Fix the following build failure on musl (which does not provide
PTHREAD_MUTEX_RECURSIVE_NP):
In file included from /tmp/instance-5/output-1/build/bullet-3.09/src/LinearMath/btScalar.h:289,
from /tmp/instance-5/output-1/build/bullet-3.09/src/LinearMath/btVector3.h:19,
from /tmp/instance-5/output-1/build/bullet-3.09/src/LinearMath/btConvexHullComputer.h:18,
from /tmp/instance-5/output-1/build/bullet-3.09/Extras/VHACD/src/VHACD.cpp:28:
/tmp/instance-5/output-1/build/bullet-3.09/Extras/BulletRobotics/../../Extras/VHACD/inc/vhacdMutex.h: In constructor 'VHACD::Mutex::Mutex()':
/tmp/instance-5/output-1/build/bullet-3.09/Extras/BulletRobotics/../../Extras/VHACD/inc/vhacdMutex.h:97:54: error: 'PTHREAD_MUTEX_RECURSIVE_NP' was not declared in this scope; did you mean 'PTHREAD_MUTEX_RECURSIVE'?
97 | VHACD_VERIFY(pthread_mutexattr_settype(&mutexAttr, PTHREAD_MUTEX_RECURSIVE_NP) == 0);
| ^~~~~~~~~~~~~~~~~~~~~~~~~~
Fixes:
- http://autobuild.buildroot.org/results/79cd2024b3dfc8d3e896cdacf67fb891df81ca6e
Signed-off-by: Fabrice Fontaine <fontaine.fabrice@gmail.com>
When reading response from the Bullet server after a "load URDF" command, the client code allocated and zeroed buffers for the data chunks with a "+1" to account for the terminating zero. This was when the buffer pointer was interpreted as a `char *`, so it meant "+ 1 byte".
When reading those buffers, however, the associated pointer was a `void *`, so reading `sizeof(void*)` (8 on my machine) bytes at a time. Therefore it was reading up to 7 bytes past the allocated (and zeroed) memory.
The change fixes that by changing the "+ 1" to "+ sizeof(void*)". At one place it also extends the zeroing to the final buffer position (missing "+ 1" in the original).
On some systems, such as Android, threads are not provided via
`-lpthread`.
CMake comes with a built-in module for finding the correct threads
library.
Use it to fix the linking issue on Android and possibly other systems.
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
- Create a pc for the bulletRobotics extras package.
- Install all necessary includes in include/bullet_robotics.
- The .pc add directly the bullet_robotics folder as include directory (TODO, move the bullet robotics in the src folder).
A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory.
Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h
Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
