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Code Issues Releases Wiki Activity

Working random walkers.

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This commit is contained in:
Benjamin Ellenberger 2016-07-03 19:54:47 +02:00
parent 2bf17a7a81
commit e652863baa
2 changed files with 327 additions and 71 deletions
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218
examples/Evolution/premake4.lua Executable file
View File

@ -0,0 +1,218 @@
project "App_RigidBodyFromObjExample"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common","BulletDynamics","BulletCollision", "LinearMath"
}
language "C++"
files {
"RigidBodyFromObj.cpp",
"**.h",
"../StandaloneMain/main_console_single_example.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
project "App_RigidBodyFromObjExampleGui"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
language "C++"
files {
"RigidBodyFromObj.cpp",
"*.h",
"../StandaloneMain/main_opengl_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
project "App_RigidBodyFromObjExampleGuiWithSoftwareRenderer"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
language "C++"
files {
"RigidBodyFromObj.cpp",
"*.h",
"../StandaloneMain/main_sw_tinyrenderer_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
project "App_RigidBodyFromObjExampleTinyRenderer"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "Bullet3Common"
}
language "C++"
files {
"RigidBodyFromObj.cpp",
"*.h",
"../StandaloneMain/main_tinyrenderer_single_example.cpp",
"../OpenGLWindow/SimpleCamera.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}

180
examples/ExtendedTutorials/NN3DWalkers.cpp
View File

@ -31,9 +31,20 @@ class btDefaultCollisionConfiguration;
//TODO: Maybe add pointworldToLocal and AxisWorldToLocal etc. to a helper class
btVector3 getPointWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 point);
btVector3 getAxisWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 axis);
btVector3 getPointLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 point);
btVector3 getAxisLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 axis);
btTransform getTransformLocalToWorld(btTransform localObjectCenterOfMassTransform, btTransform transform);
btTransform getTransformWorldToLocal(btTransform localObjectCenterOfMassTransform, btTransform transform);
class NN3DWalkers : public CommonRigidBodyBase
{
float m_Time;
float m_targetAccumulator;
float m_targetFrequency;
float m_fCyclePeriod; // in milliseconds
float m_fMuscleStrength;
@ -42,13 +53,13 @@ class NN3DWalkers : public CommonRigidBodyBase
public:
NN3DWalkers(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper),m_fCyclePeriod(0),m_Time(0),m_fMuscleStrength(0)
:CommonRigidBodyBase(helper),m_fCyclePeriod(0),m_Time(0),m_fMuscleStrength(0),m_targetFrequency(1),m_targetAccumulator(0)
{
}
}
void initPhysics();
void exitPhysics();
virtual void exitPhysics();
virtual ~NN3DWalkers()
{
@ -69,34 +80,21 @@ public:
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
btVector3 getPointWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 &point);
btVector3 getAxisWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 &axis);
btVector3 getPointLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 &point);
btVector3 getAxisLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 &axis);
virtual void renderScene();
};
static NN3DWalkers* nn3DWalkers = NULL;
#ifndef M_PI
#define M_PI 3.14159265358979323846
#ifndef SIMD_PI_4
#define SIMD_PI_4 0.5 * SIMD_HALF_PI
#endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923
#ifndef SIMD_PI_8
#define SIMD_PI_8 0.25 * SIMD_HALF_PI
#endif
#ifndef M_PI_4
#define M_PI_4 0.785398163397448309616
#endif
#ifndef M_PI_8
#define M_PI_8 0.5 * M_PI_4
#endif
// /LOCAL FUNCTIONS
void* WALKER_ID = (void*)1;
void* GROUND_ID = (void*)2;
#define NUM_LEGS 6
#define BODYPART_COUNT 2 * NUM_LEGS + 1
@ -117,8 +115,8 @@ class NNWalker
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
btDefaultMotionState* motionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,motionState,shape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);
@ -131,7 +129,7 @@ public:
NNWalker(btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
: m_ownerWorld (ownerWorld)
{
btVector3 vUp(0, 1, 0);
btVector3 vUp(0, 1, 0); // up in local reference frame
//
// Setup geometry
@ -178,7 +176,7 @@ public:
// legs
for ( i=0; i<NUM_LEGS; i++)
{
float footAngle = 2 * M_PI * i / NUM_LEGS; // legs are uniformly distributed around the root body
float footAngle = 2 * SIMD_PI * i / NUM_LEGS; // legs are uniformly distributed around the root body
float footYUnitPosition = sin(footAngle); // y position of the leg on the unit circle
float footXUnitPosition = cos(footAngle); // x position of the leg on the unit circle
@ -189,7 +187,7 @@ public:
// thigh
btVector3 legDirection = (legCOM - localRootBodyPosition).normalize();
btVector3 kneeAxis = legDirection.cross(vUp);
transform.setRotation(btQuaternion(kneeAxis, M_PI_2));
transform.setRotation(btQuaternion(kneeAxis, SIMD_HALF_PI));
m_bodies[1+2*i] = localCreateRigidBody(btScalar(1.), bodyOffset*transform, m_shapes[1+2*i]);
// shin
@ -204,9 +202,9 @@ public:
// hip joints
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0,-footAngle,0); localA.setOrigin(btVector3(btScalar(footXUnitPosition*rootBodyRadius), btScalar(0.), btScalar(footYUnitPosition*rootBodyRadius)));
localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
localB = getTransformWorldToLocal(m_bodies[1+2*i]->getWorldTransform(), getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
hingeC->setLimit(btScalar(-0.75 * M_PI_4), btScalar(M_PI_8));
hingeC->setLimit(btScalar(-0.75 * SIMD_PI_4), btScalar(SIMD_PI_8));
//hingeC->setLimit(btScalar(-0.1), btScalar(0.1));
m_joints[2*i] = hingeC;
m_ownerWorld->addConstraint(m_joints[2*i], true);
@ -214,11 +212,11 @@ public:
// knee joints
localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
localA.getBasis().setEulerZYX(0,-footAngle,0); localA.setOrigin(btVector3(btScalar(footXUnitPosition*(rootBodyRadius+legLength)), btScalar(0.), btScalar(footYUnitPosition*(rootBodyRadius+legLength))));
localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
localC = m_bodies[2+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
localB = getTransformWorldToLocal(m_bodies[1+2*i]->getWorldTransform(), getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
localC = getTransformWorldToLocal(m_bodies[2+2*i]->getWorldTransform(), getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
hingeC = new btHingeConstraint(*m_bodies[1+2*i], *m_bodies[2+2*i], localB, localC);
//hingeC->setLimit(btScalar(-0.01), btScalar(0.01));
hingeC->setLimit(btScalar(-M_PI_8), btScalar(0.2));
hingeC->setLimit(btScalar(-SIMD_PI_8), btScalar(0.2));
m_joints[1+2*i] = hingeC;
m_ownerWorld->addConstraint(m_joints[1+2*i], true);
}
@ -230,6 +228,7 @@ public:
m_bodies[i]->setDeactivationTime(0.8);
//m_bodies[i]->setSleepingThresholds(1.6, 2.5);
m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
m_bodies[i]->setUserPointer(WALKER_ID);
}
}
@ -262,7 +261,7 @@ public:
void motorNNPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
void legMotorPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
{
NN3DWalkers* motorDemo = (NN3DWalkers*)world->getWorldUserInfo();
@ -270,10 +269,34 @@ void motorNNPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
}
bool legContactProcessedCallback(btManifoldPoint& cp,
void* body0, void* body1)
{
void* ID1;
void* ID2;
btCollisionObject* o1 = static_cast<btCollisionObject*>(body0);
btCollisionObject* o2 = static_cast<btCollisionObject*>(body1);
ID1 = o1->getUserPointer();
ID2 = o2->getUserPointer();
if ((ID1 == GROUND_ID && ID2 == WALKER_ID) || (ID1 == WALKER_ID && ID2 == GROUND_ID)) {
// Make a circle with a 0.9 radius at (0,0,0)
// with RGB color (1,0,0).
if(nn3DWalkers->m_dynamicsWorld->getDebugDrawer() != NULL)
nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
}
return false;
}
void NN3DWalkers::initPhysics()
{
m_targetFrequency = 5;
gContactProcessedCallback = legContactProcessedCallback;
m_guiHelper->setUpAxis(1);
// Setup the basic world
@ -289,7 +312,7 @@ void NN3DWalkers::initPhysics()
createEmptyDynamicsWorld();
m_dynamicsWorld->setInternalTickCallback(motorNNPreTickCallback,this,true);
m_dynamicsWorld->setInternalTickCallback(legMotorPreTickCallback,this,true);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
@ -300,14 +323,16 @@ void NN3DWalkers::initPhysics()
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
createRigidBody(btScalar(0.),groundTransform,groundShape);
btRigidBody* ground = createRigidBody(btScalar(0.),groundTransform,groundShape);
ground->setFriction(5);
ground->setUserPointer(GROUND_ID);
}
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
spawnWalker(startOffset, false);
startOffset.setValue(-2,0.5,0);
spawnWalker(startOffset, true);
for(int i = 0; i <20 ; i++){
// Spawn one walker
btVector3 startOffset(10*((double) rand() / (RAND_MAX)),0.5,10*((double) rand() / (RAND_MAX)));
spawnWalker(startOffset, false);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
@ -319,14 +344,6 @@ void NN3DWalkers::spawnWalker(const btVector3& startOffset, bool bFixed)
m_walkers.push_back(walker);
}
//void PreStep()
//{
//
//}
void NN3DWalkers::setMotorTargets(btScalar deltaTime)
{
@ -337,26 +354,30 @@ void NN3DWalkers::setMotorTargets(btScalar deltaTime)
m_Time += ms;
//
// set per-frame sinusoidal position targets using angular motor (hacky?)
//
for (int r=0; r<m_walkers.size(); r++)
m_targetAccumulator +=ms;
if(m_targetAccumulator >= 1000000.0f /((double)m_targetFrequency))
{
for (int i=0; i<2*NUM_LEGS; i++)
m_targetAccumulator = 0;
//
// set per-frame sinusoidal position targets using angular motor (hacky?)
//
for (int r=0; r<m_walkers.size(); r++)
{
btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_walkers[r]->GetJoints()[i]);
btScalar fCurAngle = hingeC->getHingeAngle();
btScalar fTargetPercent = (int(m_Time / 1000) % int(m_fCyclePeriod)) / m_fCyclePeriod;
btScalar fTargetAngle = 0.5 * (1 + sin(2 * M_PI * fTargetPercent));
btScalar fTargetLimitAngle = hingeC->getLowerLimit() + fTargetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
btScalar fAngleError = fTargetLimitAngle - fCurAngle;
btScalar fDesiredAngularVel = 1000000.f * fAngleError/ms;
hingeC->enableAngularMotor(true, fDesiredAngularVel, m_fMuscleStrength);
for (int i=0; i<2*NUM_LEGS; i++)
{
btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_walkers[r]->GetJoints()[i]);
btScalar fCurAngle = hingeC->getHingeAngle();
btScalar fTargetPercent = (int(m_Time / 1000) % int(m_fCyclePeriod)) / m_fCyclePeriod;
btScalar fTargetAngle = ((double) rand() / (RAND_MAX));//0.5 * (1 + sin(2 * SIMD_PI * fTargetPercent+ i* SIMD_PI/NUM_LEGS));
btScalar fTargetLimitAngle = hingeC->getLowerLimit() + fTargetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
btScalar fAngleError = fTargetLimitAngle - fCurAngle;
btScalar fDesiredAngularVel = 1000000.f * fAngleError/ms;
hingeC->enableAngularMotor(true, fDesiredAngularVel, m_fMuscleStrength);
}
}
}
}
bool NN3DWalkers::keyboardCallback(int key, int state)
@ -404,31 +425,48 @@ void NN3DWalkers::exitPhysics()
CommonRigidBodyBase::exitPhysics();
}
void NN3DWalkers::renderScene()
{
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
m_guiHelper->render(m_dynamicsWorld);
debugDraw(m_dynamicsWorld->getDebugDrawer()->getDebugMode());
}
class CommonExampleInterface* NN3DWalkersCreateFunc(struct CommonExampleOptions& options)
{
return new NN3DWalkers(options.m_guiHelper);
nn3DWalkers = new NN3DWalkers(options.m_guiHelper);
return nn3DWalkers;
}
btVector3 NN3DWalkers::getPointWorldToLocal( btTransform localObjectCenterOfMassTransform, btVector3 &point) {
btVector3 getPointWorldToLocal( btTransform localObjectCenterOfMassTransform, btVector3 point) {
return localObjectCenterOfMassTransform.inverse() * point; // transforms the point from the world frame into the local frame
}
btVector3 NN3DWalkers::getPointLocalToWorld( btTransform localObjectCenterOfMassTransform, btVector3 &point) {
btVector3 getPointLocalToWorld( btTransform localObjectCenterOfMassTransform, btVector3 point) {
return localObjectCenterOfMassTransform * point; // transforms the point from the world frame into the local frame
}
btVector3 NN3DWalkers::getAxisWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 &axis) {
btVector3 getAxisWorldToLocal(btTransform localObjectCenterOfMassTransform, btVector3 axis) {
btTransform local1 = localObjectCenterOfMassTransform.inverse(); // transforms the axis from the local frame into the world frame
btVector3 zero(0,0,0);
local1.setOrigin(zero);
return local1 * axis;
}
btVector3 NN3DWalkers::getAxisLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 &axis) {
btVector3 getAxisLocalToWorld(btTransform localObjectCenterOfMassTransform, btVector3 axis) {
btTransform local1 = localObjectCenterOfMassTransform; // transforms the axis from the local frame into the world frame
btVector3 zero(0,0,0);
local1.setOrigin(zero);
return local1 * axis;
}
btTransform getTransformWorldToLocal(btTransform localObjectCenterOfMassTransform, btTransform transform) {
return localObjectCenterOfMassTransform.inverse() * transform; // transforms the axis from the local frame into the world frame
}
btTransform getTransformLocalToWorld(btTransform localObjectCenterOfMassTransform, btTransform transform) {
return localObjectCenterOfMassTransform * transform; // transforms the axis from the local frame into the world frame
}