mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
455 lines
9.9 KiB
C++
455 lines
9.9 KiB
C++
#include "LuaPhysicsSetup.h"
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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#include "../Importers/ImportURDFDemo/BulletURDFImporter.h"
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#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
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#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
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struct LuaPhysicsSetup : public CommonMultiBodyBase
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{
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LuaPhysicsSetup(GUIHelperInterface* helper);
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virtual ~LuaPhysicsSetup();
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virtual void initPhysics();
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virtual void exitPhysics();
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virtual void stepSimulation(float deltaTime)
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{
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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CommonMultiBodyBase::stepSimulation(deltaTime);
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}
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};
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btVector3.h"
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#include <iostream>
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extern "C" {
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#include "lua.h"
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#include "lualib.h"
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#include "lauxlib.h"
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}
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const char* sLuaFileName = "init_physics.lua";
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static int upaxis = 1;
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//const char* sLuaFileName = "init_urdf.lua";
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//static int upaxis = 2;
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static const float scaling=0.35f;
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static LuaPhysicsSetup* sLuaDemo = 0;
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static btVector4 colors[4] =
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{
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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btVector4(1,1,0,1),
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};
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LuaPhysicsSetup::LuaPhysicsSetup(GUIHelperInterface* helper)
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:CommonMultiBodyBase(helper)
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{
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sLuaDemo = this;
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}
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LuaPhysicsSetup::~LuaPhysicsSetup()
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{
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sLuaDemo = 0;
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}
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//todo: allow to create solver, broadphase, multiple worlds etc.
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static int gCreateDefaultDynamicsWorld(lua_State *L)
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{
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sLuaDemo->createEmptyDynamicsWorld();
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btVector3 grav(0,0,0);
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grav[upaxis] = -10;
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sLuaDemo->m_dynamicsWorld->setGravity(grav);
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sLuaDemo->m_guiHelper->createPhysicsDebugDrawer(sLuaDemo->m_dynamicsWorld);
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lua_pushlightuserdata (L, sLuaDemo->m_dynamicsWorld);
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return 1;
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}
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static int gDeleteDynamicsWorld(lua_State *L)
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{
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return 0;
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}
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ATTRIBUTE_ALIGNED16(struct) CustomRigidBodyData
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{
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int m_graphicsInstanceIndex;
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};
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static int gCreateCubeShape(lua_State *L)
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{
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int argc = lua_gettop(L);
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if (argc==4)
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{
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btVector3 halfExtents(1,1,1);
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if (!lua_isuserdata(L,1))
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{
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std::cerr << "error: first argument to createCubeShape should be world";
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return 0;
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}
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//expect userdata = sLuaDemo->m_dynamicsWorld
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halfExtents = btVector3(lua_tonumber(L,2),lua_tonumber(L,3),lua_tonumber(L,4));
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btCollisionShape* colShape = new btBoxShape(halfExtents);
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lua_pushlightuserdata (L, colShape);
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return 1;
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} else
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{
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std::cerr << "Error: invalid number of arguments to createCubeShape, expected 4 (world,halfExtentsX,halfExtentsY,halfExtentsX) but got " << argc;
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}
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return 0;
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}
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static int gCreateSphereShape(lua_State *L)
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{
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int argc = lua_gettop(L);
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if (argc==2)
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{
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btVector3 halfExtents(1,1,1);
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if (!lua_isuserdata(L,1))
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{
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std::cerr << "error: first argument to createSphereShape should be world";
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return 0;
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}
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//expect userdata = sLuaDemo->m_dynamicsWorld
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btScalar radius = lua_tonumber(L,2);
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btCollisionShape* colShape = new btSphereShape(radius);
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lua_pushlightuserdata (L, colShape);
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return 1;
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} else
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{
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std::cerr << "Error: invalid number of arguments to createSphereShape, expected 2 (world,radius) but got " << argc;
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}
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return 0;
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}
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int luaL_returnlen(lua_State* L, int index)
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{
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lua_len(L, index);
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int len = lua_tointeger(L,-1);
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lua_pop(L, 1);
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return len;
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}
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btVector3 getLuaVectorArg(lua_State* L, int index)
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{
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btVector3 pos(0,0,0);
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int sz = luaL_returnlen(L, index); // get size of table
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{
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lua_rawgeti(L, index, 1); // push t[i]
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pos[0] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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lua_rawgeti(L, index, 2); // push t[i]
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pos[1] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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lua_rawgeti(L, index, 3); // push t[i]
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pos[2] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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}
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return pos;
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}
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btQuaternion getLuaQuaternionArg(lua_State* L, int index)
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{
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btQuaternion orn(0,0,0,1);
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int sz = luaL_returnlen(L, index); // get size of table
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{
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lua_rawgeti(L, index, 1); // push t[i]
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orn[0] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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lua_rawgeti(L, index, 2); // push t[i]
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orn[1] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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lua_rawgeti(L, index, 3); // push t[i]
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orn[2] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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lua_rawgeti(L, index, 4); // push t[i]
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orn[3] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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}
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return orn;
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}
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static int gLoadMultiBodyFromUrdf(lua_State *L)
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{
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int argc = lua_gettop(L);
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if (argc==4)
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{
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if (!lua_isuserdata(L,1))
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{
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std::cerr << "error: first argument to b3CreateRigidbody should be world";
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return 0;
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}
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luaL_checktype(L,3, LUA_TTABLE);
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btVector3 pos = getLuaVectorArg(L,3);
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btQuaternion orn = getLuaQuaternionArg(L,4);
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btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*) lua_touserdata(L,1);
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if (world != sLuaDemo->m_dynamicsWorld)
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{
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std::cerr << "error: first argument expected to be a world";
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return 0;
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}
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const char* fileName = lua_tostring(L,2);
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#if 1
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BulletURDFImporter u2b(sLuaDemo->m_guiHelper);
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bool loadOk = u2b.loadURDF(fileName);
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if (loadOk)
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{
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b3Printf("loaded %s OK!", fileName);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(pos);
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tr.setRotation(orn);
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int rootLinkIndex = u2b.getRootLinkIndex();
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// printf("urdf root link index = %d\n",rootLinkIndex);
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MyMultiBodyCreator creation(sLuaDemo->m_guiHelper);
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bool m_useMultiBody = true;
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ConvertURDF2Bullet(u2b,creation, tr,sLuaDemo->m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());
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btMultiBody* mb = creation.getBulletMultiBody();
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if (mb)
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{
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lua_pushlightuserdata (L, mb);
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return 1;
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}
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} else
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{
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b3Printf("can't find %s",fileName);
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}
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#endif
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}
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return 0;
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}
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static int gCreateRigidBody (lua_State *L)
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{
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int argc = lua_gettop(L);
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if (argc==5)
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{
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btTransform startTransform;
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startTransform.setIdentity();
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if (!lua_isuserdata(L,1))
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{
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std::cerr << "error: first argument to b3CreateRigidbody should be world";
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return 0;
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}
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btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*) lua_touserdata(L,1);
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if (world != sLuaDemo->m_dynamicsWorld)
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{
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std::cerr << "error: first argument expected to be a world";
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return 0;
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}
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if (!lua_isuserdata(L,2))
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{
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std::cerr << "error: second argument to b3CreateRigidbody should be collision shape";
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return 0;
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}
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btScalar mass = lua_tonumber(L,3);
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luaL_checktype(L,4, LUA_TTABLE);
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btVector3 pos = getLuaVectorArg(L,4);
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btQuaternion orn = getLuaQuaternionArg(L,5);
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btCollisionShape* colShape = (btCollisionShape* )lua_touserdata(L,2);
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//expect userdata = sLuaDemo->m_dynamicsWorld
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btVector3 inertia(0,0,0);
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if (mass)
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{
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colShape->calculateLocalInertia(mass,inertia);
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}
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btRigidBody* body = new btRigidBody(mass,0,colShape,inertia);
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body->getWorldTransform().setOrigin(pos);
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body->getWorldTransform().setRotation(orn);
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world->addRigidBody(body);
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lua_pushlightuserdata (L, body);
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return 1;
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} else
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{
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std::cerr << "Error: invalid number of arguments to createRigidBody, expected 5 (world,shape,mass,pos,orn) but got " << argc;
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}
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return 0;
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}
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static int gSetBodyPosition(lua_State *L)
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{
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int argc = lua_gettop(L);
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if (argc==3)
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{
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if (!lua_isuserdata(L,1))
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{
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std::cerr << "error: first argument needs to be a world";
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return 0;
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}
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if (!lua_isuserdata(L,2))
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{
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std::cerr << "error: second argument needs to be a body";
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return 0;
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}
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btRigidBody* body = (btRigidBody*)lua_touserdata(L,2);
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btVector3 pos = getLuaVectorArg(L,3);
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btTransform& tr = body ->getWorldTransform();
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tr.setOrigin(pos);
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body->setWorldTransform(tr);
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} else
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{
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std::cerr << "error: setBodyPosition expects 6 arguments like setBodyPosition(world,body,0,1,0)";
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}
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return 0;
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}
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static int gSetBodyOrientation(lua_State *L)
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{
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int argc = lua_gettop(L);
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if (argc==3)
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{
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if (!lua_isuserdata(L,1))
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{
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std::cerr << "error: first argument needs to be a world";
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return 0;
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}
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if (!lua_isuserdata(L,2))
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{
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std::cerr << "error: second argument needs to be a body";
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return 0;
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}
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btRigidBody* body = (btRigidBody*)lua_touserdata(L,2);
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btQuaternion orn = getLuaQuaternionArg(L,3);
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btTransform& tr = body ->getWorldTransform();
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tr.setRotation(orn);
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body->setWorldTransform(tr);
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} else
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{
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std::cerr << "error: setBodyOrientation expects 3 arguments like setBodyOrientation(world,body,orn)";
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}
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return 0;
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}
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//b3CreateConvexShape(world, points)
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//b3CreateHingeConstraint(world,bodyA,bodyB,...)
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static void report_errors(lua_State *L, int status)
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{
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if ( status!=0 ) {
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std::cerr << "-- " << lua_tostring(L, -1) << std::endl;
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lua_pop(L, 1); // remove error message
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}
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}
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void LuaPhysicsSetup::initPhysics()
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{
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m_guiHelper->setUpAxis(upaxis);
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const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
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int numPrefixes = sizeof(prefix)/sizeof(const char*);
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char relativeFileName[1024];
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FILE* f=0;
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int result = 0;
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for (int i=0;!f && i<numPrefixes;i++)
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{
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sprintf(relativeFileName,"%s%s",prefix[i],sLuaFileName);
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f = fopen(relativeFileName,"rb");
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}
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if (f)
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{
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fclose(f);
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lua_State *L = luaL_newstate();
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luaopen_io(L); // provides io.*
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luaopen_base(L);
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luaopen_table(L);
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luaopen_string(L);
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luaopen_math(L);
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//luaopen_package(L);
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luaL_openlibs(L);
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// make my_function() available to Lua programs
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lua_register(L, "createDefaultDynamicsWorld", gCreateDefaultDynamicsWorld);
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lua_register(L, "deleteDynamicsWorld", gDeleteDynamicsWorld);
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lua_register(L, "createCubeShape", gCreateCubeShape);
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lua_register(L, "createSphereShape", gCreateSphereShape);
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lua_register(L, "loadMultiBodyFromUrdf",gLoadMultiBodyFromUrdf);
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lua_register(L, "createRigidBody", gCreateRigidBody);
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lua_register(L, "setBodyPosition", gSetBodyPosition);
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lua_register(L, "setBodyOrientation", gSetBodyOrientation);
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int s = luaL_loadfile(L, relativeFileName);
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if ( s==0 ) {
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// execute Lua program
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s = lua_pcall(L, 0, LUA_MULTRET, 0);
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}
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report_errors(L, s);
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lua_close(L);
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} else
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{
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b3Error("Cannot find Lua file%s\n",sLuaFileName);
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}
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}
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void LuaPhysicsSetup::exitPhysics()
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{
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CommonMultiBodyBase::exitPhysics();
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}
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class CommonExampleInterface* LuaDemoCreateFunc(struct CommonExampleOptions& options)
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{
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return new LuaPhysicsSetup(options.m_guiHelper);
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}
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