015*j), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
btQuaternion orn(btVector3(0, 0, 1), SIMD_HALF_PI);
|
||||
loadUrdf("jenga/jenga.urdf", btVector3(-0.5 -1 / 3.*0.075 + 0.025*i, +1 / 3.*0.075,0.0151*0.5 + .015*j), orn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
loadUrdf("husky/husky.urdf", btVector3(5, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
m_data->m_huskyId = bodyId;
|
||||
|
||||
}
|
||||
loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
|
||||
loadUrdf("teddy_vhacd.urdf", btVector3(1, 1, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
|
||||
|
||||
}
|
||||
|
||||
if (m_data->m_gripperRigidbodyFixed && m_data->m_gripperMultiBody)
|
||||
{
|
||||
m_data->m_gripperRigidbodyFixed->setFrameInB(btMatrix3x3(gVRGripperOrn));
|
||||
m_data->m_gripperRigidbodyFixed->setPivotInB(gVRGripperPos);
|
||||
if (m_data->m_gripperMultiBody->getNumLinks() > 2)
|
||||
for (int i = 0; i < m_data->m_gripperMultiBody->getNumLinks(); i++)
|
||||
{
|
||||
for (int i = 0; i < 2; i++)
|
||||
if (supportsJointMotor(m_data->m_gripperMultiBody, i))
|
||||
{
|
||||
if (supportsJointMotor(m_data->m_gripperMultiBody, i * 2))
|
||||
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_data->m_gripperMultiBody->getLink(i ).m_userPtr;
|
||||
if (motor)
|
||||
{
|
||||
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_data->m_gripperMultiBody->getLink(i * 2).m_userPtr;
|
||||
if (motor)
|
||||
motor->setErp(0.1);
|
||||
btScalar posTarget = 0.1 + (1 - btMin(0.75,gVRGripperAnalog)*1.5)*SIMD_HALF_PI*0.29;
|
||||
btScalar maxPosTarget = 0.55;
|
||||
|
||||
if (m_data->m_gripperMultiBody->getJointPos(i) < 0)
|
||||
{
|
||||
motor->setErp(0.01);
|
||||
|
||||
motor->setPositionTarget(0.1+(1-gVRGripperAnalog)*SIMD_HALF_PI*0.5, 1);
|
||||
|
||||
|
||||
motor->setVelocityTarget(0, 0.1);
|
||||
btScalar maxImp = 1550.*m_data->m_physicsDeltaTime;
|
||||
motor->setMaxAppliedImpulse(maxImp);
|
||||
m_data->m_gripperMultiBody->setJointPos(i,0);
|
||||
}
|
||||
if (m_data->m_gripperMultiBody->getJointPos(i) > maxPosTarget)
|
||||
{
|
||||
m_data->m_gripperMultiBody->setJointPos(i, maxPosTarget);
|
||||
}
|
||||
|
||||
motor->setPositionTarget(posTarget, 1);
|
||||
motor->setVelocityTarget(0, 0.5);
|
||||
btScalar maxImp = 500*m_data->m_physicsDeltaTime;
|
||||
motor->setMaxAppliedImpulse(maxImp);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int maxSteps = 3;
|
||||
|
||||
int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec,maxSteps,m_data->m_physicsDeltaTime);
|
||||
int maxSteps = m_data->m_numSimulationSubSteps+3;
|
||||
if (m_data->m_numSimulationSubSteps)
|
||||
{
|
||||
gSubStep = m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps;
|
||||
}
|
||||
else
|
||||
{
|
||||
gSubStep = m_data->m_physicsDeltaTime;
|
||||
}
|
||||
|
||||
int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec,maxSteps, gSubStep);
|
||||
gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;
|
||||
|
||||
if (numSteps)
|
||||
{
|
||||
gNumSteps = numSteps;
|
||||
gDtInSec = dtInSec;
|
||||
gSubStep = m_data->m_physicsDeltaTime;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -893,6 +893,8 @@ extern double gSubStep;
|
||||
|
||||
void PhysicsServerExample::renderScene()
|
||||
{
|
||||
B3_PROFILE("PhysicsServerExample::RenderScene");
|
||||
|
||||
///debug rendering
|
||||
//m_args[0].m_cs->lock();
|
||||
|
||||
@ -934,6 +936,7 @@ void PhysicsServerExample::renderScene()
|
||||
if (gDebugRenderToggle)
|
||||
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
|
||||
{
|
||||
B3_PROFILE("Draw Debug HUD");
|
||||
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
|
||||
|
||||
static int frameCount=0;
|
||||
@ -1157,13 +1160,13 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
|
||||
extern btVector3 gVRGripperPos;
|
||||
extern btQuaternion gVRGripperOrn;
|
||||
extern btScalar gVRGripperAnalog;
|
||||
|
||||
extern bool gEnableRealTimeSimVR;
|
||||
|
||||
|
||||
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis)
|
||||
{
|
||||
|
||||
|
||||
gEnableRealTimeSimVR = true;
|
||||
|
||||
if (controllerId <= 0 || controllerId >= MAX_VR_CONTROLLERS)
|
||||
{
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#ifdef BT_ENABLE_VR
|
||||
//#define BT_USE_CUSTOM_PROFILER
|
||||
//========= Copyright Valve Corporation ============//
|
||||
|
||||
#include "../OpenGLWindow/SimpleOpenGL3App.h"
|
||||
@ -701,11 +702,12 @@ bool CMainApplication::HandleInput()
|
||||
{
|
||||
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
|
||||
///todo(erwincoumans) can't use reguar debug drawer, because physics/graphics are not in sync
|
||||
//so it can (and likely will) cause crashes
|
||||
//add a special debug drawer that deals with this
|
||||
//gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe;// :DBG_DrawContactPoints
|
||||
//btIDebugDraw::DBG_DrawConstraintLimits+
|
||||
//btIDebugDraw::DBG_DrawConstraints
|
||||
;
|
||||
// gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints+
|
||||
// btIDebugDraw::DBG_DrawConstraintLimits+
|
||||
// btIDebugDraw::DBG_DrawConstraints
|
||||
// ;
|
||||
}
|
||||
|
||||
sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn);
|
||||
@ -751,7 +753,7 @@ bool CMainApplication::HandleInput()
|
||||
}
|
||||
}
|
||||
|
||||
m_rbShowTrackedDevice[ unDevice ] = state.ulButtonPressed == 0;
|
||||
// m_rbShowTrackedDevice[ unDevice ] = state.ulButtonPressed == 0;
|
||||
}
|
||||
sPrevStates[unDevice] = state;
|
||||
}
|
||||
@ -769,6 +771,8 @@ void CMainApplication::RunMainLoop()
|
||||
|
||||
while ( !bQuit && !m_app->m_window->requestedExit())
|
||||
{
|
||||
B3_PROFILE("main");
|
||||
|
||||
bQuit = HandleInput();
|
||||
|
||||
RenderFrame();
|
||||
@ -812,9 +816,15 @@ void CMainApplication::RenderFrame()
|
||||
// for now as fast as possible
|
||||
if ( m_pHMD )
|
||||
{
|
||||
DrawControllers();
|
||||
{
|
||||
B3_PROFILE("DrawControllers");
|
||||
DrawControllers();
|
||||
}
|
||||
RenderStereoTargets();
|
||||
RenderDistortion();
|
||||
{
|
||||
B3_PROFILE("RenderDistortion");
|
||||
RenderDistortion();
|
||||
}
|
||||
|
||||
vr::Texture_t leftEyeTexture = {(void*)leftEyeDesc.m_nResolveTextureId, vr::API_OpenGL, vr::ColorSpace_Gamma };
|
||||
vr::VRCompositor()->Submit(vr::Eye_Left, &leftEyeTexture );
|
||||
@ -824,6 +834,7 @@ void CMainApplication::RenderFrame()
|
||||
|
||||
if ( m_bVblank && m_bGlFinishHack )
|
||||
{
|
||||
B3_PROFILE("bGlFinishHack");
|
||||
//$ HACKHACK. From gpuview profiling, it looks like there is a bug where two renders and a present
|
||||
// happen right before and after the vsync causing all kinds of jittering issues. This glFinish()
|
||||
// appears to clear that up. Temporary fix while I try to get nvidia to investigate this problem.
|
||||
@ -833,6 +844,7 @@ void CMainApplication::RenderFrame()
|
||||
|
||||
// SwapWindow
|
||||
{
|
||||
B3_PROFILE("m_app->swapBuffer");
|
||||
m_app->swapBuffer();
|
||||
//SDL_GL_SwapWindow( m_pWindow );
|
||||
|
||||
@ -840,6 +852,7 @@ void CMainApplication::RenderFrame()
|
||||
|
||||
// Clear
|
||||
{
|
||||
B3_PROFILE("glClearColor");
|
||||
// We want to make sure the glFinish waits for the entire present to complete, not just the submission
|
||||
// of the command. So, we do a clear here right here so the glFinish will wait fully for the swap.
|
||||
glClearColor( 0, 0, 0, 1 );
|
||||
@ -849,6 +862,8 @@ void CMainApplication::RenderFrame()
|
||||
// Flush and wait for swap.
|
||||
if ( m_bVblank )
|
||||
{
|
||||
B3_PROFILE("glFlushglFinish");
|
||||
|
||||
glFlush();
|
||||
glFinish();
|
||||
}
|
||||
@ -856,13 +871,18 @@ void CMainApplication::RenderFrame()
|
||||
// Spew out the controller and pose count whenever they change.
|
||||
if ( m_iTrackedControllerCount != m_iTrackedControllerCount_Last || m_iValidPoseCount != m_iValidPoseCount_Last )
|
||||
{
|
||||
B3_PROFILE("debug pose");
|
||||
|
||||
m_iValidPoseCount_Last = m_iValidPoseCount;
|
||||
m_iTrackedControllerCount_Last = m_iTrackedControllerCount;
|
||||
|
||||
b3Printf( "PoseCount:%d(%s) Controllers:%d\n", m_iValidPoseCount, m_strPoseClasses.c_str(), m_iTrackedControllerCount );
|
||||
}
|
||||
|
||||
UpdateHMDMatrixPose();
|
||||
{
|
||||
B3_PROFILE("UpdateHMDMatrixPose");
|
||||
UpdateHMDMatrixPose();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -1565,6 +1585,8 @@ void CMainApplication::SetupDistortion()
|
||||
//-----------------------------------------------------------------------------
|
||||
void CMainApplication::RenderStereoTargets()
|
||||
{
|
||||
B3_PROFILE("CMainApplication::RenderStereoTargets");
|
||||
|
||||
sExample->stepSimulation(1./60.);
|
||||
|
||||
glClearColor( 0.15f, 0.15f, 0.18f, 1.0f ); // nice background color, but not black
|
||||
@ -1641,7 +1663,7 @@ void CMainApplication::RenderStereoTargets()
|
||||
{
|
||||
sExample->physicsDebugDraw(gDebugDrawFlags);
|
||||
}
|
||||
|
||||
else
|
||||
{
|
||||
sExample->renderScene();
|
||||
}
|
||||
@ -1692,7 +1714,7 @@ void CMainApplication::RenderStereoTargets()
|
||||
{
|
||||
sExample->physicsDebugDraw(gDebugDrawFlags);
|
||||
}
|
||||
|
||||
else
|
||||
{
|
||||
sExample->renderScene();
|
||||
}
|
||||
@ -1720,6 +1742,8 @@ void CMainApplication::RenderStereoTargets()
|
||||
//-----------------------------------------------------------------------------
|
||||
void CMainApplication::RenderScene( vr::Hmd_Eye nEye )
|
||||
{
|
||||
B3_PROFILE("RenderScene");
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
glEnable(GL_DEPTH_TEST);
|
||||
|
||||
@ -1866,38 +1890,47 @@ Matrix4 CMainApplication::GetCurrentViewProjectionMatrix( vr::Hmd_Eye nEye )
|
||||
//-----------------------------------------------------------------------------
|
||||
void CMainApplication::UpdateHMDMatrixPose()
|
||||
{
|
||||
if ( !m_pHMD )
|
||||
if (!m_pHMD)
|
||||
return;
|
||||
|
||||
vr::VRCompositor()->WaitGetPoses(m_rTrackedDevicePose, vr::k_unMaxTrackedDeviceCount, NULL, 0 );
|
||||
{
|
||||
B3_PROFILE("WaitGetPoses");
|
||||
vr::VRCompositor()->WaitGetPoses(m_rTrackedDevicePose, vr::k_unMaxTrackedDeviceCount, NULL, 0);
|
||||
}
|
||||
|
||||
m_iValidPoseCount = 0;
|
||||
m_strPoseClasses = "";
|
||||
for ( int nDevice = 0; nDevice < vr::k_unMaxTrackedDeviceCount; ++nDevice )
|
||||
{
|
||||
if ( m_rTrackedDevicePose[nDevice].bPoseIsValid )
|
||||
B3_PROFILE("for loop");
|
||||
|
||||
for (int nDevice = 0; nDevice < vr::k_unMaxTrackedDeviceCount; ++nDevice)
|
||||
{
|
||||
m_iValidPoseCount++;
|
||||
m_rmat4DevicePose[nDevice] = ConvertSteamVRMatrixToMatrix4( m_rTrackedDevicePose[nDevice].mDeviceToAbsoluteTracking );
|
||||
if (m_rDevClassChar[nDevice]==0)
|
||||
if (m_rTrackedDevicePose[nDevice].bPoseIsValid)
|
||||
{
|
||||
switch (m_pHMD->GetTrackedDeviceClass(nDevice))
|
||||
m_iValidPoseCount++;
|
||||
m_rmat4DevicePose[nDevice] = ConvertSteamVRMatrixToMatrix4(m_rTrackedDevicePose[nDevice].mDeviceToAbsoluteTracking);
|
||||
if (m_rDevClassChar[nDevice] == 0)
|
||||
{
|
||||
case vr::TrackedDeviceClass_Controller: m_rDevClassChar[nDevice] = 'C'; break;
|
||||
case vr::TrackedDeviceClass_HMD: m_rDevClassChar[nDevice] = 'H'; break;
|
||||
case vr::TrackedDeviceClass_Invalid: m_rDevClassChar[nDevice] = 'I'; break;
|
||||
case vr::TrackedDeviceClass_Other: m_rDevClassChar[nDevice] = 'O'; break;
|
||||
case vr::TrackedDeviceClass_TrackingReference: m_rDevClassChar[nDevice] = 'T'; break;
|
||||
default: m_rDevClassChar[nDevice] = '?'; break;
|
||||
switch (m_pHMD->GetTrackedDeviceClass(nDevice))
|
||||
{
|
||||
case vr::TrackedDeviceClass_Controller: m_rDevClassChar[nDevice] = 'C'; break;
|
||||
case vr::TrackedDeviceClass_HMD: m_rDevClassChar[nDevice] = 'H'; break;
|
||||
case vr::TrackedDeviceClass_Invalid: m_rDevClassChar[nDevice] = 'I'; break;
|
||||
case vr::TrackedDeviceClass_Other: m_rDevClassChar[nDevice] = 'O'; break;
|
||||
case vr::TrackedDeviceClass_TrackingReference: m_rDevClassChar[nDevice] = 'T'; break;
|
||||
default: m_rDevClassChar[nDevice] = '?'; break;
|
||||
}
|
||||
}
|
||||
m_strPoseClasses += m_rDevClassChar[nDevice];
|
||||
}
|
||||
m_strPoseClasses += m_rDevClassChar[nDevice];
|
||||
}
|
||||
}
|
||||
|
||||
if ( m_rTrackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid )
|
||||
{
|
||||
m_mat4HMDPose = m_rmat4DevicePose[vr::k_unTrackedDeviceIndex_Hmd].invert();
|
||||
B3_PROFILE("m_mat4HMDPose invert");
|
||||
|
||||
if (m_rTrackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid)
|
||||
{
|
||||
m_mat4HMDPose = m_rmat4DevicePose[vr::k_unTrackedDeviceIndex_Hmd].invert();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -2145,6 +2178,11 @@ void CGLRenderModel::Draw()
|
||||
//-----------------------------------------------------------------------------
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
#ifdef BT_USE_CUSTOM_PROFILER
|
||||
//b3SetCustomEnterProfileZoneFunc(...);
|
||||
//b3SetCustomLeaveProfileZoneFunc(...);
|
||||
#endif
|
||||
|
||||
CMainApplication *pMainApplication = new CMainApplication( argc, argv );
|
||||
|
||||
if (!pMainApplication->BInit())
|
||||
@ -2157,6 +2195,10 @@ int main(int argc, char *argv[])
|
||||
|
||||
pMainApplication->Shutdown();
|
||||
|
||||
#ifdef BT_USE_CUSTOM_PROFILER
|
||||
//...
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
#endif //BT_ENABLE_VR
|
||||
@ -372,10 +372,10 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
|
||||
return userData;
|
||||
}
|
||||
//#include <stdio.h>
|
||||
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
|
||||
{
|
||||
|
||||
BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs");
|
||||
int i;
|
||||
|
||||
// printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
|
||||
|
||||
@ -16,7 +16,7 @@ subject to the following restrictions:
|
||||
|
||||
|
||||
#include "btCollisionDispatcher.h"
|
||||
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
|
||||
@ -227,6 +227,8 @@ public:
|
||||
|
||||
virtual bool processOverlap(btBroadphasePair& pair)
|
||||
{
|
||||
BT_PROFILE("btCollisionDispatcher::processOverlap");
|
||||
|
||||
(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
|
||||
|
||||
return false;
|
||||
@ -249,7 +251,6 @@ void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa
|
||||
|
||||
|
||||
|
||||
|
||||
//by default, Bullet will use this near callback
|
||||
void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
|
||||
{
|
||||
|
||||
@ -15,6 +15,7 @@ subject to the following restrictions:
|
||||
*/
|
||||
|
||||
#include "btCompoundCompoundCollisionAlgorithm.h"
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
|
||||
@ -124,6 +125,7 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide
|
||||
|
||||
void Process(const btDbvtNode* leaf0,const btDbvtNode* leaf1)
|
||||
{
|
||||
BT_PROFILE("btCompoundCompoundLeafCallback::Process");
|
||||
m_numOverlapPairs++;
|
||||
|
||||
|
||||
|
||||
@ -15,6 +15,7 @@ subject to the following restrictions:
|
||||
|
||||
|
||||
#include "btConvexConcaveCollisionAlgorithm.h"
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
@ -79,6 +80,7 @@ void btConvexTriangleCallback::clearCache()
|
||||
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
|
||||
partId, int triangleIndex)
|
||||
{
|
||||
BT_PROFILE("btConvexTriangleCallback::processTriangle");
|
||||
|
||||
if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
|
||||
{
|
||||
@ -184,7 +186,7 @@ void btConvexConcaveCollisionAlgorithm::clearCache()
|
||||
|
||||
void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
|
||||
BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision");
|
||||
|
||||
const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
|
||||
const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
|
||||
@ -265,6 +267,7 @@ btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObj
|
||||
|
||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
|
||||
{
|
||||
BT_PROFILE("processTriangle");
|
||||
(void)partId;
|
||||
(void)triangleIndex;
|
||||
//do a swept sphere for now
|
||||
|
||||
@ -245,16 +245,18 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
|
||||
btStridingMeshInterface* m_meshInterface;
|
||||
btTriangleCallback* m_callback;
|
||||
btVector3 m_triangle[3];
|
||||
|
||||
int m_numOverlap;
|
||||
|
||||
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
|
||||
:m_meshInterface(meshInterface),
|
||||
m_callback(callback)
|
||||
m_callback(callback),
|
||||
m_numOverlap(0)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
|
||||
{
|
||||
m_numOverlap++;
|
||||
const unsigned char *vertexbase;
|
||||
int numverts;
|
||||
PHY_ScalarType type;
|
||||
@ -321,8 +323,7 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
|
||||
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
|
||||
|
||||
m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
|
||||
|
||||
|
||||
|
||||
#endif//DISABLE_BVH
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user