diff -Nru bullet-2.83.6+dfsg/appveyor.yml bullet-2.86.1+dfsg/appveyor.yml
--- bullet-2.83.6+dfsg/appveyor.yml 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/appveyor.yml 2017-02-17 23:43:38.000000000 +0000
@@ -1,9 +1,19 @@
build:
project: build3/vs2010/0_Bullet3Solution.sln
+build_script:
+ - mkdir cm
+ - cd cm
+ - cmake .. -G"Visual Studio 14 2015 Win64"
+ - cmake --build . --target ALL_BUILD --config Release -- /maxcpucount:4 /verbosity:quiet
+
+test_script:
+ - ctest --parallel 4 --build-config Release --output-on-failure
+
before_build:
- echo %CD%
- ps: cd build3
- echo %CD%
- premake4 vs2010
- ps: cd ..
+
diff -Nru bullet-2.83.6+dfsg/AUTHORS.txt bullet-2.86.1+dfsg/AUTHORS.txt
--- bullet-2.83.6+dfsg/AUTHORS.txt 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/AUTHORS.txt 2017-02-17 23:43:38.000000000 +0000
@@ -35,5 +35,6 @@
Pierre Terdiman
Steven Thompson
Tamas Umenhoffer
+Yunfei Bai
If your name is missing, please send an email to erwin.coumans@gmail.com or file an issue at http://github.com/bulletphysics/bullet3
diff -Nru bullet-2.83.6+dfsg/build_and_run_cmake_pybullet_double.sh bullet-2.86.1+dfsg/build_and_run_cmake_pybullet_double.sh
--- bullet-2.83.6+dfsg/build_and_run_cmake_pybullet_double.sh 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/build_and_run_cmake_pybullet_double.sh 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,10 @@
+#!/bin/sh
+rm CMakeCache.txt
+mkdir build_cmake
+cd build_cmake
+cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
+make -j12
+cd examples
+cd pybullet
+ln -s pybullet.dylib pybullet.so
+
diff -Nru bullet-2.83.6+dfsg/build_and_run_cmake.sh bullet-2.86.1+dfsg/build_and_run_cmake.sh
--- bullet-2.83.6+dfsg/build_and_run_cmake.sh 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/build_and_run_cmake.sh 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,7 @@
+#!/bin/sh
+rm CMakeCache.txt
+mkdir build_cmake
+cd build_cmake
+cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
+make -j12
+examples/ExampleBrowser/App_ExampleBrowser
diff -Nru bullet-2.83.6+dfsg/build_and_run_premake.sh bullet-2.86.1+dfsg/build_and_run_premake.sh
--- bullet-2.83.6+dfsg/build_and_run_premake.sh 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/build_and_run_premake.sh 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,7 @@
+#!/bin/sh
+cd build3
+./premake4_linux64 gmake
+./premake4_osx gmake
+cd gmake
+make -j12
+../../bin/App_BulletExampleBrowser_gmake_x64_release
diff -Nru bullet-2.83.6+dfsg/build_cmake_pybullet_win32.bat bullet-2.86.1+dfsg/build_cmake_pybullet_win32.bat
--- bullet-2.83.6+dfsg/build_cmake_pybullet_win32.bat 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/build_cmake_pybullet_win32.bat 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,4 @@
+mkdir cm
+cd cm
+cmake -DBUILD_PYBULLET=ON -DCMAKE_BUILD_TYPE=Release -DUSE_DOUBLE_PRECISION=ON -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.2\libs\python35_d.lib ..
+start .
diff -Nru bullet-2.83.6+dfsg/build_visual_studio.bat bullet-2.86.1+dfsg/build_visual_studio.bat
--- bullet-2.83.6+dfsg/build_visual_studio.bat 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/build_visual_studio.bat 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,5 @@
+
+
+cd build3
+premake4 --targetdir="../bin" vs2010
+start vs2010
diff -Nru bullet-2.83.6+dfsg/build_visual_studio_vr_pybullet_double.bat bullet-2.86.1+dfsg/build_visual_studio_vr_pybullet_double.bat
--- bullet-2.83.6+dfsg/build_visual_studio_vr_pybullet_double.bat 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/build_visual_studio_vr_pybullet_double.bat 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,21 @@
+IF NOT EXIST bin mkdir bin
+IF NOT EXIST bin\openvr_api.dll copy examples\ThirdPartyLibs\openvr\bin\win32\openvr_api.dll bin
+
+#optionally, hardcode the python path or
+#SET myvar=c:\python-3.5.3
+
+#find a python version (hopefully just 1) and use this
+dir c:\python* /b /ad > tmp1234.txt
+
+set /p myvar1= < tmp1234.txt
+set myvar=c:/%myvar1%
+del tmp1234.txt
+
+#you can also override and hardcode the Python path like this (just remove the # hashmark in next line)
+#SET myvar=c:\python-3.5.2
+
+cd build3
+
+premake4 --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
+start vs2010
+
diff -Nru bullet-2.83.6+dfsg/CMakeLists.txt bullet-2.86.1+dfsg/CMakeLists.txt
--- bullet-2.83.6+dfsg/CMakeLists.txt 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/CMakeLists.txt 2017-02-17 23:43:38.000000000 +0000
@@ -5,17 +5,21 @@
SET(MSVC_INCREMENTAL_DEFAULT ON)
PROJECT(BULLET_PHYSICS)
-SET(BULLET_VERSION 2.83)
+FILE (STRINGS "VERSION" BULLET_VERSION)
IF(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
+ if(POLICY CMP0042)
+ # Enable MACOSX_RPATH by default.
+ cmake_policy(SET CMP0042 NEW)
+ endif(POLICY CMP0042)
ENDIF(COMMAND cmake_policy)
IF (NOT CMAKE_BUILD_TYPE)
# SET(CMAKE_BUILD_TYPE "Debug")
SET(CMAKE_BUILD_TYPE "Release")
-ENDIF (NOT CMAKE_BUILD_TYPE)
+ENDIF (NOT CMAKE_BUILD_TYPE)
SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
#MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG})
@@ -23,6 +27,8 @@
OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
+OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
+OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF)
OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
@@ -34,8 +40,8 @@
OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF)
ENDIF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
-#SET(CMAKE_EXE_LINKER_FLAGS_INIT "/STACK:10000000 /INCREMENTAL:NO")
-#SET(CMAKE_EXE_LINKER_FLAGS "/STACK:10000000 /INCREMENTAL:NO")
+#SET(CMAKE_EXE_LINKER_FLAGS_INIT "/STACK:10000000 /INCREMENTAL:NO")
+#SET(CMAKE_EXE_LINKER_FLAGS "/STACK:10000000 /INCREMENTAL:NO")
#MESSAGE("MSVC_INCREMENTAL_YES_FLAG"+${MSVC_INCREMENTAL_YES_FLAG})
@@ -44,23 +50,23 @@
IF (NOT USE_MSVC_INCREMENTAL_LINKING)
#MESSAGE("MSVC_INCREMENTAL_DEFAULT"+${MSVC_INCREMENTAL_DEFAULT})
SET( MSVC_INCREMENTAL_YES_FLAG "/INCREMENTAL:NO")
-
- STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags ${CMAKE_EXE_LINKER_FLAGS_DEBUG})
+
+ STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags ${CMAKE_EXE_LINKER_FLAGS_DEBUG})
SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "/INCREMENTAL:NO ${replacementFlags}" )
MESSAGE("CMAKE_EXE_LINKER_FLAGS_DEBUG=${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
-
- STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS})
-
- SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2})
- STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 "${CMAKE_EXTRA_LINK_FLAGS}")
-
- SET(CMAKE_EXTRA_LINK_FLAGS ${replacementFlag3})
-
-
+
+ STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS})
+
+ SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2})
+ STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 "${CMAKE_EXTRA_LINK_FLAGS}")
+
+ SET(CMAKE_EXTRA_LINK_FLAGS ${replacementFlag3})
+
+
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags3 "${CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO}")
- SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO ${replacementFlags3})
+ SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO ${replacementFlags3})
SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "/INCREMENTAL:NO ${replacementFlags3}" )
-
+
ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING)
IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
@@ -80,13 +86,15 @@
ELSE()
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON)
IF (USE_MSVC_SSE)
- ADD_DEFINITIONS(/arch:SSE)
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
ENDIF()
ENDIF()
OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON)
IF (USE_MSVC_FAST_FLOATINGPOINT)
- ADD_DEFINITIONS(/fp:fast)
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
ENDIF()
+
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
ENDIF(MSVC)
@@ -126,7 +134,7 @@
ENDIF (WIN32)
-OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU examples" ON)
+OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU examples" ON)
@@ -140,10 +148,21 @@
SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
ENDIF (USE_DOUBLE_PRECISION)
+IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ADD_DEFINITIONS(-DUSE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+
IF(USE_GRAPHICAL_BENCHMARK)
ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
ENDIF (USE_GRAPHICAL_BENCHMARK)
+IF(BULLET2_USE_THREAD_LOCKS)
+ ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
+ IF (NOT MSVC)
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+ ENDIF (NOT MSVC)
+ENDIF (BULLET2_USE_THREAD_LOCKS)
+
IF (WIN32)
OPTION(USE_GLUT "Use Glut" ON)
ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
@@ -151,8 +170,8 @@
ADD_DEFINITIONS( -D_SCL_SECURE_NO_WARNINGS )
IF (USE_GLUT AND MSVC)
- string (REPLACE "/D_WINDOWS" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
- remove_definitions(-D_WINDOWS )
+ string (REPLACE "/D_WINDOWS" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
+ remove_definitions(-D_WINDOWS )
ENDIF()
@@ -161,11 +180,11 @@
OPTION(USE_GLUT "Use Glut" ON)
ENDIF(WIN32)
-
+
IF(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
ENDIF(COMMAND cmake_policy)
-
+
# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
# This should be the case.
@@ -184,28 +203,56 @@
#FIND_PACKAGE(GLU)
-
-
IF (APPLE)
FIND_LIBRARY(COCOA_LIBRARY Cocoa)
ENDIF()
OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
+OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
+
+
+IF(BUILD_PYBULLET)
+
+ FIND_PACKAGE(PythonLibs)
+
+ OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
+ OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
+
+ IF(BUILD_PYBULLET_NUMPY)
+ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake)
+ #include(FindNumPy)
+ FIND_PACKAGE(NumPy)
+ if (PYTHON_NUMPY_FOUND)
+ message("NumPy found")
+ add_definitions(-DPYBULLET_USE_NUMPY)
+ else()
+ message("NumPy not found")
+ endif()
+ ENDIF()
+ OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
+
+ IF(WIN32)
+ SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
+ ELSE(WIN32)
+ SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
+ ENDIF(WIN32)
+ENDIF(BUILD_PYBULLET)
+
IF(BUILD_BULLET3)
IF(APPLE)
- MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}")
- IF(_CURRENT_OSX_VERSION VERSION_LESS 10.9)
- MESSAGE("Mac OSX below 10.9 has no OpenGL 3 support so please disable the BUILD_OPENGL3_DEMOS option")
- #unset(BUILD_OPENGL3_DEMOS CACHE)
-
- OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" OFF)
- ELSE()
- OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" ON)
- ENDIF()
- ELSE()
- OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" ON)
- ENDIF()
+ MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}")
+ IF(_CURRENT_OSX_VERSION VERSION_LESS 10.9)
+ MESSAGE("Mac OSX below 10.9 has no OpenGL 3 support so please disable the BUILD_OPENGL3_DEMOS option")
+ #unset(BUILD_OPENGL3_DEMOS CACHE)
+
+ OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" OFF)
+ ELSE()
+ OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" ON)
+ ENDIF()
+ ELSE()
+ OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" ON)
+ ENDIF()
ELSE(BUILD_BULLET3)
unset(BUILD_OPENGL3_DEMOS CACHE)
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" OFF)
@@ -221,9 +268,18 @@
OPTION(BUILD_BULLET2_DEMOS "Set when you want to build the Bullet 2 demos" ON)
IF(BUILD_BULLET2_DEMOS)
- IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
- SUBDIRS(examples)
- ENDIF()
+ IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
+ SUBDIRS(examples)
+ ENDIF()
+
+ IF (BULLET2_USE_THREAD_LOCKS)
+ OPTION(BULLET2_MULTITHREADED_OPEN_MP_DEMO "Build Bullet 2 MultithreadedDemo using OpenMP (requires a compiler with OpenMP support)" OFF)
+ OPTION(BULLET2_MULTITHREADED_TBB_DEMO "Build Bullet 2 MultithreadedDemo using Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
+ IF (MSVC)
+ OPTION(BULLET2_MULTITHREADED_PPL_DEMO "Build Bullet 2 MultithreadedDemo using Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
+ ENDIF (MSVC)
+ ENDIF (BULLET2_USE_THREAD_LOCKS)
+
ENDIF(BUILD_BULLET2_DEMOS)
@@ -253,15 +309,15 @@
SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" )
SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
## the following are directories where stuff will be installed to
- SET(INCLUDE_INSTALL_DIR "include/bullet/" CACHE PATH "The subdirectory to the header prefix")
+ SET(INCLUDE_INSTALL_DIR "include/bullet/" CACHE PATH "The subdirectory to the header prefix")
SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
IF(NOT MSVC)
CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet.pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc @ONLY)
INSTALL(
- FILES
- ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc
- DESTINATION
- ${PKGCONFIG_INSTALL_PREFIX})
+ FILES
+ ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc
+ DESTINATION
+ ${PKGCONFIG_INSTALL_PREFIX})
ENDIF(NOT MSVC)
ENDIF(INSTALL_LIBS)
@@ -273,20 +329,24 @@
OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON)
IF (BUILD_UNIT_TESTS)
+ ENABLE_TESTING()
SUBDIRS(test)
ENDIF()
set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
list (APPEND BULLET_LIBRARIES LinearMath)
+IF(BUILD_BULLET3)
+ list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
+ENDIF(BUILD_BULLET3)
list (APPEND BULLET_LIBRARIES BulletCollision)
list (APPEND BULLET_LIBRARIES BulletDynamics)
list (APPEND BULLET_LIBRARIES BulletSoftBody)
set (BULLET_USE_FILE ${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
-configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
- ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
- @ONLY ESCAPE_QUOTES
- )
+configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
+ ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
+ @ONLY ESCAPE_QUOTES
+ )
install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
- ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
- DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
- )
+ ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
+ DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
+ )
diff -Nru bullet-2.83.6+dfsg/data/capsule.urdf bullet-2.86.1+dfsg/data/capsule.urdf
--- bullet-2.83.6+dfsg/data/capsule.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/capsule.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,23 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/checker_blue.png and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/checker_blue.png differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/checker_grid.jpg and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/checker_grid.jpg differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/checker_huge.gif and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/checker_huge.gif differ
diff -Nru bullet-2.83.6+dfsg/data/cube_gripper_left.urdf bullet-2.86.1+dfsg/data/cube_gripper_left.urdf
--- bullet-2.83.6+dfsg/data/cube_gripper_left.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/cube_gripper_left.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,43 @@
+
+
+
+
+
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diff -Nru bullet-2.83.6+dfsg/data/cube_gripper_right.urdf bullet-2.86.1+dfsg/data/cube_gripper_right.urdf
--- bullet-2.83.6+dfsg/data/cube_gripper_right.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/cube_gripper_right.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,43 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
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+
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+
diff -Nru bullet-2.83.6+dfsg/data/cube.mtl bullet-2.86.1+dfsg/data/cube.mtl
--- bullet-2.83.6+dfsg/data/cube.mtl 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/data/cube.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -1,11 +1,16 @@
-# Blender MTL File: 'None'
-# Material Count: 1
+newmtl cube
+ Ns 10.0000
+ Ni 1.5000
+ d 1.0000
+ Tr 0.0000
+ Tf 1.0000 1.0000 1.0000
+ illum 2
+ Ka 0.0000 0.0000 0.0000
+ Kd 0.5880 0.5880 0.5880
+ Ks 0.0000 0.0000 0.0000
+ Ke 0.0000 0.0000 0.0000
+ map_Ka cube.tga
+ map_Kd cube.png
+
+
-newmtl Material
-Ns 96.078431
-Ka 0.000000 0.000000 0.000000
-Kd 0.640000 0.640000 0.640000
-Ks 0.500000 0.500000 0.500000
-Ni 1.000000
-d 1.000000
-illum 2
diff -Nru bullet-2.83.6+dfsg/data/cube_no_friction.urdf bullet-2.86.1+dfsg/data/cube_no_friction.urdf
--- bullet-2.83.6+dfsg/data/cube_no_friction.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/cube_no_friction.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,32 @@
+
+
+
+
+
+
+
+
+
+
+
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+
+
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+
+
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+
diff -Nru bullet-2.83.6+dfsg/data/cube.obj bullet-2.86.1+dfsg/data/cube.obj
--- bullet-2.83.6+dfsg/data/cube.obj 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/data/cube.obj 2017-02-17 23:43:38.000000000 +0000
@@ -1,26 +1,48 @@
-# Blender v2.66 (sub 1) OBJ File: ''
-# www.blender.org
+# cube.obj
+#
+
+o cube
mtllib cube.mtl
-o Cube
-v 1.000000 -1.000000 -1.000000
-v 1.000000 -1.000000 1.000000
-v -1.000000 -1.000000 1.000000
-v -1.000000 -1.000000 -1.000000
-v 1.000000 1.000000 -0.999999
-v 0.999999 1.000000 1.000001
-v -1.000000 1.000000 1.000000
-v -1.000000 1.000000 -1.000000
-usemtl Material
-s off
-f 1 2 3
-f 5 8 7
-f 1 5 6
-f 2 6 3
-f 3 7 4
-f 5 1 4
-f 4 1 3
-f 6 5 7
-f 2 1 6
-f 6 7 3
-f 7 8 4
-f 8 5 4
+
+v -0.500000 -0.500000 0.500000
+v 0.500000 -0.500000 0.500000
+v -0.500000 0.500000 0.500000
+v 0.500000 0.500000 0.500000
+v -0.500000 0.500000 -0.500000
+v 0.500000 0.500000 -0.500000
+v -0.500000 -0.500000 -0.500000
+v 0.500000 -0.500000 -0.500000
+
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 0.000000 1.000000
+vt 1.000000 1.000000
+
+vn 0.000000 0.000000 1.000000
+vn 0.000000 1.000000 0.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 -1.000000 0.000000
+vn 1.000000 0.000000 0.000000
+vn -1.000000 0.000000 0.000000
+
+g cube
+usemtl cube
+s 1
+f 1/1/1 2/2/1 3/3/1
+f 3/3/1 2/2/1 4/4/1
+s 2
+f 3/1/2 4/2/2 5/3/2
+f 5/3/2 4/2/2 6/4/2
+s 3
+f 5/4/3 6/3/3 7/2/3
+f 7/2/3 6/3/3 8/1/3
+s 4
+f 7/1/4 8/2/4 1/3/4
+f 1/3/4 8/2/4 2/4/4
+s 5
+f 2/1/5 8/2/5 4/3/5
+f 4/3/5 8/2/5 6/4/5
+s 6
+f 7/1/6 1/2/6 5/3/6
+f 5/3/6 1/2/6 3/4/6
+
diff -Nru bullet-2.83.6+dfsg/data/cube_small.sdf bullet-2.86.1+dfsg/data/cube_small.sdf
--- bullet-2.83.6+dfsg/data/cube_small.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/cube_small.sdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,35 @@
+
+
+
+ 0 0 0.107 0 0 0
+
+
+ 0.1
+
+ 1.0
+ 0
+ 0
+ 1.0
+ 0
+ 1.0
+
+
+
+
+
+ 0.05 0.05 0.05
+
+
+
+
+
+
+ 0.05 0.05 0.05
+ cube.obj
+
+
+
+
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/cube_small.urdf bullet-2.86.1+dfsg/data/cube_small.urdf
--- bullet-2.83.6+dfsg/data/cube_small.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/cube_small.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,30 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/cube_soft.urdf bullet-2.86.1+dfsg/data/cube_soft.urdf
--- bullet-2.83.6+dfsg/data/cube_soft.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/cube_soft.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,32 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/cube.urdf bullet-2.86.1+dfsg/data/cube.urdf
--- bullet-2.83.6+dfsg/data/cube.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/cube.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,32 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/dinnerware/dinnerware.mtl bullet-2.86.1+dfsg/data/dinnerware/dinnerware.mtl
--- bullet-2.83.6+dfsg/data/dinnerware/dinnerware.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/dinnerware.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,21 @@
+newmtl porcelain
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.200000 0.200000 0.200000
+d 1.000000
+illum 2
+Ns 0.000000
+
+newmtl solid_color
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.200000 0.200000 0.200000
+d 1.000000
+illum 2
+Ns 0.000000
+
+newmtl pan_tefal
+Ka 0.000000 0.000000 0.000000
+Kd 0.609804 0.494118 0.486275
+Ks 0.330000 0.330000 0.330000
+map_Kd pan_tefal.jpg
diff -Nru bullet-2.83.6+dfsg/data/dinnerware/generate.py bullet-2.86.1+dfsg/data/dinnerware/generate.py
--- bullet-2.83.6+dfsg/data/dinnerware/generate.py 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/generate.py 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,252 @@
+from __future__ import print_function
+import numpy as np
+
+class Obj:
+ def __init__(self, fn):
+ self.ind_v = 0
+ self.ind_vt = 0
+ self.ind_vn = 0
+ self.fn = fn
+ self.out = open(fn + ".tmp", "w")
+ self.out.write("mtllib dinnerware.mtl\n")
+ def __del__(self):
+ self.out.close()
+ import shutil
+ shutil.move(self.fn + ".tmp", self.fn)
+ def push_v(self, v):
+ self.out.write("v %f %f %f\n" % (v[0],v[1],v[2]))
+ self.ind_v += 1
+ return self.ind_v
+ def push_vt(self, vt):
+ self.out.write("vt %f %f\n" % (vt[0],vt[1]))
+ self.ind_vt += 1
+ return self.ind_vt
+ def push_vn(self, vn):
+ vn /= np.linalg.norm(vn)
+ self.out.write("vn %f %f %f\n" % (vn[0],vn[1],vn[2]))
+ self.ind_vn += 1
+ return self.ind_vn
+
+
+def convex_hull(points, vind, nind, tind, obj):
+ "super ineffective"
+ cnt = len(points)
+ for a in range(cnt):
+ for b in range(a+1,cnt):
+ for c in range(b+1,cnt):
+ vec1 = points[a] - points[b]
+ vec2 = points[a] - points[c]
+ n = np.cross(vec1, vec2)
+ n /= np.linalg.norm(n)
+ C = np.dot(n, points[a])
+ inner = np.inner(n, points)
+ pos = (inner <= C+0.0001).all()
+ neg = (inner >= C-0.0001).all()
+ if not pos and not neg: continue
+ obj.out.write("f %i//%i %i//%i %i//%i\n" % (
+ (vind[a], nind[a], vind[b], nind[b], vind[c], nind[c])
+ if (inner - C).sum() < 0 else
+ (vind[a], nind[a], vind[c], nind[c], vind[b], nind[b]) ) )
+ #obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % (
+ # (vind[a], tind[a], nind[a], vind[b], tind[b], nind[b], vind[c], tind[c], nind[c])
+ # if (inner - C).sum() < 0 else
+ # (vind[a], tind[a], nind[a], vind[c], tind[c], nind[c], vind[b], tind[b], nind[b]) ) )
+
+def test_convex_hull():
+ obj = Obj("convex_test.obj")
+ vlist = np.random.uniform( low=-0.1, high=+0.1, size=(100,3) )
+ nlist = vlist.copy()
+ tlist = np.random.uniform( low=0, high=+1, size=(100,2) )
+ vind = [obj.push_v(xyz) for xyz in vlist]
+ nind = [obj.push_vn(xyz) for xyz in nlist]
+ tind = [obj.push_vt(uv) for uv in tlist]
+ convex_hull(vlist, vind, nind, tind, obj)
+
+class Contour:
+ def __init__(self):
+ self.vprev_vind = None
+
+ def f(self, obj, vlist_vind, vlist_tind, vlist_nind):
+ cnt = len(vlist_vind)
+ for i1 in range(cnt):
+ i2 = i1-1
+ obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % (
+ vlist_vind[i2], vlist_tind[i2], vlist_nind[i2],
+ vlist_vind[i1], vlist_tind[i1], vlist_nind[i1],
+ self.vprev_vind[i1], self.vprev_tind[i1], self.vprev_nind[i1],
+ ) )
+ obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % (
+ vlist_vind[i2], vlist_tind[i2], vlist_nind[i2],
+ self.vprev_vind[i1], self.vprev_tind[i1], self.vprev_nind[i1],
+ self.vprev_vind[i2], self.vprev_tind[i2], self.vprev_nind[i2],
+ ) )
+
+ def belt(self, obj, vlist, nlist, tlist):
+ vlist_vind = [obj.push_v(xyz) for xyz in vlist]
+ vlist_tind = [obj.push_vt(xyz) for xyz in tlist]
+ vlist_nind = [obj.push_vn(xyz) for xyz in nlist]
+ if self.vprev_vind:
+ self.f(obj, vlist_vind, vlist_tind, vlist_nind)
+ else:
+ self.first_vind = vlist_vind
+ self.first_tind = vlist_tind
+ self.first_nind = vlist_nind
+ self.vprev_vind = vlist_vind
+ self.vprev_tind = vlist_tind
+ self.vprev_nind = vlist_nind
+
+ def finish(self, obj):
+ self.f(obj, self.first_vind, self.first_tind, self.first_nind)
+
+def test_contour():
+ RAD1 = 2.0
+ RAD2 = 1.5
+ obj = Obj("torus.obj")
+ obj.out.write("usemtl porcelain\n")
+ contour = Contour()
+ for step in range(100):
+ angle = step/100.0*2*np.pi
+ belt_v = []
+ belt_n = []
+ belt_t = []
+ for b in range(50):
+ beta = b/50.0*2*np.pi
+ r = RAD2*np.cos(beta) + RAD1
+ z = RAD2*np.sin(beta)
+ belt_v.append( np.array( [
+ np.cos(angle)*r,
+ np.sin(angle)*r,
+ z] ) )
+ belt_n.append( np.array( [
+ np.cos(angle)*np.cos(beta),
+ np.sin(angle)*np.cos(beta),
+ np.sin(beta)] ) )
+ belt_t.append( (0,0) )
+ contour.belt(obj, belt_v, belt_n, belt_t)
+ contour.finish(obj)
+
+#test_convex_hull()
+#test_contour()
+
+class RotationFigureParams:
+ pass
+
+def generate_plate(p, obj, collision_prefix):
+ contour = Contour()
+ belt_vlist_3d_prev = None
+
+ for step in range(p.N_VIZ+1):
+ angle = step/float(p.N_VIZ)*2*np.pi
+
+ if step % p.COLLISION_EVERY == 0:
+ vlist_3d = []
+ for x,y in p.belt_simple:
+ vlist_3d.append( [
+ np.cos(angle)*x*1.06,
+ np.sin(angle)*x*1.06,
+ y
+ ] )
+ if belt_vlist_3d_prev:
+ obj2 = Obj(collision_prefix % (step / p.COLLISION_EVERY))
+ obj2.out.write("usemtl pan_tefal\n")
+ vlist = np.array( vlist_3d + belt_vlist_3d_prev )
+ vlist[len(vlist_3d):] *= 1.01 # break points on one plane
+ vlist[0,0:2] += 0.01*vlist[len(vlist_3d),0:2]
+ vlist[len(vlist_3d),0:2] += 0.01*vlist[0,0:2]
+ nlist = np.random.uniform( low=-1, high=+1, size=vlist.shape )
+ tlist = np.random.uniform( low=0, high=+1, size=(len(vlist),2) )
+ vind = [obj2.push_v(xyz) for xyz in vlist]
+ nind = [obj2.push_vn(xyz) for xyz in nlist]
+ convex_hull(vlist, vind, nind, None, obj2)
+ belt_vlist_3d_prev = vlist_3d
+ if step==p.N_VIZ: break
+
+ belt_v = []
+ belt_n = []
+ belt_t = []
+ for x,y,nx,ny in p.belt:
+ belt_v.append( np.array( [
+ np.cos(angle)*x,
+ np.sin(angle)*x,
+ y
+ ] ) )
+ belt_n.append( np.array( [
+ np.cos(angle)*nx,
+ np.sin(angle)*nx,
+ ny
+ ] ) )
+ if ny-nx >= 0:
+ belt_t.append( (
+ 127.0/512 + np.cos(angle)*x/p.RAD_HIGH*105/512,
+ (512-135.0)/512 + np.sin(angle)*x/p.RAD_HIGH*105/512) )
+ else:
+ belt_t.append( (
+ 382.0/512 + np.cos(angle)*x/p.RAD_HIGH*125/512,
+ (512-380.0)/512 + np.sin(angle)*x/p.RAD_HIGH*125/512) )
+ contour.belt(obj, belt_v, belt_n, belt_t)
+
+ contour.finish(obj)
+
+def tefal():
+ p = RotationFigureParams()
+ p.RAD_LOW = 0.240/2
+ p.RAD_HIGH = 0.255/2
+ p.H = 0.075
+ p.THICK = 0.005
+ p.N_VIZ = 30
+ p.COLLISION_EVERY = 5
+ p.belt = [
+ (p.RAD_HIGH-p.THICK, p.H, -1,0), # x y norm
+ (p.RAD_HIGH , p.H, 0,1),
+ (p.RAD_HIGH+p.THICK, p.H, +1,0),
+ (p.RAD_LOW+p.THICK, p.THICK, +1,0),
+ (p.RAD_LOW , 0, 0,-1),
+ ( 0, 0, 0,-1),
+ ( 0, p.THICK, 0,1),
+ (p.RAD_LOW-p.THICK, p.THICK, 0,1),
+ (p.RAD_LOW-p.THICK, 3*p.THICK,-1,0),
+ ]
+ p.belt.reverse()
+ p.belt_simple = [
+ (p.RAD_HIGH-p.THICK, p.H),
+ (p.RAD_HIGH+p.THICK, p.H),
+ (p.RAD_LOW , 0),
+ (p.RAD_LOW-p.THICK , 0)
+ ]
+ obj = Obj("pan_tefal.obj")
+ obj.out.write("usemtl pan_tefal\n")
+ generate_plate(p, obj, "pan_tefal-collision%02i.obj")
+
+def plate():
+ p = RotationFigureParams()
+ p.RAD_LOW = 0.110/2
+ p.RAD_HIGH = 0.190/2
+ p.H = 0.060
+ p.THICK = 0.003
+ p.N_VIZ = 30
+ p.COLLISION_EVERY = 5
+ p.belt = [
+ (p.RAD_HIGH-p.THICK, p.H, -0.9,0.5), # x y norm
+ (p.RAD_HIGH , p.H, 0,1),
+ (p.RAD_HIGH+p.THICK, p.H, +1,0),
+ (p.RAD_LOW+p.THICK, p.THICK, +1,0),
+ (p.RAD_LOW , 0, 0,-1),
+ ( 0, 0, 0,-1),
+ ( 0, p.THICK, 0,1),
+ (p.RAD_LOW-3*p.THICK, p.THICK, 0,1),
+ (p.RAD_LOW-p.THICK, 3*p.THICK,-0.5,1.0),
+ ]
+ p.belt.reverse()
+ p.belt_simple = [
+ (p.RAD_HIGH-p.THICK, p.H),
+ (p.RAD_HIGH+p.THICK, p.H),
+ (p.RAD_LOW , 0),
+ (p.RAD_LOW-p.THICK , 0)
+ ]
+ obj = Obj("plate.obj")
+ obj.out.write("usemtl solid_color\n")
+ generate_plate(p, obj, "plate-collision%02i.obj")
+
+plate()
+
+
diff -Nru bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision01.obj bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision01.obj
--- bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision01.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision01.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,36 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
+v 0.066236 0.112453 0.075000
+v 0.070225 0.121633 0.075000
+v 0.063600 0.110158 0.000000
+v 0.060950 0.105568 0.000000
+v 0.131811 0.001125 0.075750
+v 0.141855 0.000000 0.075750
+v 0.128472 0.000000 0.000000
+v 0.123119 0.000000 0.000000
+vn 0.166577 -0.705775 0.688573
+vn -0.727212 0.200240 0.656556
+vn 0.637357 -0.756451 -0.146827
+vn -0.340753 -0.711716 0.614286
+vn 0.122979 0.860640 0.494141
+vn 0.770289 -0.238643 0.591358
+vn -0.635571 -0.120420 0.762594
+vn -0.070367 0.649517 -0.757084
+f 1//1 2//2 4//4
+f 1//1 5//5 2//2
+f 1//1 6//6 2//2
+f 1//1 4//4 5//5
+f 1//1 4//4 8//8
+f 1//1 5//5 6//6
+f 1//1 8//8 5//5
+f 2//2 3//3 4//4
+f 2//2 7//7 3//3
+f 2//2 5//5 6//6
+f 2//2 6//6 7//7
+f 3//3 7//7 4//4
+f 3//3 8//8 4//4
+f 3//3 7//7 8//8
+f 4//4 8//8 5//5
+f 4//4 7//7 8//8
+f 5//5 8//8 6//6
+f 6//6 8//8 7//7
diff -Nru bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision02.obj bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision02.obj
--- bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision02.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision02.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,36 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
+v -0.064269 0.113589 0.075000
+v -0.070225 0.121633 0.075000
+v -0.063600 0.110158 0.000000
+v -0.060950 0.105568 0.000000
+v 0.064932 0.114714 0.075750
+v 0.070927 0.122850 0.075750
+v 0.064236 0.111260 0.000000
+v 0.061560 0.106624 0.000000
+vn -0.693799 -0.019731 0.719898
+vn -0.782132 -0.410509 0.468776
+vn 0.057085 0.837906 0.542821
+vn 0.549444 0.695908 -0.462410
+vn -0.488898 0.761278 -0.425951
+vn 0.527121 -0.833525 0.165465
+vn 0.764499 0.413217 0.494766
+vn -0.190845 -0.280421 -0.940714
+f 1//1 2//2 4//4
+f 1//1 5//5 2//2
+f 1//1 6//6 2//2
+f 1//1 4//4 5//5
+f 1//1 4//4 8//8
+f 1//1 5//5 6//6
+f 1//1 8//8 5//5
+f 2//2 3//3 4//4
+f 2//2 7//7 3//3
+f 2//2 5//5 6//6
+f 2//2 6//6 7//7
+f 3//3 7//7 4//4
+f 3//3 8//8 4//4
+f 3//3 7//7 8//8
+f 4//4 8//8 5//5
+f 4//4 7//7 8//8
+f 5//5 8//8 6//6
+f 6//6 8//8 7//7
diff -Nru bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision03.obj bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision03.obj
--- bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision03.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision03.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,36 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
+v -0.130506 0.001136 0.075000
+v -0.140450 0.000000 0.075000
+v -0.127200 0.000000 0.000000
+v -0.121900 0.000000 0.000000
+v -0.066879 0.113589 0.075750
+v -0.070927 0.122850 0.075750
+v -0.064236 0.111260 0.000000
+v -0.061559 0.106624 0.000000
+vn -0.005755 -0.840864 -0.541216
+vn -0.393829 -0.423425 0.815849
+vn 0.855454 0.357218 -0.374959
+vn -0.535483 -0.042852 -0.843458
+vn 0.593436 -0.341238 0.728966
+vn -0.684303 -0.643863 0.342301
+vn -0.543719 -0.112982 0.831628
+vn -0.432322 -0.733068 0.525080
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision04.obj bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision04.obj
--- bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision04.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision04.obj 2017-02-17 23:43:38.000000000 +0000
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision05.obj bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision05.obj
--- bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision05.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision05.obj 2017-02-17 23:43:38.000000000 +0000
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision06.obj bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision06.obj
--- bullet-2.83.6+dfsg/data/dinnerware/pan_tefal-collision06.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision06.obj 2017-02-17 23:43:38.000000000 +0000
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/dinnerware/pan_tefal.jpg and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/dinnerware/pan_tefal.jpg differ
diff -Nru bullet-2.83.6+dfsg/data/dinnerware/pan_tefal.obj bullet-2.86.1+dfsg/data/dinnerware/pan_tefal.obj
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+++ bullet-2.86.1+dfsg/data/dinnerware/pan_tefal.obj 2017-02-17 23:43:38.000000000 +0000
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/pan_tefal.urdf bullet-2.86.1+dfsg/data/dinnerware/pan_tefal.urdf
--- bullet-2.83.6+dfsg/data/dinnerware/pan_tefal.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/pan_tefal.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,84 @@
+
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/plate-collision01.obj bullet-2.86.1+dfsg/data/dinnerware/plate-collision01.obj
--- bullet-2.83.6+dfsg/data/dinnerware/plate-collision01.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/plate-collision01.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,34 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/plate-collision02.obj bullet-2.86.1+dfsg/data/dinnerware/plate-collision02.obj
--- bullet-2.83.6+dfsg/data/dinnerware/plate-collision02.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/plate-collision02.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,34 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/plate-collision03.obj bullet-2.86.1+dfsg/data/dinnerware/plate-collision03.obj
--- bullet-2.83.6+dfsg/data/dinnerware/plate-collision03.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/plate-collision03.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,34 @@
+mtllib dinnerware.mtl
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/plate-collision04.obj bullet-2.86.1+dfsg/data/dinnerware/plate-collision04.obj
--- bullet-2.83.6+dfsg/data/dinnerware/plate-collision04.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/plate-collision04.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,34 @@
+mtllib dinnerware.mtl
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/plate-collision05.obj bullet-2.86.1+dfsg/data/dinnerware/plate-collision05.obj
--- bullet-2.83.6+dfsg/data/dinnerware/plate-collision05.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/plate-collision05.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,34 @@
+mtllib dinnerware.mtl
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/plate-collision06.obj bullet-2.86.1+dfsg/data/dinnerware/plate-collision06.obj
--- bullet-2.83.6+dfsg/data/dinnerware/plate-collision06.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/plate-collision06.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,34 @@
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/plate.obj bullet-2.86.1+dfsg/data/dinnerware/plate.obj
--- bullet-2.83.6+dfsg/data/dinnerware/plate.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/plate.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,1352 @@
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diff -Nru bullet-2.83.6+dfsg/data/dinnerware/plate.urdf bullet-2.86.1+dfsg/data/dinnerware/plate.urdf
--- bullet-2.83.6+dfsg/data/dinnerware/plate.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/dinnerware/plate.urdf 2017-02-17 23:43:38.000000000 +0000
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diff -Nru bullet-2.83.6+dfsg/data/door.urdf bullet-2.86.1+dfsg/data/door.urdf
--- bullet-2.83.6+dfsg/data/door.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/door.urdf 2017-02-17 23:43:38.000000000 +0000
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/duckCM.png and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/duckCM.png differ
diff -Nru bullet-2.83.6+dfsg/data/duck.mtl bullet-2.86.1+dfsg/data/duck.mtl
--- bullet-2.83.6+dfsg/data/duck.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/duck.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl blinn3
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+Ni 1.000000
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+illum 2
+map_Ka duckCM.png
+map_Kd duckCM.png
\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/duck.obj bullet-2.86.1+dfsg/data/duck.obj
--- bullet-2.83.6+dfsg/data/duck.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/duck.obj 2017-02-17 23:43:38.000000000 +0000
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diff -Nru bullet-2.83.6+dfsg/data/duck_vhacd.obj bullet-2.86.1+dfsg/data/duck_vhacd.obj
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diff -Nru bullet-2.83.6+dfsg/data/duck_vhacd.urdf bullet-2.86.1+dfsg/data/duck_vhacd.urdf
--- bullet-2.83.6+dfsg/data/duck_vhacd.urdf 1970-01-01 00:00:00.000000000 +0000
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diff -Nru bullet-2.83.6+dfsg/data/floor.mtl bullet-2.86.1+dfsg/data/floor.mtl
--- bullet-2.83.6+dfsg/data/floor.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/floor.mtl 2017-02-17 23:43:38.000000000 +0000
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/floor_nm_tangent.tga and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/floor_nm_tangent.tga differ
diff -Nru bullet-2.83.6+dfsg/data/floor.obj bullet-2.86.1+dfsg/data/floor.obj
--- bullet-2.83.6+dfsg/data/floor.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/floor.obj 2017-02-17 23:43:38.000000000 +0000
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/gripper/meshes/WSG-FMF.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/gripper/meshes/WSG-FMF.stl differ
diff -Nru bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_free_base.sdf bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_free_base.sdf
--- bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_free_base.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_free_base.sdf 2017-02-17 23:43:38.000000000 +0000
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+
+
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+ 0 0 -0.06 0 0 0
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+ 0.001 0.001 0.001
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+
+
+
+
+ 0 0 -0.037 0 0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+
+ gripper_right
+ right_hinge
+
+ 0 1 0
+
+ -4.0
+ 4.0
+ 10
+ 10
+
+
+ 0.01
+ 0
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+
+ 0.02 0.02 0.15
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+
+
+
+
+
+ 0 0 0 0 0 0
+
+
+ 1 1 1
+ meshes/l_gripper_tip_scaled.stl
+
+
+
+
+
+
+ gripper_right
+ finger_right
+
+
+
+
+
+
+
+ -0.042 0 0.145 0 0 4.71239
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+ 0.2
+
+ 0.1
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+ 0 0 0.042 0 0 0
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+
+ 0.02 0.02 0.15
+
+
+
+
+
+
+ 0 0 0 0 0 0
+
+
+ 1 1 1
+ meshes/l_gripper_tip_scaled.stl
+
+
+
+
+
+
+ gripper_left
+ finger_left
+
+
+
+
\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_left_finger.urdf bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_left_finger.urdf
--- bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_left_finger.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_left_finger.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,27 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
diff -Nru bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
--- bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,391 @@
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+ 1.4 -0.2 2.1 0 0 0
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+ 0 0 0 0 0 0
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+ 0 0 0 0 0 0
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+ 0 0 0 0 0 0
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+ 1
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+ 1 1 1
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+ -20.0
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+
+ 0.02 0.02 0.07
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+
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+
+
+
+
+ 0 0 -0.037 0 0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+
+
+ gripper_left
+ base_link
+
+ 1 0 0
+
+ -0.01
+ 0.05
+ 1
+ 1
+
+
+ 0
+ 0
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+ 0
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+
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+ 0.055 0 0.06 0 0 3.14159
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+ 0 0 0.0115 0 -0 0
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+ 0 0 -0.06 0 0 0
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+ 0.001 0.001 0.001
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+
+
+
+
+ 0 0 -0.037 0 0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+
+ gripper_right
+ base_link
+
+ 1 0 0
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+ -0.01
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+
+ 0
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+ 0.02 0.02 0.15
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+
+
+
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+ 0 0 0 0 0 0
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+
+ 1 1 1
+ meshes/l_gripper_tip_scaled.stl
+
+
+
+
+
+
+ gripper_right
+ finger_right
+
+
+
+
+ 1.0
+ 1.5
+
+ -0.062 0 0.145 0 0 4.71239
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+ 0.2
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+ 0.1
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+
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+
+ 0.02 0.02 0.15
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+
+
+
+
+
+ 0 0 0 0 0 0
+
+
+ 1 1 1
+ meshes/l_gripper_tip_scaled.stl
+
+
+
+
+
+
+ gripper_left
+ finger_left
+
+
+
+
\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_new.sdf bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_new.sdf
--- bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_new.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_new.sdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,394 @@
+
+
+
+
+ 0 0 0.7 3.14 0 0
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+
+
+
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+ -0.5
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+
+ 0
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+
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+ 0 0 0 0 0 0
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+ 0 0 0 0 0 0
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+
+ 1
+ 0
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+ 0
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+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/WSG50_110.stl
+
+
+
+
+
+
+
+
+
+
+ 0 0 0.03 0 0 0
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+ 0 0 0 0 0 0
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+
+ 0.02 0.02 0.07
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+
+
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+ 0 1 0
+
+ -20.0
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+ 0
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+ 0 0 0.035 0 0 0
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+
+ 0.02 0.02 0.07
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+
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+
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+
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+
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+
+
+
+
+ 0 0 -0.037 0 0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+
+
+ gripper_left
+ base_link
+
+ 1 0 0
+
+ -0.01
+ 0.05
+ 1
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+
+
+ 0
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+
+
+
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+
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+ 0 0 0.0115 0 -0 0
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+ 0.1
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+
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+
+ 0 0 -0.06 0 0 0
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+
+ 0.001 0.001 0.001
+ meshes/GUIDE_WSG50_110.stl
+
+
+
+
+ 0 0 -0.037 0 0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+
+ gripper_right
+ base_link
+
+ 1 0 0
+
+ -0.01
+ 0.05
+ 1
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+
+
+ 0
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+ 0.062 0 0.145 0 0 1.5708
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+ 0.1
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+ 0 0 0.042 0 0 0
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+
+ 0.02 0.02 0.15
+
+
+
+
+
+
+ 0 0 0 0 0 0
+
+
+ 1 1 1
+ meshes/l_gripper_tip_scaled.stl
+
+
+
+
+
+
+ gripper_right
+ finger_right
+
+
+
+
+ .3
+ 0.04
+
+ -0.062 0 0.145 0 0 4.71239
+
+ 0.2
+
+ 0.1
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+
+
+
+
+ 0 0 0.042 0 0 0
+
+
+ 0.02 0.02 0.15
+
+
+
+
+
+
+ 0 0 0 0 0 0
+
+
+ 1 1 1
+ meshes/l_gripper_tip_scaled.stl
+
+
+
+
+
+
+ gripper_left
+ finger_left
+
+
+
+
\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_no_finger.sdf bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_no_finger.sdf
--- bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_no_finger.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_no_finger.sdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,307 @@
+
+
+
+
+ 0 0 0.4 3.14 0 0
+
+
+
+
+
+ world
+ base_link
+
+ 0 0 1
+
+ -10
+ 10
+ 1
+ 1
+
+
+ 0
+ 0
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+ 0
+
+
+
+
+
+ 0 0 0 0 0 0
+
+ 0 0 0 0 0 0
+ 1.2
+
+ 1
+ 0
+ 0
+ 1
+ 0
+ 1
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/WSG50_110.stl
+
+
+
+
+
+
+
+
+
+
+ 0 0 0.03 0 0 0
+
+ 0 0 0 0 0 0
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+ 0.1
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+ 0 0 0.01 0 0 0
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+
+ 0.02 0.02 0.02
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+
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+
+
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+ -0.055
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+
+ 0
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+
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+
+
+ -0.03 0 0.01 0 -1.2 0
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+
+ 0.02 0.02 0.07
+
+
+
+
+
+
+ left_hinge
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+
+ 0 1 0
+
+ -20.0
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+
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+ 0
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+ 0
+
+ 0
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+
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+
+ 0 0 0.04 0 0 0
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+ 0 0 0.035 0 0 0
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+ 0.1
+ 0
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+ 0.1
+
+
+
+ 0.03 0 0.01 0 1.2 0
+
+
+ 0.02 0.02 0.07
+
+
+
+
+
+
+ right_hinge
+ motor
+
+ 0 1 0
+
+ -20.0
+ 20.0
+ 10
+ 10
+
+
+ 0
+ 0
+ 0
+ 0
+
+ 0
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+
+
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+ -0.055 0 0.06 0 -0 0
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+ 0 0 0.0115 0 -0 0
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+ 0.1
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+ 0
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+
+
+
+
+ 0 0 -0.06 0 0 0
+
+
+ 0.001 0.001 0.001
+ meshes/GUIDE_WSG50_110.stl
+
+
+
+
+ 0 0 -0.037 0 0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+
+
+ gripper_left
+ base_link
+
+ 1 0 0
+
+ -0.01
+ 0.04
+ 1
+ 1
+
+
+ 0
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+ 0
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+
+
+
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+
+ 0.055 0 0.06 0 0 0
+
+ 0 0 0.0115 0 -0 0
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+
+ 0.1
+ 0
+ 0
+ 0.1
+ 0
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+
+
+
+
+ 0 0 -0.06 0 0 3.14159
+
+
+ 0.001 0.001 0.001
+ meshes/GUIDE_WSG50_110.stl
+
+
+
+
+ 0 0 -0.037 0 0 3.14159
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+
+ gripper_right
+ base_link
+
+ 1 0 0
+
+ -0.04
+ 0.01
+ 1
+ 1
+
+
+ 0
+ 0
+ 0
+ 0
+
+
+
+
+
+
+
\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_right_finger.urdf bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_right_finger.urdf
--- bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper_right_finger.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_right_finger.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,27 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper.sdf bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper.sdf
--- bullet-2.83.6+dfsg/data/gripper/wsg50_one_motor_gripper.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper.sdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,388 @@
+
+
+
+
+ 0 0 0.26 3.14 0 0
+
+
+
+
+
+ world
+ base_link
+
+ 0 0 1
+
+ -0.5
+ 10
+ 1
+ 1
+
+
+ 0
+ 0
+ 0
+ 0
+
+
+
+
+
+ 0 0 0 0 0 0
+
+ 0 0 0 0 0 0
+ 1.2
+
+ 1
+ 0
+ 0
+ 1
+ 0
+ 1
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/WSG50_110.stl
+
+
+
+
+
+
+
+
+
+
+ 0 0 0.03 0 0 0
+
+ 0 0 0 0 0 0
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+
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+ 0 0 0.01 0 0 0
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+
+ 0.02 0.02 0.02
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+
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+
+
+ motor
+ base_link
+
+ 0 0 1
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+ -0.047
+ 0.001
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+
+ 0
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+ 0 0 0.04 0 0 0
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+ 0 0 0.035 0 0 0
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+ 0.1
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+
+
+ -0.03 0 0.01 0 -1.2 0
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+
+ 0.02 0.02 0.07
+
+
+
+
+
+
+ left_hinge
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+ 0 1 0
+
+ -20.0
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+ 0.03 0 0.01 0 1.2 0
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+
+ 0.02 0.02 0.07
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+
+
+
+
+
+ right_hinge
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+
+ 0 1 0
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+ -20.0
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+ 0.001 0.001 0.001
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+
+
+
+
+ 0 0 -0.037 0 0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+
+
+ gripper_left
+ left_hinge
+
+ 0 1 0
+
+ -1.0
+ 1.0
+ 10
+ 10
+
+
+ 0.01
+ 0
+ 0
+ 0
+
+ 0
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+
+
+
+ 0.055 0 0.06 0 0 3.14159
+
+ 0 0 0.0115 0 -0 0
+ 0.2
+
+ 0.1
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+ 0
+ 0.1
+ 0
+ 0.1
+
+
+
+
+ 0 0 -0.06 0 0 0
+
+
+ 0.001 0.001 0.001
+ meshes/GUIDE_WSG50_110.stl
+
+
+
+
+ 0 0 -0.037 0 0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+
+ gripper_right
+ right_hinge
+
+ 0 1 0
+
+ -1.0
+ 1.0
+ 10
+ 10
+
+
+ 0.01
+ 0
+ 0
+ 0
+
+ 0
+
+
+
+
+ 0.062 0 0.145 0 0 1.5708
+
+ 0.2
+
+ 0.1
+ 0
+ 0
+ 0.1
+ 0
+ 0.1
+
+
+
+
+ 0 0 0.042 0 0 0
+
+
+ 0.02 0.02 0.15
+
+
+
+
+
+
+ 0 0 0 0 0 0
+
+
+ 1 1 1
+ meshes/l_gripper_tip_scaled.stl
+
+
+
+
+
+
+ gripper_right
+ finger_right
+
+
+
+ -0.062 0 0.145 0 0 4.71239
+
+ 0.2
+
+ 0.1
+ 0
+ 0
+ 0.1
+ 0
+ 0.1
+
+
+
+
+ 0 0 0.042 0 0 0
+
+
+ 0.02 0.02 0.15
+
+
+
+
+
+
+ 0 0 0 0 0 0
+
+
+ 1 1 1
+ meshes/l_gripper_tip_scaled.stl
+
+
+
+
+
+
+ gripper_left
+ finger_left
+
+
+
+
\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/gripper/wsg50_with_r2d2_gripper.sdf bullet-2.86.1+dfsg/data/gripper/wsg50_with_r2d2_gripper.sdf
--- bullet-2.83.6+dfsg/data/gripper/wsg50_with_r2d2_gripper.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/gripper/wsg50_with_r2d2_gripper.sdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,298 @@
+
+
+
+
+ 0 0 0.27 3.14 0 0
+
+
+
+
+
+ world
+ base_link
+
+ 0 0 1
+
+ -0.5
+ 10
+ 1
+ 1
+
+
+ 100
+ 100
+ 0
+ 0
+
+
+
+
+
+ 0 0 0 0 -0 0
+
+ 0 0 0 0 -0 0
+ 1.2
+
+ 1
+ 0
+ 0
+ 1
+ 0
+ 1
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 0.2 0.05 0.05
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/WSG50_110.stl
+
+
+
+
+
+
+ 1
+
+ 0
+
+
+
+ -0.055 0 0 0 -0 0
+
+ 0 0 0.0115 0 -0 0
+ 0.2
+
+ 0.1
+ 0
+ 0
+ 0.1
+ 0
+ 0.1
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 0.001 0.001 0.001
+ meshes/GUIDE_WSG50_110.stl
+
+
+
+
+ 0 0 0.023 0 -0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 0.001 0.001 0.001
+ meshes/GUIDE_WSG50_110.stl
+
+
+
+
+ 0 0 0.023 0 -0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+
+ gripper_left
+ base_link
+
+ 1 0 0
+
+ -0.001
+ 0.055
+ 1
+ 1
+
+
+ 100
+ 100
+ 0
+ 0
+
+
+
+
+
+ 0.055 0 0 0 -0 3.14159
+
+ 0 0 0.0115 0 -0 0
+ 0.2
+
+ 0.1
+ 0
+ 0
+ 0.1
+ 0
+ 0.1
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 0.001 0.001 0.001
+ meshes/GUIDE_WSG50_110.stl
+
+
+
+
+ 0 0 0.023 0 -0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 0.001 0.001 0.001
+ meshes/GUIDE_WSG50_110.stl
+
+
+
+
+ 0 0 0.023 0 -0 0
+
+
+ 0.001 0.001 0.001
+ meshes/WSG-FMF.stl
+
+
+
+
+
+
+ gripper_right
+ base_link
+
+ -1 0 0
+
+ -0.055
+ 0.001
+ 1
+ 1
+
+
+ 100
+ 100
+ 0
+ 0
+
+
+
+
+
+ 0.062 0 0.145 0 0 1.5708
+
+ 0.2
+
+ 0.1
+ 0
+ 0
+ 0.1
+ 0
+ 0.1
+
+
+
+
+ 0 0 0.042 0 0 0
+
+
+ 0.02 0.02 0.15
+
+
+
+
+
+
+ 0 0 0 0 0 0
+
+
+ 1 1 1
+ meshes/l_gripper_tip_scaled.stl
+
+
+
+
+
+
+ gripper_right
+ finger_right
+
+
+
+ -0.062 0 0.145 0 0 4.71239
+
+ 0.2
+
+ 0.1
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+ 0
+ 0.1
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+
+
+ 0 0 0.042 0 0 0
+
+
+ 0.02 0.02 0.15
+
+
+
+
+
+
+ 0 0 0 0 0 0
+
+
+ 1 1 1
+ meshes/l_gripper_tip_scaled.stl
+
+
+
+
+
+
+ gripper_left
+ finger_left
+
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/hinge.urdf bullet-2.86.1+dfsg/data/hinge.urdf
--- bullet-2.83.6+dfsg/data/hinge.urdf 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/data/hinge.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -2,48 +2,72 @@
-
+
-
+
-
+
-
+
-
+
-
-
-
+
+
+
-
+
-
+
-
+
-
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-
-
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/humanoid/LICENSE.txt bullet-2.86.1+dfsg/data/humanoid/LICENSE.txt
--- bullet-2.83.6+dfsg/data/humanoid/LICENSE.txt 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/humanoid/LICENSE.txt 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,26 @@
+Copyright (c) 2009-2013, A. Hornung, University of Freiburg
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of the University of Freiburg nor the names of its
+ contributors may be used to endorse or promote products derived from
+ this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/humanoid/nao_meshes/meshes/V40/RThumb2_0.10.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/humanoid/nao_meshes/meshes/V40/RThumb2_0.10.stl differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/humanoid/nao_meshes/meshes/V40/RWristYaw_0.10.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/humanoid/nao_meshes/meshes/V40/RWristYaw_0.10.stl differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/humanoid/nao_meshes/meshes/V40/Torso_0.10.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/humanoid/nao_meshes/meshes/V40/Torso_0.10.stl differ
diff -Nru bullet-2.83.6+dfsg/data/humanoid/nao.urdf bullet-2.86.1+dfsg/data/humanoid/nao.urdf
--- bullet-2.83.6+dfsg/data/humanoid/nao.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/humanoid/nao.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,2663 @@
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+
+ 0.5
+ 0.5
+ false
+ false
+ 1 0 0
+ 0.1
+ 0.003
+
+ 1
+ 20
+ false
+
+ LFsrRL_frame_collision
+
+
+ nao_robot
+ true
+ FSR/LFoot/RearLeft
+ LFsrRL_frame
+
+
+
+
+ 0.5
+ 0.5
+ false
+ false
+ 1 0 0
+ 0.1
+ 0.003
+
+ 1
+ 20
+ false
+
+ LFsrRR_frame_collision
+
+
+ nao_robot
+ true
+ FSR/LFoot/RearRight
+ LFsrRR_frame
+
+
+
+
+
+
+ 0 0 0 0 0 0
+ 20
+ false
+
+
+
+ 5
+ 1
+ -0.2617993877991494
+ 0.2617993877991494
+
+
+
+ 5
+ 1
+ -0.13
+ 0.13
+
+
+
+
+ 0.025
+ 2.55
+ 1
+
+
+
+ nao_robot
+ 0.05
+ true
+ 20
+ sonar_left
+ LSonar_frame
+ 0.025
+ 2.55
+ 0.5235987755982988
+
+ ultrasound
+
+
+
+
+
+ 0 0 0 0 0 0
+ 20
+ false
+
+
+
+ 5
+ 1
+ -0.2617993877991494
+ 0.2617993877991494
+
+
+ 5
+ 1
+ -0.13
+ 0.13
+
+
+
+ 0.025
+ 2.55
+ 1
+
+
+
+ nao_robot
+ 0.05
+ true
+ 20
+ sonar_right
+ RSonar_frame
+ 0.025
+ 2.55
+ 0.5235987755982988
+ ultrasound
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 150.27
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 173.22
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 150.27
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 173.22
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 150.27
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 173.22
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 50.61
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 36.24
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 150.27
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 173.22
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 150.27
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 173.22
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 50.61
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+ PositionJointInterface
+ 36.24
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 201.3
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 201.3
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 130.85
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 130.85
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 130.85
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 201.3
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 201.3
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 201.3
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 130.85
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 130.85
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 130.85
+
+
+
+ transmission_interface/SimpleTransmission
+
+ PositionJointInterface
+
+
+
+ PositionJointInterface
+ 201.3
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/husky/husky.urdf bullet-2.86.1+dfsg/data/husky/husky.urdf
--- bullet-2.83.6+dfsg/data/husky/husky.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/husky/husky.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,373 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/DarkGrey
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Grey
+ false
+
+
+
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ 1
+
+
+ VelocityJointInterface
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Grey
+ false
+
+
+
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ 1
+
+
+ VelocityJointInterface
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Grey
+ false
+
+
+
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ 1
+
+
+ VelocityJointInterface
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Grey
+ false
+
+
+
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ 1
+
+
+ VelocityJointInterface
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Yellow
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/DarkGrey
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/DarkGrey
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/DarkGrey
+
+
+
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/husky/meshes/base_link.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/husky/meshes/base_link.stl differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/husky/meshes/bumper.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/husky/meshes/bumper.stl differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/husky/meshes/top_plate.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/husky/meshes/top_plate.stl differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/husky/meshes/user_rail.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/husky/meshes/user_rail.stl differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/husky/meshes/wheel.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/husky/meshes/wheel.stl differ
diff -Nru bullet-2.83.6+dfsg/data/jenga/jenga.mtl bullet-2.86.1+dfsg/data/jenga/jenga.mtl
--- bullet-2.83.6+dfsg/data/jenga/jenga.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/jenga/jenga.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,16 @@
+newmtl jenga
+ Ns 10.0000
+ Ni 1.5000
+ d 1.0000
+ Tr 0.0000
+ Tf 1.0000 1.0000 1.0000
+ illum 2
+ Ka 0.0000 0.0000 0.0000
+ Kd 0.5880 0.5880 0.5880
+ Ks 0.0000 0.0000 0.0000
+ Ke 0.0000 0.0000 0.0000
+ map_Ka jenga.tga
+ map_Kd jenga.png
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/jenga/jenga.obj bullet-2.86.1+dfsg/data/jenga/jenga.obj
--- bullet-2.83.6+dfsg/data/jenga/jenga.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/jenga/jenga.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,113 @@
+# jenga.obj
+#
+
+o jenga
+mtllib jenga.mtl
+
+v -0.5 -0.5 0.5
+v 0.5 -0.5 0.5
+v 0.5 0.5 0.5
+v -0.5 0.5 0.5
+
+v -0.5 -0.5 -0.5
+v 0.5 -0.5 -0.5
+v 0.5 0.5 -0.5
+v -0.5 0.5 -0.5
+
+v -0.5 -0.5 -0.5
+v -0.5 0.5 -0.5
+v -0.5 0.5 0.5
+v -0.5 -0.5 0.5
+
+v 0.5 -0.5 -0.5
+v 0.5 0.5 -0.5
+v 0.5 0.5 0.5
+v 0.5 -0.5 0.5
+v -0.5 -0.5 -0.5
+v -0.5 -0.5 0.5
+v 0.5 -0.5 0.5
+v 0.5 -0.5 -0.5
+v -0.5 0.5 -0.5
+v -0.5 0.5 0.5
+v 0.5 0.5 0.5
+v 0.5 0.5 -0.5
+
+vt 0 1
+vt 0 0.75
+vt 0.25 0.75
+vt 0.25 1
+
+vt 0.25 0.5
+vt 0.25 0.75
+vt 0.5 0.75
+vt 0.5 0.5
+
+vt 1 0.75
+vt 0.75 0.75
+vt 0.75 1
+vt 1 1
+
+vt 0.25 0.75
+vt 0.5 0.75
+vt 0.5 1
+vt 0.25 1
+
+vt 0 0.5
+vt 0 0.75
+vt 0.25 0.75
+vt 0.25 0.5
+
+
+vt 0.75 0.75
+vt 0.75 1
+vt 0.5 1
+vt 0.5 0.75
+
+vn 0 0 1
+vn 0 0 1
+vn 0 0 1
+vn 0 0 1
+vn 0 0 -1
+vn 0 0 -1
+vn 0 0 -1
+vn 0 0 -1
+vn -1 0 0
+vn -1 0 0
+vn -1 0 0
+vn -1 0 0
+vn 1 0 0
+vn 1 0 0
+vn 1 0 0
+vn 1 0 0
+vn 0 -1 0
+vn 0 -1 0
+vn 0 -1 0
+vn 0 -1 0
+vn 0 1 0
+vn 0 1 0
+vn 0 1 0
+vn 0 1 0
+
+
+g jenga
+usemtl jenga
+s 1
+f 1/1/1 2/2/2 3/3/3
+f 1/1/1 3/3/3 4/4/4
+s 2
+f 7/7/7 6/6/6 5/5/5
+f 8/8/8 7/7/7 5/5/5
+s 3
+f 11/11/11 10/10/10 9/9/9
+f 12/12/12 11/11/11 9/9/9
+s 4
+f 13/13/13 14/14/14 15/15/15
+f 13/13/13 15/15/15 16/16/16
+s 5
+f 19/19/19 18/18/18 17/17/17
+f 20/20/20 19/19/19 17/17/17
+s 6
+f 21/21/21 22/22/22 23/23/23
+f 21/21/21 23/23/23 24/24/24
+
+
\ No newline at end of file
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/jenga/jenga.png and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/jenga/jenga.png differ
diff -Nru bullet-2.83.6+dfsg/data/jenga/jenga.urdf bullet-2.86.1+dfsg/data/jenga/jenga.urdf
--- bullet-2.83.6+dfsg/data/jenga/jenga.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/jenga/jenga.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,29 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/kiva_shelf/meshes/pod_lowres.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/kiva_shelf/meshes/pod_lowres.stl differ
diff -Nru bullet-2.83.6+dfsg/data/kiva_shelf/model.sdf bullet-2.86.1+dfsg/data/kiva_shelf/model.sdf
--- bullet-2.83.6+dfsg/data/kiva_shelf/model.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/kiva_shelf/model.sdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,205 @@
+
+
+
+ 1
+ 0 1 0 0 0 0
+
+
+ 0.0 .0 1.2045 0 0 0
+ 0
+
+ 0
+ 0.0
+ 0.0
+ 0.0
+ 0.0
+ 0.0
+
+
+
+
+ 0 0 0 1.5707 0 0
+
+
+ meshes/pod_lowres.stl
+
+
+
+ 0.9 0.8 0.5 1
+
+
+
+
+
+ 0 0 1.21515 1.5707 0 0
+
+
+ 0.875 1.754 0.03
+
+
+
+
+
+ -0.42 0 1.18 1.5707 0 1.5707
+
+
+ 0.875 1.754 0.03
+
+
+
+
+
+ 0.42 0.42 1.17 1.5707 0 0
+
+
+ 0.03 2.3 0.03
+
+
+
+
+ -0.42 0.42 1.17 1.5707 0 0
+
+
+ 0.03 2.3 0.03
+
+
+
+
+ -0.42 -0.42 1.17 1.5707 0 0
+
+
+ 0.03 2.3 0.03
+
+
+
+
+ 0.42 -0.42 1.17 1.5707 0 0
+
+
+ 0.03 2.3 0.03
+
+
+
+
+ 0.15 0 1.49 1.5707 0 1.5707
+
+
+ 0.875 1.32 0.01
+
+
+
+
+ -0.15 0 1.49 1.5707 0 1.5707
+
+
+ 0.875 1.32 0.01
+
+
+
+
+ 0 0 .57 1.5707 0 1.5707
+
+
+ 0.875 0.45 0.01
+
+
+
+
+ 0.42 0 1.18 1.5707 0 1.5707
+
+
+ 0.875 1.754 0.03
+
+
+
+
+ 0 0 1.06 0 0 0
+
+
+ 0.905 0.856 0.028
+
+
+
+
+ 0 0 1.06 0 0 0
+
+
+ 0.905 0.856 0.028
+
+
+
+
+ 0 0 0.80 0 0 0
+
+
+ 0.905 0.856 0.028
+
+
+
+
+ 0 0.43 0.81 0 0 0
+
+
+ 0.856 0.018 0.028
+
+
+
+
+ 0 -0.43 0.81 0 0 0
+
+
+ 0.856 0.018 0.028
+
+
+
+
+ 0 0.43 1.08 0 0 0
+
+
+ 0.856 0.018 0.028
+
+
+
+
+ 0 -0.43 1.08 0 0 0
+
+
+ 0.856 0.018 0.028
+
+
+
+
+ 0 0 0.37 0 0 0
+
+
+ 0.905 0.856 0.028
+
+
+
+
+ 0 0 1.29 0 0 0
+
+
+ 0.905 0.856 0.028
+
+
+
+
+ 0 0 1.53 0 0 0
+
+
+ 0.905 0.856 0.028
+
+
+
+
+ 0 0 1.78 0 0 0
+
+
+ 0.905 0.856 0.028
+
+
+
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/kuka_iiwa/kuka_world.sdf bullet-2.86.1+dfsg/data/kuka_iiwa/kuka_world.sdf
--- bullet-2.83.6+dfsg/data/kuka_iiwa/kuka_world.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/kuka_iiwa/kuka_world.sdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,414 @@
+
+
+
+
+ world
+ lbr_iiwa_link_0
+
+
+ 0 0 0 0 -0 0
+
+ -0.1 0 0.07 0 -0 0
+ 0.01
+
+ 0.05
+ 0
+ 0
+ 0.06
+ 0
+ 0.03
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/coarse/link_0.stl
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/link_0.stl
+
+
+
+
+
+ 0 0 0.1575 0 -0 0
+
+ 0 -0.03 0.12 0 -0 0
+ 4
+
+ 0.1
+ 0
+ 0
+ 0.09
+ 0
+ 0.02
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/coarse/link_1.stl
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/link_1.stl
+
+
+
+
+
+ lbr_iiwa_link_1
+ lbr_iiwa_link_0
+
+ 0 0 1
+
+ -2.96706
+ 2.96706
+ 300
+ 10
+
+
+ 0.5
+ 0
+ 0
+ 0
+
+ 0
+
+
+
+ 0 0 0.36 1.5708 -0 -3.14159
+
+ 0.0003 0.059 0.042 0 -0 0
+ 4
+
+ 0.05
+ 0
+ 0
+ 0.018
+ 0
+ 0.044
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/coarse/link_2.stl
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/link_2.stl
+
+
+
+
+
+ lbr_iiwa_link_2
+ lbr_iiwa_link_1
+
+ 0 0 1
+
+ -2.0944
+ 2.0944
+ 300
+ 10
+
+
+ 0.5
+ 0
+ 0
+ 0
+
+ 0
+
+
+
+ 0 -0 0.5645 0 0 0
+
+ 0 0.03 0.13 0 -0 0
+ 3
+
+ 0.08
+ 0
+ 0
+ 0.075
+ 0
+ 0.01
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/coarse/link_3.stl
+
+
+
+
+ 0 0 0 0 -0 0
+
+
+ 1 1 1
+ meshes/link_3.stl
+
+
+
+
+
+ lbr_iiwa_link_3
+ lbr_iiwa_link_2
+
+ 0 0 1
+
+ -2.96706
+ 2.96706
+ 300
+ 10
+
+
+ 0.5
+ 0
+ 0
+ 0
+
+ 0
+
+
+
+ 0 -0 0.78 1.5708 0 0
+
+ 0 0.067 0.034 0 -0 0
+ 2.7
+
+ 0.03
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\ No newline at end of file
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/kuka_iiwa/meshes/link_0.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/kuka_iiwa/meshes/link_0.stl differ
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/kuka_iiwa/meshes/link_7.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/kuka_iiwa/meshes/link_7.stl differ
diff -Nru bullet-2.83.6+dfsg/data/kuka_iiwa/model2.sdf bullet-2.86.1+dfsg/data/kuka_iiwa/model2.sdf
--- bullet-2.83.6+dfsg/data/kuka_iiwa/model2.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/kuka_iiwa/model2.sdf 2017-02-17 23:43:38.000000000 +0000
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\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/kuka_iiwa/model_for_sdf.urdf bullet-2.86.1+dfsg/data/kuka_iiwa/model_for_sdf.urdf
--- bullet-2.83.6+dfsg/data/kuka_iiwa/model_for_sdf.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/kuka_iiwa/model_for_sdf.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,285 @@
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\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/kuka_iiwa/model_free_base.urdf bullet-2.86.1+dfsg/data/kuka_iiwa/model_free_base.urdf
--- bullet-2.83.6+dfsg/data/kuka_iiwa/model_free_base.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/kuka_iiwa/model_free_base.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,289 @@
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diff -Nru bullet-2.83.6+dfsg/data/kuka_iiwa/model.sdf bullet-2.86.1+dfsg/data/kuka_iiwa/model.sdf
--- bullet-2.83.6+dfsg/data/kuka_iiwa/model.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/kuka_iiwa/model.sdf 2017-02-17 23:43:38.000000000 +0000
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+ 0 0 0 0
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+ lbr_iiwa_link_0
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+ 0 0 0 0 -0 0
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+ 1 1 1
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+
+
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+ 1 0 0 1
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+ 0.1 0.1 0.1 1
+ 0 0 0 0
+
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+ lbr_iiwa_link_2
+ lbr_iiwa_link_1
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+ 1 0 0 1
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diff -Nru bullet-2.83.6+dfsg/data/kuka_iiwa/model.urdf bullet-2.86.1+dfsg/data/kuka_iiwa/model.urdf
--- bullet-2.83.6+dfsg/data/kuka_iiwa/model.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/kuka_iiwa/model.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,289 @@
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diff -Nru bullet-2.83.6+dfsg/data/kuka_iiwa/model_vr_limits.urdf bullet-2.86.1+dfsg/data/kuka_iiwa/model_vr_limits.urdf
--- bullet-2.83.6+dfsg/data/kuka_iiwa/model_vr_limits.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/kuka_iiwa/model_vr_limits.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,289 @@
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diff -Nru bullet-2.83.6+dfsg/data/kuka_lwr/kuka_lwr_arm.urdf.xacro bullet-2.86.1+dfsg/data/kuka_lwr/kuka_lwr_arm.urdf.xacro
--- bullet-2.83.6+dfsg/data/kuka_lwr/kuka_lwr_arm.urdf.xacro 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/data/kuka_lwr/kuka_lwr_arm.urdf.xacro 2017-02-17 23:43:38.000000000 +0000
@@ -1,26 +1,28 @@
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diff -Nru bullet-2.83.6+dfsg/data/kuka_lwr/kuka.urdf bullet-2.86.1+dfsg/data/kuka_lwr/kuka.urdf
--- bullet-2.83.6+dfsg/data/kuka_lwr/kuka.urdf 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/data/kuka_lwr/kuka.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -3,23 +3,19 @@
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effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /-->
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diff -Nru bullet-2.83.6+dfsg/data/lego/lego.obj bullet-2.86.1+dfsg/data/lego/lego.obj
--- bullet-2.83.6+dfsg/data/lego/lego.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/lego/lego.obj 2017-02-17 23:43:38.000000000 +0000
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+# Blender v2.68 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib lego.mtl
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diff -Nru bullet-2.83.6+dfsg/data/lego/lego.urdf bullet-2.86.1+dfsg/data/lego/lego.urdf
--- bullet-2.83.6+dfsg/data/lego/lego.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/lego/lego.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,32 @@
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diff -Nru bullet-2.83.6+dfsg/data/lego/lego_vhacd.obj bullet-2.86.1+dfsg/data/lego/lego_vhacd.obj
--- bullet-2.83.6+dfsg/data/lego/lego_vhacd.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/lego/lego_vhacd.obj 2017-02-17 23:43:38.000000000 +0000
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/l_finger_collision.stl and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/l_finger_collision.stl differ
diff -Nru bullet-2.83.6+dfsg/data/mjcf/ant.xml bullet-2.86.1+dfsg/data/mjcf/ant.xml
--- bullet-2.83.6+dfsg/data/mjcf/ant.xml 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/mjcf/ant.xml 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,80 @@
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diff -Nru bullet-2.83.6+dfsg/data/mjcf/capsule.xml bullet-2.86.1+dfsg/data/mjcf/capsule.xml
--- bullet-2.83.6+dfsg/data/mjcf/capsule.xml 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/mjcf/capsule.xml 2017-02-17 23:43:38.000000000 +0000
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\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/mjcf/hello_mjcf.xml bullet-2.86.1+dfsg/data/mjcf/hello_mjcf.xml
--- bullet-2.83.6+dfsg/data/mjcf/hello_mjcf.xml 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/mjcf/hello_mjcf.xml 2017-02-17 23:43:38.000000000 +0000
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\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/mjcf/hopper.xml bullet-2.86.1+dfsg/data/mjcf/hopper.xml
--- bullet-2.83.6+dfsg/data/mjcf/hopper.xml 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/mjcf/hopper.xml 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,44 @@
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\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/mjcf/humanoid.xml bullet-2.86.1+dfsg/data/mjcf/humanoid.xml
--- bullet-2.83.6+dfsg/data/mjcf/humanoid.xml 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/mjcf/humanoid.xml 2017-02-17 23:43:38.000000000 +0000
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diff -Nru bullet-2.83.6+dfsg/data/mjcf/inverted_double_pendulum.xml bullet-2.86.1+dfsg/data/mjcf/inverted_double_pendulum.xml
--- bullet-2.83.6+dfsg/data/mjcf/inverted_double_pendulum.xml 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/mjcf/inverted_double_pendulum.xml 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,47 @@
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\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/mjcf/inverted_pendulum.xml bullet-2.86.1+dfsg/data/mjcf/inverted_pendulum.xml
--- bullet-2.83.6+dfsg/data/mjcf/inverted_pendulum.xml 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/mjcf/inverted_pendulum.xml 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,27 @@
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\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/mjcf/reacher.xml bullet-2.86.1+dfsg/data/mjcf/reacher.xml
--- bullet-2.83.6+dfsg/data/mjcf/reacher.xml 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/mjcf/reacher.xml 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,39 @@
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\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/mjcf/swimmer.xml bullet-2.86.1+dfsg/data/mjcf/swimmer.xml
--- bullet-2.83.6+dfsg/data/mjcf/swimmer.xml 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/mjcf/swimmer.xml 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,38 @@
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diff -Nru bullet-2.83.6+dfsg/data/MPL/LICENSE.txt bullet-2.86.1+dfsg/data/MPL/LICENSE.txt
--- bullet-2.83.6+dfsg/data/MPL/LICENSE.txt 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/MPL/LICENSE.txt 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,19 @@
+
\ No newline at end of file
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/index0.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/index0.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/index1.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/index1.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/index2.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/index2.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/index3.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/index3.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/middle0.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/middle0.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/middle1.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/middle1.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/middle2.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/middle2.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/middle3.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/middle3.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/palm.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/palm.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/pinky0.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/pinky0.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/pinky1.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/pinky1.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/pinky2.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/pinky2.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/pinky3.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/pinky3.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/ring0.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/ring0.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/ring1.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/ring1.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/ring2.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/ring2.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/ring3.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/ring3.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/thumb0.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/thumb0.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/thumb1.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/thumb1.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/thumb2.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/thumb2.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/thumb3.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/thumb3.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/wristx.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/wristx.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/wristy.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/wristy.STL differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/MPL/mesh/wristz.STL and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/MPL/mesh/wristz.STL differ
diff -Nru bullet-2.83.6+dfsg/data/MPL/mpl2.xml bullet-2.86.1+dfsg/data/MPL/mpl2.xml
--- bullet-2.83.6+dfsg/data/MPL/mpl2.xml 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/MPL/mpl2.xml 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,471 @@
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diff -Nru bullet-2.83.6+dfsg/data/MPL/MPL.xml bullet-2.86.1+dfsg/data/MPL/MPL.xml
--- bullet-2.83.6+dfsg/data/MPL/MPL.xml 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/MPL/MPL.xml 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,473 @@
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/multibody.bullet and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/multibody.bullet differ
diff -Nru bullet-2.83.6+dfsg/data/plane100.obj bullet-2.86.1+dfsg/data/plane100.obj
--- bullet-2.83.6+dfsg/data/plane100.obj 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/data/plane100.obj 2017-02-17 23:43:38.000000000 +0000
@@ -2,11 +2,21 @@
# www.blender.org
mtllib plane.mtl
o Plane
-v 100.000000 0.000000 -100.000000
-v 100.000000 0.000000 100.000000
-v -100.000000 0.000000 100.000000
-v -100.000000 0.000000 -100.000000
+v 100.000000 -100.000000 0.000000
+v 100.000000 100.000000 0.000000
+v -100.000000 100.000000 0.000000
+v -100.000000 -100.000000 0.000000
+
+vt 100.000000 0.000000
+vt 100.000000 100.000000
+vt 0.000000 100.000000
+vt 0.000000 0.000000
+
+
+
usemtl Material
s off
-f 3 2 1
-f 4 3 1
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
+
+
diff -Nru bullet-2.83.6+dfsg/data/plane100.urdf bullet-2.86.1+dfsg/data/plane100.urdf
--- bullet-2.83.6+dfsg/data/plane100.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/plane100.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,26 @@
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diff -Nru bullet-2.83.6+dfsg/data/plane.mtl bullet-2.86.1+dfsg/data/plane.mtl
--- bullet-2.83.6+dfsg/data/plane.mtl 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/data/plane.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -1,11 +1,15 @@
-# Blender MTL File: 'None'
-# Material Count: 1
-
newmtl Material
-Ns 96.078431
-Ka 0.000000 0.000000 0.000000
-Kd 0.640000 0.640000 0.640000
-Ks 0.500000 0.500000 0.500000
-Ni 1.000000
-d 1.000000
-illum 2
+ Ns 10.0000
+ Ni 1.5000
+ d 1.0000
+ Tr 0.0000
+ Tf 1.0000 1.0000 1.0000
+ illum 2
+ Ka 0.0000 0.0000 0.0000
+ Kd 0.5880 0.5880 0.5880
+ Ks 0.0000 0.0000 0.0000
+ Ke 0.0000 0.0000 0.0000
+ map_Ka cube.tga
+ map_Kd checker_blue.png
+
+
diff -Nru bullet-2.83.6+dfsg/data/plane.obj bullet-2.86.1+dfsg/data/plane.obj
--- bullet-2.83.6+dfsg/data/plane.obj 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/data/plane.obj 2017-02-17 23:43:38.000000000 +0000
@@ -2,11 +2,17 @@
# www.blender.org
mtllib plane.mtl
o Plane
-v 1.000000 0.000000 -1.000000
-v 1.000000 0.000000 1.000000
-v -1.000000 0.000000 1.000000
-v -1.000000 0.000000 -1.000000
+v 15.000000 -15.000000 0.000000
+v 15.000000 15.000000 0.000000
+v -15.000000 15.000000 0.000000
+v -15.000000 -15.000000 0.000000
+
+vt 15.000000 0.000000
+vt 15.000000 15.000000
+vt 0.000000 15.000000
+vt 0.000000 0.000000
+
usemtl Material
s off
-f 1 2 3
-f 1 3 4
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff -Nru bullet-2.83.6+dfsg/data/plane.urdf bullet-2.86.1+dfsg/data/plane.urdf
--- bullet-2.83.6+dfsg/data/plane.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/plane.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,29 @@
+
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diff -Nru bullet-2.83.6+dfsg/data/pr2_gripper.urdf bullet-2.86.1+dfsg/data/pr2_gripper.urdf
--- bullet-2.83.6+dfsg/data/pr2_gripper.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/pr2_gripper.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,142 @@
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diff -Nru bullet-2.83.6+dfsg/data/Quadrotor/quadrotor_base.obj bullet-2.86.1+dfsg/data/Quadrotor/quadrotor_base.obj
--- bullet-2.83.6+dfsg/data/Quadrotor/quadrotor_base.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/Quadrotor/quadrotor_base.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,1696 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object quadrotor_base.obj
+#
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+f 1//1 2//2 3//3
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+f 284//284 283//283 268//268
+f 270//270 283//283 284//284
+# 1080 faces, 0 coords texture
+
+# End of File
\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/data/Quadrotor/quadrotor.urdf bullet-2.86.1+dfsg/data/Quadrotor/quadrotor.urdf
--- bullet-2.83.6+dfsg/data/Quadrotor/quadrotor.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/Quadrotor/quadrotor.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,62 @@
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diff -Nru bullet-2.83.6+dfsg/data/quadruped/quadruped.urdf bullet-2.86.1+dfsg/data/quadruped/quadruped.urdf
--- bullet-2.83.6+dfsg/data/quadruped/quadruped.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/quadruped/quadruped.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,712 @@
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/r2d2_multibody.bullet and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/r2d2_multibody.bullet differ
diff -Nru bullet-2.83.6+dfsg/data/r2d2.urdf bullet-2.86.1+dfsg/data/r2d2.urdf
--- bullet-2.83.6+dfsg/data/r2d2.urdf 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/data/r2d2.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -11,7 +11,7 @@
-
+
@@ -79,7 +79,7 @@
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@@ -234,6 +234,7 @@
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@@ -265,7 +266,7 @@
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@@ -316,7 +317,7 @@
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@@ -367,13 +368,13 @@
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@@ -387,6 +388,7 @@
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@@ -410,7 +412,7 @@
-
+
diff -Nru bullet-2.83.6+dfsg/data/samurai_monastry.obj bullet-2.86.1+dfsg/data/samurai_monastry.obj
--- bullet-2.83.6+dfsg/data/samurai_monastry.obj 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/data/samurai_monastry.obj 2017-02-17 23:43:38.000000000 +0000
@@ -331416,11 +331416,3 @@
f 1329 1330
f 77715 77717
f 20619 20622
-o Cube
-v -0.500000 -0.200000 -1.000000
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-v -0.500000 0.200000 1.000000
-usemtl Material
-s off
-f 86188 86189 86190
-f 86189 86188 86190
diff -Nru bullet-2.83.6+dfsg/data/samurai.urdf bullet-2.86.1+dfsg/data/samurai.urdf
--- bullet-2.83.6+dfsg/data/samurai.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/samurai.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,26 @@
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/slope.bullet and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/slope.bullet differ
diff -Nru bullet-2.83.6+dfsg/data/sphere_1cm.urdf bullet-2.86.1+dfsg/data/sphere_1cm.urdf
--- bullet-2.83.6+dfsg/data/sphere_1cm.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/sphere_1cm.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
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diff -Nru bullet-2.83.6+dfsg/data/sphere2_rolling_friction.urdf bullet-2.86.1+dfsg/data/sphere2_rolling_friction.urdf
--- bullet-2.83.6+dfsg/data/sphere2_rolling_friction.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/sphere2_rolling_friction.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,30 @@
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diff -Nru bullet-2.83.6+dfsg/data/sphere2.urdf bullet-2.86.1+dfsg/data/sphere2.urdf
--- bullet-2.83.6+dfsg/data/sphere2.urdf 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/data/sphere2.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -1,6 +1,11 @@
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@@ -9,8 +14,11 @@
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diff -Nru bullet-2.83.6+dfsg/data/sphere_small.urdf bullet-2.86.1+dfsg/data/sphere_small.urdf
--- bullet-2.83.6+dfsg/data/sphere_small.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/sphere_small.urdf 2017-02-17 23:43:38.000000000 +0000
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diff -Nru bullet-2.83.6+dfsg/data/table/table.mtl bullet-2.86.1+dfsg/data/table/table.mtl
--- bullet-2.83.6+dfsg/data/table/table.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/table/table.mtl 2017-02-17 23:43:38.000000000 +0000
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+newmtl table
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+ Ks 0.0000 0.0000 0.0000
+ Ke 0.0000 0.0000 0.0000
+ map_Ka table.tga
+ map_Kd table.png
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/table/table.obj bullet-2.86.1+dfsg/data/table/table.obj
--- bullet-2.83.6+dfsg/data/table/table.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/table/table.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,48 @@
+# table.obj
+#
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+o table
+mtllib table.mtl
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+
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/table/table.png and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/table/table.png differ
diff -Nru bullet-2.83.6+dfsg/data/table/table.urdf bullet-2.86.1+dfsg/data/table/table.urdf
--- bullet-2.83.6+dfsg/data/table/table.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/table/table.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,56 @@
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/table_square/checker_grid.jpg and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/table_square/checker_grid.jpg differ
diff -Nru bullet-2.83.6+dfsg/data/table_square/table.mtl bullet-2.86.1+dfsg/data/table_square/table.mtl
--- bullet-2.83.6+dfsg/data/table_square/table.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/table_square/table.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,16 @@
+newmtl table
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+ map_Ka table.tga
+ map_Kd checker_grid.jpg
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/table_square/table.obj bullet-2.86.1+dfsg/data/table_square/table.obj
--- bullet-2.83.6+dfsg/data/table_square/table.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/table_square/table.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,48 @@
+# table.obj
+#
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+o table
+mtllib table.mtl
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diff -Nru bullet-2.83.6+dfsg/data/table_square/table_square.urdf bullet-2.86.1+dfsg/data/table_square/table_square.urdf
--- bullet-2.83.6+dfsg/data/table_square/table_square.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/table_square/table_square.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,61 @@
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diff -Nru bullet-2.83.6+dfsg/data/teddy_vhacd.urdf bullet-2.86.1+dfsg/data/teddy_vhacd.urdf
--- bullet-2.83.6+dfsg/data/teddy_vhacd.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/teddy_vhacd.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,32 @@
+
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diff -Nru bullet-2.83.6+dfsg/data/textured_sphere_flat.obj bullet-2.86.1+dfsg/data/textured_sphere_flat.obj
--- bullet-2.83.6+dfsg/data/textured_sphere_flat.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/textured_sphere_flat.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,3755 @@
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diff -Nru bullet-2.83.6+dfsg/data/textured_sphere.mtl bullet-2.86.1+dfsg/data/textured_sphere.mtl
--- bullet-2.83.6+dfsg/data/textured_sphere.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/textured_sphere.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
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+
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diff -Nru bullet-2.83.6+dfsg/data/textured_sphere_smooth.mtl bullet-2.86.1+dfsg/data/textured_sphere_smooth.mtl
--- bullet-2.83.6+dfsg/data/textured_sphere_smooth.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/textured_sphere_smooth.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
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diff -Nru bullet-2.83.6+dfsg/data/textured_sphere_smooth.obj bullet-2.86.1+dfsg/data/textured_sphere_smooth.obj
--- bullet-2.83.6+dfsg/data/textured_sphere_smooth.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/textured_sphere_smooth.obj 2017-02-17 23:43:38.000000000 +0000
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+# Blender v2.77 (sub 0) OBJ File: ''
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diff -Nru bullet-2.83.6+dfsg/data/torus/plane_only.mtl bullet-2.86.1+dfsg/data/torus/plane_only.mtl
--- bullet-2.83.6+dfsg/data/torus/plane_only.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/torus/plane_only.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff -Nru bullet-2.83.6+dfsg/data/torus/plane_only.obj bullet-2.86.1+dfsg/data/torus/plane_only.obj
--- bullet-2.83.6+dfsg/data/torus/plane_only.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/torus/plane_only.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,7913 @@
+# Blender v2.77 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib plane_only.mtl
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diff -Nru bullet-2.83.6+dfsg/data/torus/torus.mtl bullet-2.86.1+dfsg/data/torus/torus.mtl
--- bullet-2.83.6+dfsg/data/torus/torus.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/torus/torus.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff -Nru bullet-2.83.6+dfsg/data/torus/torus.obj bullet-2.86.1+dfsg/data/torus/torus.obj
--- bullet-2.83.6+dfsg/data/torus/torus.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/torus/torus.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,1446 @@
+# Blender v2.77 (sub 0) OBJ File: ''
+# www.blender.org
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diff -Nru bullet-2.83.6+dfsg/data/torus/torus_only.mtl bullet-2.86.1+dfsg/data/torus/torus_only.mtl
--- bullet-2.83.6+dfsg/data/torus/torus_only.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/torus/torus_only.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff -Nru bullet-2.83.6+dfsg/data/torus/torus_only.obj bullet-2.86.1+dfsg/data/torus/torus_only.obj
--- bullet-2.83.6+dfsg/data/torus/torus_only.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/torus/torus_only.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,1474 @@
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+# www.blender.org
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diff -Nru bullet-2.83.6+dfsg/data/torus/torus.urdf bullet-2.86.1+dfsg/data/torus/torus.urdf
--- bullet-2.83.6+dfsg/data/torus/torus.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/torus/torus.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,33 @@
+
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diff -Nru bullet-2.83.6+dfsg/data/torus/torus_with_plane.mtl bullet-2.86.1+dfsg/data/torus/torus_with_plane.mtl
--- bullet-2.83.6+dfsg/data/torus/torus_with_plane.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/torus/torus_with_plane.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff -Nru bullet-2.83.6+dfsg/data/torus/torus_with_plane.obj bullet-2.86.1+dfsg/data/torus/torus_with_plane.obj
--- bullet-2.83.6+dfsg/data/torus/torus_with_plane.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/torus/torus_with_plane.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,9384 @@
+# Blender v2.77 (sub 0) OBJ File: ''
+# www.blender.org
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diff -Nru bullet-2.83.6+dfsg/data/torus/torus_with_plane.urdf bullet-2.86.1+dfsg/data/torus/torus_with_plane.urdf
--- bullet-2.83.6+dfsg/data/torus/torus_with_plane.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/torus/torus_with_plane.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,33 @@
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diff -Nru bullet-2.83.6+dfsg/data/torus/torus_with_separate_plane.urdf bullet-2.86.1+dfsg/data/torus/torus_with_separate_plane.urdf
--- bullet-2.83.6+dfsg/data/torus/torus_with_separate_plane.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/torus/torus_with_separate_plane.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,48 @@
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diff -Nru bullet-2.83.6+dfsg/data/tray/traybox.urdf bullet-2.86.1+dfsg/data/tray/traybox.urdf
--- bullet-2.83.6+dfsg/data/tray/traybox.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/tray/traybox.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,49 @@
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Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/data/tray/tray.jpg and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/data/tray/tray.jpg differ
diff -Nru bullet-2.83.6+dfsg/data/tray/tray_textured2.mtl bullet-2.86.1+dfsg/data/tray/tray_textured2.mtl
--- bullet-2.83.6+dfsg/data/tray/tray_textured2.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/tray/tray_textured2.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,13 @@
+# Blender MTL File: 'tray_textured2.blend'
+# Material Count: 1
+
+newmtl None
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd tray.jpg
diff -Nru bullet-2.83.6+dfsg/data/tray/tray_textured2.obj bullet-2.86.1+dfsg/data/tray/tray_textured2.obj
--- bullet-2.83.6+dfsg/data/tray/tray_textured2.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/tray/tray_textured2.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,255 @@
+# Blender v2.78 (sub 0) OBJ File: 'tray_textured2.blend'
+# www.blender.org
+mtllib tray_textured2.mtl
+o edge_1_Cube.003
+v 0.580000 0.590083 0.250354
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+v -0.580000 0.590083 0.250354
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+v 0.420014 0.426691 -0.001059
+v -0.580000 0.573309 0.261247
+v 0.420014 0.409917 0.009834
+v -0.419960 0.409917 0.009033
+vt 0.8346 0.9187
+vt 0.2203 0.8574
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+vn -0.0000 0.5446 0.8387
+vn 0.0005 0.8383 -0.5452
+vn -0.0005 -0.8394 0.5435
+usemtl None
+s 1
+f 1/1/1 2/2/2 3/3/3
+f 4/4/4 5/5/4 1/1/4
+f 6/6/5 7/7/6 4/4/7
+f 3/3/8 8/8/8 6/6/8
+f 5/5/9 8/8/9 2/2/9
+f 4/4/10 3/3/10 6/6/10
+f 1/1/1 5/5/11 2/2/2
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+f 6/6/5 8/8/12 7/7/6
+f 3/3/8 2/2/8 8/8/8
+f 5/5/9 7/7/9 8/8/9
+f 4/4/10 1/1/10 3/3/10
+o edge_2_Cube
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+vn 0.5446 -0.0000 0.8387
+vn 0.8396 0.0004 -0.5433
+vn -0.8388 -0.0004 0.5444
+usemtl None
+s 1
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+f 12/12/14 13/13/15 9/9/16
+f 14/14/17 15/15/17 12/12/17
+f 11/11/18 16/16/19 14/14/20
+f 13/13/21 16/16/21 10/10/21
+f 12/12/22 11/11/22 14/14/22
+f 9/9/13 13/13/13 10/10/13
+f 12/12/14 15/15/23 13/13/15
+f 14/14/17 16/16/17 15/15/17
+f 11/11/18 10/10/24 16/16/19
+f 13/13/21 15/15/21 16/16/21
+f 12/12/22 9/9/22 11/11/22
+o edge_3_Cube.002
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+vn 0.0000 -0.5446 0.8387
+vn -0.0003 0.8391 0.5440
+vn 0.0003 -0.8397 -0.5430
+usemtl None
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+f 20/20/28 21/21/28 17/17/28
+f 22/22/29 23/23/30 20/20/31
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+f 19/19/32 18/18/32 24/24/32
+f 21/21/33 23/23/33 24/24/33
+f 20/20/34 17/17/34 19/19/34
+o edge_5_Cube.005
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+vn -0.5446 -0.0000 0.8387
+vn 0.8384 0.0007 0.5451
+vn -0.8398 -0.0007 -0.5429
+usemtl None
+s 1
+f 25/25/37 26/26/37 27/27/37
+f 28/28/38 29/29/39 25/25/40
+f 30/30/41 31/31/41 28/28/41
+f 27/27/42 32/32/43 30/30/44
+f 29/29/45 32/32/45 26/26/45
+f 28/28/46 27/27/46 30/30/46
+f 25/25/37 29/29/37 26/26/37
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+f 30/30/41 32/32/41 31/31/41
+f 27/27/42 26/26/48 32/32/43
+f 29/29/45 31/31/45 32/32/45
+f 28/28/46 25/25/46 27/27/46
+o edge_4_Cube.001
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+v -0.426691 0.419400 -0.002214
+v -0.590083 0.580000 0.250354
+v -0.573309 -0.580000 0.261247
+v -0.409917 0.419400 0.008679
+v -0.590083 -0.580000 0.250354
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+v -0.426691 -0.419400 -0.001731
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+vn -0.5446 -0.0000 0.8387
+vn 0.8391 0.0003 0.5440
+vn -0.8397 -0.0003 -0.5430
+usemtl None
+s 1
+f 33/33/49 34/34/49 35/35/49
+f 36/36/50 37/37/51 33/33/52
+f 38/38/53 39/39/53 36/36/53
+f 35/35/54 40/40/55 38/38/56
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+f 38/38/53 40/40/53 39/39/53
+f 35/35/54 34/34/60 40/40/55
+f 37/37/57 39/39/57 40/40/57
+f 36/36/58 33/33/58 35/35/58
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+vt -0.3550 0.2204
+vn -0.0000 1.0000 0.0000
+vn 1.0000 0.0000 0.0000
+vn 0.0000 -1.0000 0.0000
+vn -1.0000 -0.0000 0.0000
+vn -0.0000 0.0000 -1.0000
+vn 0.0000 -0.0000 1.0000
+usemtl None
+s 1
+f 41/41/61 42/42/61 43/43/61
+f 44/44/62 45/45/62 41/41/62
+f 46/46/63 47/47/63 44/44/63
+f 43/43/64 48/48/64 46/46/64
+f 45/45/65 48/48/65 42/42/65
+f 44/44/66 43/43/66 46/46/66
+f 41/41/61 45/45/61 42/42/61
+f 44/44/62 47/47/62 45/45/62
+f 46/46/63 48/48/63 47/47/63
+f 43/43/64 42/42/64 48/48/64
+f 45/45/65 47/47/65 48/48/65
+f 44/44/66 41/41/66 43/43/66
diff -Nru bullet-2.83.6+dfsg/data/tray/tray_textured2.urdf bullet-2.86.1+dfsg/data/tray/tray_textured2.urdf
--- bullet-2.83.6+dfsg/data/tray/tray_textured2.urdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/tray/tray_textured2.urdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,24 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff -Nru bullet-2.83.6+dfsg/data/tray/tray_textured.mtl bullet-2.86.1+dfsg/data/tray/tray_textured.mtl
--- bullet-2.83.6+dfsg/data/tray/tray_textured.mtl 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/tray/tray_textured.mtl 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd tray.jpg
diff -Nru bullet-2.83.6+dfsg/data/tray/tray_textured.obj bullet-2.86.1+dfsg/data/tray/tray_textured.obj
--- bullet-2.83.6+dfsg/data/tray/tray_textured.obj 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/tray/tray_textured.obj 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,213 @@
+# Blender v2.78 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib tray_textured.mtl
+o edge_4_Cube.001
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+v -0.590083 -0.580000 0.250354
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+vn -0.5446 -0.0000 0.8387
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+vn -0.8397 -0.0003 -0.5430
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+f 4/4/2 5/5/3 1/1/4
+f 6/6/5 7/7/5 4/4/5
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+f 5/5/9 7/7/9 8/8/9
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+vn 0.0000 0.5446 0.8387
+vn 0.0005 0.8383 -0.5452
+vn -0.0005 -0.8394 0.5435
+usemtl None
+s 1
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+f 12/12/16 13/13/16 9/9/16
+f 14/14/17 15/15/18 12/12/19
+f 11/11/20 16/16/20 14/14/20
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+f 11/11/20 10/10/20 16/16/20
+f 13/13/21 15/15/21 16/16/21
+f 12/12/22 9/9/22 11/11/22
+o edge_2_Cube
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+usemtl None
+s 1
+f 17/17/25 18/18/25 19/19/25
+f 20/20/26 21/21/27 17/17/28
+f 22/22/29 23/23/29 20/20/29
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+vn 0.0000 0.0000 -1.0000
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+s 1
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+f 28/28/38 29/29/38 25/25/38
+f 30/30/39 31/31/39 28/28/39
+f 27/27/40 32/32/40 30/30/40
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+f 27/27/40 26/26/40 32/32/40
+f 29/29/41 31/31/41 32/32/41
+f 28/28/42 25/25/42 27/27/42
+o edge_3_Cube.002
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+vt 0.1365 0.1668
+vn -0.0002 0.8392 0.5438
+vn -0.0000 0.8395 0.5433
+vn 0.0000 0.8396 0.5432
+vn 0.8825 0.2562 -0.3945
+vn 0.0002 -0.8396 -0.5433
+vn 0.0000 -0.8392 -0.5438
+vn 0.0000 -0.8391 -0.5439
+vn -0.8821 0.2565 -0.3950
+vn -0.8822 0.2565 -0.3950
+vn 0.0005 0.5446 -0.8387
+vn 0.0000 -0.5446 0.8387
+vn -0.0003 0.8391 0.5440
+vn 0.0003 -0.8397 -0.5430
+usemtl None
+s 1
+f 33/33/43 34/34/44 35/35/45
+f 36/36/46 37/37/46 33/33/46
+f 38/38/47 39/39/48 36/36/49
+f 35/35/50 40/40/51 38/38/51
+f 37/37/52 40/40/52 34/34/52
+f 36/36/53 35/35/53 38/38/53
+f 33/33/43 37/37/54 34/34/44
+f 36/36/46 39/39/46 37/37/46
+f 38/38/47 40/40/55 39/39/48
+f 35/35/50 34/34/51 40/40/51
+f 37/37/52 39/39/52 40/40/52
+f 36/36/53 33/33/53 35/35/53
diff -Nru bullet-2.83.6+dfsg/data/two_cubes.sdf bullet-2.86.1+dfsg/data/two_cubes.sdf
--- bullet-2.83.6+dfsg/data/two_cubes.sdf 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/data/two_cubes.sdf 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,240 @@
+
+
+
+ 99.2
+ 1
+ 0 0 10 0 -0 0
+ 0.8 0.8 0.8 1
+ 0.2 0.2 0.2 1
+
+ 1000
+ 0.9
+ 0.01
+ 0.001
+
+ -0.5 0.1 -0.9
+
+
+ 1
+
+
+
+
+ 1 2 3
+ 100 100
+
+
+
+
+ 65535
+
+
+
+
+ 100
+ 50
+
+
+
+
+
+
+
+ 10
+
+
+ 0
+
+
+ 4 5 6
+ 100 100
+
+
+
+
+
+
+ 0
+ 0
+ 1
+
+
+ 0 0 -9.8
+ 6e-06 2.3e-05 -4.2e-05
+
+
+ 0.001
+ 1
+ 1000
+
+
+ 0.4 0.4 0.4 1
+ 0.7 0.7 0.7 1
+ 1
+
+
+
+ EARTH_WGS84
+ 0
+ 0
+ 0
+ 0
+
+
+ 1
+ 0.512455 -1.58317 0.5 0 -0 0
+
+
+ 1
+
+ 0.166667
+ 0
+ 0
+ 0.166667
+ 0
+ 0.166667
+
+
+
+
+
+ 1 1 1
+
+
+ 10
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
+ cube.obj
+
+
+
+ 1 1 1 1
+
+
+
+ 0
+ 0
+ 1
+
+
+
+ 0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159
+
+
+ 1
+
+ 0.166667
+ 0
+ 0
+ 0.166667
+ 0
+ 0.166667
+
+
+
+
+
+ 1 1 1
+
+
+ 10
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1 1 1
+ cube.obj
+
+
+
+ 1 1 1 1
+
+
+ 0
+ 0
+ 1
+
+
+
+ 0 0
+ 0 0
+ 1462824251 956472000
+ 0
+
+ 0 0 0 0 -0 0
+ 1 1 1
+
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+
+ 0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159
+ 1 1 1
+
+ 0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159
+ 0.004896 3e-06 -0.004891 -6e-06 0.009793 -0
+ 0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05
+ 0.010615 0.006191 -9.78231 0 -0 0
+
+
+
+ 0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159
+ 1 1 1
+
+ 0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+ 0 0 0 0 -0 0
+
+
+
+ 0 0 10 0 -0 0
+
+
+
+
+ 8.0562 -8.87312 3.07529 0 0.205021 2.5208
+ orbit
+ perspective
+
+
+
+
diff -Nru bullet-2.83.6+dfsg/debian/changelog bullet-2.86.1+dfsg/debian/changelog
--- bullet-2.83.6+dfsg/debian/changelog 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/changelog 2017-02-21 02:37:35.000000000 +0000
@@ -1,3 +1,75 @@
+bullet (2.86.1+dfsg-1+openmw~yakkety1) yakkety; urgency=medium
+
+ * Backport to Ubuntu
+
+ -- Bret Curtis Tue, 21 Feb 2017 03:37:35 +0100
+
+bullet (2.86.1+dfsg-1) experimental; urgency=medium
+
+ * New upstream version 2.86.1+dfsg.
+ * Update debian/copyright for new release.
+ * Rename binary packages because of the SONAME bump.
+
+ -- Markus Koschany Tue, 21 Feb 2017 02:37:35 +0100
+
+bullet (2.86+dfsg-1) experimental; urgency=medium
+
+ * New upstream version 2.86+dfsg.
+ * Update debian/copyright for new release.
+
+ -- Markus Koschany Thu, 09 Feb 2017 06:00:16 +0100
+
+bullet (2.85.1+dfsg-1) experimental; urgency=medium
+
+ * New upstream version 2.85.1+dfsg-1.
+ * Create new 2.85 binary packages because of the SONAME bump.
+ * Simplify the packaging and provide libbullet2.85 which includes all Bullet
+ 2 and Bullet 3 core libraries from now on and libbullet-extras2.85 for all
+ extras.
+ * Export DEB_BUILD_MAINT_OPTIONS = hardening=+all.
+ * Update debian/copyright for new release.
+
+ -- Markus Koschany Mon, 26 Dec 2016 19:45:01 +0100
+
+bullet (2.83.7+dfsg-5) unstable; urgency=medium
+
+ * Add Breaks and Replaces against version 2.83.6 to ensure that
+ upgrades from Stretch to Sid work as expected.
+ Thanks to Ralf Treinen for the report. (Closes: #839887)
+
+ -- Markus Koschany Thu, 06 Oct 2016 14:50:52 +0200
+
+bullet (2.83.7+dfsg-4) unstable; urgency=medium
+
+ * Upload to unstable.
+ * Start Bullet 2.83.7 transition.
+ * debian/watch: Use version=4.
+
+ -- Markus Koschany Wed, 05 Oct 2016 14:46:57 +0200
+
+bullet (2.83.7+dfsg-3) experimental; urgency=medium
+
+ * Declare compliance with Debian Policy 3.9.8.
+ * Switch to compat level 10.
+ * Vcs-Git: Use https.
+ * Create new 2.83.7 binary packages and prepare for transition.
+
+ -- Markus Koschany Thu, 29 Sep 2016 15:48:17 +0200
+
+bullet (2.83.7+dfsg-2) experimental; urgency=medium
+
+ * Do not execute dh_auto_test in indep target to prevent a FTBFS when
+ building source only packages.
+
+ -- Markus Koschany Thu, 14 Jan 2016 19:19:16 +0100
+
+bullet (2.83.7+dfsg-1) experimental; urgency=medium
+
+ * Imported Upstream version 2.83.7+dfsg.
+ * Drop libbullet2.83-dbg and use -dbgsym packages from now on.
+
+ -- Markus Koschany Thu, 14 Jan 2016 15:36:26 +0100
+
bullet (2.83.6+dfsg-3) unstable; urgency=medium
* Upload to unstable.
diff -Nru bullet-2.83.6+dfsg/debian/compat bullet-2.86.1+dfsg/debian/compat
--- bullet-2.83.6+dfsg/debian/compat 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/compat 2017-02-09 08:37:48.000000000 +0000
@@ -1 +1 @@
-9
+10
diff -Nru bullet-2.83.6+dfsg/debian/control bullet-2.86.1+dfsg/debian/control
--- bullet-2.83.6+dfsg/debian/control 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/control 2017-02-21 02:37:35.000000000 +0000
@@ -6,252 +6,26 @@
Markus Koschany
Build-Depends:
cmake,
- debhelper (>= 9),
+ debhelper,
freeglut3-dev,
- libtinyxml-dev (>= 2.6.2-3),
+ libtinyxml-dev,
zlib1g-dev
Build-Depends-Indep:
doxygen,
graphviz,
rdfind,
symlinks
-Standards-Version: 3.9.6
+Standards-Version: 3.9.8
Homepage: http://www.bulletphysics.org/
-Vcs-Git: git://anonscm.debian.org/pkg-games/bullet.git
+Vcs-Git: https://anonscm.debian.org/git/pkg-games/bullet.git
Vcs-Browser: https://anonscm.debian.org/cgit/pkg-games/bullet.git
-Package: libbulletsoftbody2.83.6
-Architecture: any
-Multi-Arch: same
-Depends:
- ${misc:Depends},
- ${shlibs:Depends}
-Breaks:
- libbulletsoftbody2.83,
- libbulletsoftbody2.83v5
-Replaces:
- libbulletsoftbody2.83,
- libbulletsoftbody2.83v5
-Description: professional 3D Game Multiphysics Library -- soft body
- Bullet professional 3D Game Multiphysics Library provides state of the art
- collision detection, soft body and rigid body dynamics.
- .
- This package contains the BulletSoftbody shared library.
- .
- It features soft body dynamics for cloth, rope and deformable volumes with
- two-way interaction with rigid bodies, including constraint support.
- .
- For more information about Bullet, please refer to the libbullet-dev package.
-
-Package: libbulletcollision2.83.6
-Architecture: any
-Multi-Arch: same
-Depends:
- ${misc:Depends},
- ${shlibs:Depends}
-Breaks:
- libbulletcollision2.83,
- libbulletcollision2.83v5
-Replaces:
- libbulletcollision2.83,
- libbulletcollision2.83v5
-Description: professional 3D Game Multiphysics Library -- collision
- Bullet professional 3D Game Multiphysics Library provides state of the art
- collision detection, soft body and rigid body dynamics.
- .
- This package contains the BulletCollision shared library.
- .
- It features discrete and continuous collision detection including ray and
- convex sweep test. Collision shapes include concave and convex meshes and all
- basic primitives.
- .
- For more information about Bullet, please refer to the libbullet-dev package.
-
-Package: libbulletdynamics2.83.6
-Architecture: any
-Multi-Arch: same
-Depends:
- ${misc:Depends},
- ${shlibs:Depends}
-Breaks:
- libbulletdynamics2.83,
- libbulletdynamics2.83v5
-Replaces:
- libbulletdynamics2.83,
- libbulletdynamics2.83v5
-Description: professional 3D Game Multiphysics Library -- dynamics
- Bullet professional 3D Game Multiphysics Library provides state of the art
- collision detection, soft body and rigid body dynamics.
- .
- This package contains the BulletDynamics shared library.
- .
- It features fast and stable rigid body dynamics constraint solver, vehicle
- dynamics, character controller and slider, hinge, generic 6DOF and cone twist
- constraint for ragdolls.
- .
- For more information about Bullet, please refer to the libbullet-dev package.
-
-Package: liblinearmath2.83.6
-Architecture: any
-Multi-Arch: same
-Depends:
- ${misc:Depends},
- ${shlibs:Depends}
-Breaks:
- liblinearmath2.83,
- liblinearmath2.83v5
-Replaces:
- liblinearmath2.83,
- liblinearmath2.83v5
-Description: professional 3D Game Multiphysics Library -- mathematics
- Bullet professional 3D Game Multiphysics Library provides state of the art
- collision detection, soft body and rigid body dynamics.
- .
- This package contains the LinearMath shared library which is required by most
- other Bullet libraries and provides basic data types and memory management.
- .
- For more information about Bullet, please refer to the libbullet-dev package.
-
-Package: libhacd2.83.6
-Architecture: any
-Multi-Arch: same
-Depends:
- ${misc:Depends},
- ${shlibs:Depends}
-Breaks:
- libhacd2.83,
- libhacd2.83v5
-Replaces:
- libhacd2.83,
- libhacd2.83v5
-Description: professional 3D Game Multiphysics Library -- HACD
- Bullet professional 3D Game Multiphysics Library provides state of the art
- collision detection, soft body and rigid body dynamics.
- .
- This package contains the HACD shared library. HACD stands for Hierarchical
- Approximate Convex Decomposition and provides a sophisticated algorithm that
- can, in a CPU efficient way, compute a faithful approximation of the original
- mesh.
- .
- For more information about Bullet, please refer to the libbullet-dev package.
-
-Package: libconvexdecomposition2.83.6
-Architecture: any
-Multi-Arch: same
-Depends:
- ${misc:Depends},
- ${shlibs:Depends}
-Breaks:
- libconvexdecomposition2.83,
- libconvexdecomposition2.83v5
-Replaces:
- libconvexdecomposition2.83,
- libconvexdecomposition2.83v5
-Description: professional 3D Game Multiphysics Library -- convex decomposition
- Bullet professional 3D Game Multiphysics Library provides state of the art
- collision detection, soft body and rigid body dynamics.
- .
- This package contains the ConvexDecomposition shared library. Convex
- decomposition can be used to decompose a concave mesh into several convex
- parts and then combine them into a new composite object.
- .
- For more information about Bullet, please refer to the libbullet-dev package.
-
-Package: libbulletfileloader2.83.6
-Architecture: any
-Multi-Arch: same
-Depends:
- ${misc:Depends},
- ${shlibs:Depends}
-Breaks:
- libbulletfileloader2.83,
- libbulletfileloader2.83v5
-Replaces:
- libbulletfileloader2.83,
- libbulletfileloader2.83v5
-Description: professional 3D Game Multiphysics Library -- file loader
- Bullet professional 3D Game Multiphysics Library provides state of the art
- collision detection, soft body and rigid body dynamics.
- .
- This package contains the BulletFileLoader shared library.
- .
- For more information about Bullet, please refer to the libbullet-dev package.
-
-Package: libbulletworldimporter2.83.6
-Architecture: any
-Multi-Arch: same
-Depends:
- ${misc:Depends},
- ${shlibs:Depends}
-Breaks:
- libbulletworldimporter2.83,
- libbulletworldimporter2.83v5
-Replaces:
- libbulletworldimporter2.83,
- libbulletworldimporter2.83v5
-Description: professional 3D Game Multiphysics Library -- world importer
- Bullet professional 3D Game Multiphysics Library provides state of the art
- collision detection, soft body and rigid body dynamics.
- .
- This package contains the BulletWorldImporter shared library which can be
- used by Blender and other software to export or import the Bullet physics
- file format.
- .
- For more information about Bullet, please refer to the libbullet-dev package.
-
-Package: libbulletxmlworldimporter2.83.6
-Architecture: any
-Multi-Arch: same
-Depends:
- ${misc:Depends},
- ${shlibs:Depends}
-Breaks:
- libbulletxmlworldimporter2.83,
- libbulletxmlworldimporter2.83v5
-Replaces:
- libbulletxmlworldimporter2.83,
- libbulletxmlworldimporter2.83v5
-Description: professional 3D Game Multiphysics Library -- xml world importer
- Bullet professional 3D Game Multiphysics Library provides state of the art
- collision detection, soft body and rigid body dynamics.
- .
- This package contains the BulletXmlWorldImporter shared library which can be
- used by Blender and other software to export or import the Bullet physics file
- format.
- .
- For more information about Bullet, please refer to the libbullet-dev package.
-
-Package: libgimpactutils2.83.6
-Architecture: any
-Multi-Arch: same
-Depends:
- ${misc:Depends},
- ${shlibs:Depends}
-Breaks:
- libgimpactutils2.83,
- libgimpactutils2.83v5
-Replaces:
- libgimpactutils2.83,
- libgimpactutils2.83v5
-Description: professional 3D Game Multiphysics Library -- GIMPACT
- Bullet professional 3D Game Multiphysics Library provides state of the art
- collision detection, soft body and rigid body dynamics.
- .
- This package contains the GIMPACT shared library. GIMPACT is a software
- library with tools for geometry processing and collision detection, focused on
- solving most common problems on Virtual Reality development.
- .
- For more information about Bullet, please refer to the libbullet-dev package.
-
Package: libbullet-dev
Architecture: any
Section: libdevel
Multi-Arch: same
Depends:
- libbulletcollision2.83.6 (= ${binary:Version}),
- libbulletdynamics2.83.6 (= ${binary:Version}),
- libbulletsoftbody2.83.6 (= ${binary:Version}),
- liblinearmath2.83.6 (= ${binary:Version}),
+ libbullet2.86 (= ${binary:Version}),
${misc:Depends}
Description: professional 3D Game Multiphysics Library -- development files
Bullet professional 3D Game Multiphysics Library provides state of the art
@@ -280,17 +54,27 @@
.
This package contains development files for Bullet.
+Package: libbullet-doc
+Section: doc
+Architecture: all
+Depends:
+ libjs-jquery,
+ ${misc:Depends}
+Description: professional 3D Game Multiphysics Library -- documentation
+ Bullet professional 3D Game Multiphysics Library provides state of the art
+ collision detection, soft body and rigid body dynamics.
+ .
+ This package contains the Bullet API documentation and the Bullet Quick Start
+ Guide.
+ .
+ For more information about Bullet, please refer to the libbullet-dev package.
+
Package: libbullet-extras-dev
Architecture: any
Section: libdevel
Multi-Arch: same
Depends:
- libbulletfileloader2.83.6 (= ${binary:Version}),
- libbulletworldimporter2.83.6 (= ${binary:Version}),
- libbulletxmlworldimporter2.83.6 (= ${binary:Version}),
- libconvexdecomposition2.83.6 (= ${binary:Version}),
- libgimpactutils2.83.6 (= ${binary:Version}),
- libhacd2.83.6 (= ${binary:Version}),
+ libbullet-extras2.86 (= ${binary:Version}),
${misc:Depends}
Description: professional 3D Game Multiphysics Library -- extra development
Bullet professional 3D Game Multiphysics Library provides state of the art
@@ -300,42 +84,32 @@
.
For more information about Bullet, please refer to the libbullet-dev package.
-Package: libbullet2.83-dbg
-Priority: extra
-Section: debug
+Package: libbullet-extras2.86
Architecture: any
Multi-Arch: same
Depends:
- libbulletcollision2.83.6 (= ${binary:Version}),
- libbulletdynamics2.83.6 (= ${binary:Version}),
- libbulletfileloader2.83.6 (= ${binary:Version}),
- libbulletsoftbody2.83.6 (= ${binary:Version}),
- libbulletworldimporter2.83.6 (= ${binary:Version}),
- libbulletxmlworldimporter2.83.6 (= ${binary:Version}),
- libconvexdecomposition2.83.6 (= ${binary:Version}),
- libgimpactutils2.83.6 (= ${binary:Version}),
- libhacd2.83.6 (= ${binary:Version}),
- liblinearmath2.83.6 (= ${binary:Version}),
- ${misc:Depends}
-Description: professional 3D Game Multiphysics Library -- debugging symbols
+ ${misc:Depends},
+ ${shlibs:Depends}
+Description: professional 3D Game Multiphysics Library -- extra libraries
Bullet professional 3D Game Multiphysics Library provides state of the art
collision detection, soft body and rigid body dynamics.
.
- This package contains debugging symbols for Bullet.
+ This package contains all extra shared runtime libraries for Bullet including
+ HACD, GIMPACTUtils, InverseDynamics, Serialize, ConvexDecomposition and VHACD.
.
For more information about Bullet, please refer to the libbullet-dev package.
-Package: libbullet-doc
-Section: doc
-Architecture: all
+Package: libbullet2.86
+Architecture: any
+Multi-Arch: same
Depends:
- libjs-jquery,
- ${misc:Depends}
-Description: professional 3D Game Multiphysics Library -- documentation
+ ${misc:Depends},
+ ${shlibs:Depends}
+Description: professional 3D Game Multiphysics Library
Bullet professional 3D Game Multiphysics Library provides state of the art
collision detection, soft body and rigid body dynamics.
.
- This package contains the Bullet API documentation and the Bullet Quick Start
- Guide.
+ This package contains shared runtime libraries including BulletCollision,
+ BulletDynamics, BulletSoftbody, LinearMath and all Bullet 3 libraries.
.
For more information about Bullet, please refer to the libbullet-dev package.
diff -Nru bullet-2.83.6+dfsg/debian/copyright bullet-2.86.1+dfsg/debian/copyright
--- bullet-2.83.6+dfsg/debian/copyright 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/copyright 2017-02-21 02:37:35.000000000 +0000
@@ -36,10 +36,14 @@
2011-2013, Steven Thompson
2003-2015, Erwin Coumans
2015, Google Inc.
+ 2002-2006, Marcus Geelnard
+ 2006-2016, Camilla Löwy
License: Zlib
Files: test/OpenCL/RadixSortBenchmark/main.cpp
+ data/MPL/mpl2.xml
Copyright: 2010, Duane Merrill
+ 2013, The Johns Hopkins University / Applied Physics Laboratory
License: Apache-2.0
Files: examples/Experiments/ImplicitCloth/stan/*
@@ -66,15 +70,40 @@
test/Bullet2/vectormath/sse/vecidx_aos.h
test/Bullet2/vectormath/sse/vectormath_aos.h
data/xacro_standalone.py
+ data/husky/*
+ Extras/VHACD/inc/vhacdCircularList.h
+ Extras/VHACD/inc/vhacdICHull.h
+ Extras/VHACD/inc/vhacdManifoldMesh.h
+ Extras/VHACD/inc/vhacdMesh.h
+ Extras/VHACD/inc/vhacdSArray.h
+ Extras/VHACD/inc/vhacdTimer.h
+ Extras/VHACD/inc/vhacdVector.h
+ Extras/VHACD/inc/vhacdVHACD.h
+ Extras/VHACD/inc/vhacdVolume.h
+ Extras/VHACD/public/VHACD.h
+ Extras/VHACD/src/VHACD.cpp
+ Extras/VHACD/src/vhacdICHull.cpp
+ Extras/VHACD/src/vhacdManifoldMesh.cpp
+ Extras/VHACD/src/vhacdMesh.cpp
+ Extras/VHACD/src/vhacdVolume.cpp
+ Extras/VHACD/test/inc/oclHelper.h
+ Extras/VHACD/test/src/main.cpp
+ Extras/VHACD/test/src/oclHelper.cpp
+ data/humanoid/*
Copyright: 2004, Open Dynamics Framework Group
2005, 2007, 2008, Google Inc.
2006, 2007, Sony Computer Entertainment Inc.
2013, Willow Garage, Inc
2014, Open Source Robotics Foundation, Inc
+ 2015, Clearpath Robotics, Inc.
+ 2011, Khaled Mamou
+ 2009-2013, A. Hornung, University of Freiburg
License: BSD-3-clause
Files: src/clew/clew.h
+ Extras/VHACD/inc/vhacdMutex.h
Copyright: 2008-2009, The Khronos Group Inc.
+ 2009, John W. Ratcliff
License: Expat
Files: Extras/Serialize/makesdna/makesdna.cpp
@@ -112,7 +141,7 @@
License: Zlib and Elsevier-CDROM-License
Files: debian/*
-Copyright: 2013-2015, Markus Koschany
+Copyright: 2013-2016, Markus Koschany
License: Zlib
License: Zlib
diff -Nru bullet-2.83.6+dfsg/debian/libbullet2.86.install bullet-2.86.1+dfsg/debian/libbullet2.86.install
--- bullet-2.83.6+dfsg/debian/libbullet2.86.install 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbullet2.86.install 2017-02-21 02:37:35.000000000 +0000
@@ -0,0 +1,9 @@
+usr/lib/*/libBullet3Collision.so.*
+usr/lib/*/libBullet3Common.so.*
+usr/lib/*/libBullet3Dynamics.so.*
+usr/lib/*/libBullet3Geometry.so.*
+usr/lib/*/libBullet3OpenCL_clew.so.*
+usr/lib/*/libBulletCollision.so.*
+usr/lib/*/libBulletDynamics.so.*
+usr/lib/*/libBulletSoftBody.so.*
+usr/lib/*/libLinearMath.so.*
diff -Nru bullet-2.83.6+dfsg/debian/libbullet2.86.lintian-overrides bullet-2.86.1+dfsg/debian/libbullet2.86.lintian-overrides
--- bullet-2.83.6+dfsg/debian/libbullet2.86.lintian-overrides 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbullet2.86.lintian-overrides 2017-02-21 02:37:35.000000000 +0000
@@ -0,0 +1,3 @@
+# We install all Bullet libraries into one binary package and no longer into
+# separate ones.
+package-name-doesnt-match-sonames
diff -Nru bullet-2.83.6+dfsg/debian/libbulletcollision2.83.6.install bullet-2.86.1+dfsg/debian/libbulletcollision2.83.6.install
--- bullet-2.83.6+dfsg/debian/libbulletcollision2.83.6.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbulletcollision2.83.6.install 1970-01-01 00:00:00.000000000 +0000
@@ -1 +0,0 @@
-usr/lib/*/libBulletCollision.so.*
diff -Nru bullet-2.83.6+dfsg/debian/libbullet-dev.install bullet-2.86.1+dfsg/debian/libbullet-dev.install
--- bullet-2.83.6+dfsg/debian/libbullet-dev.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbullet-dev.install 2017-02-09 08:37:48.000000000 +0000
@@ -1,8 +1,19 @@
usr/include/bullet/*.h
+usr/include/bullet/Bullet3Collision/*
+usr/include/bullet/Bullet3Common/*
+usr/include/bullet/Bullet3Dynamics/*
+usr/include/bullet/Bullet3Geometry/*
+usr/include/bullet/Bullet3OpenCL/*
usr/include/bullet/BulletCollision/*
usr/include/bullet/BulletDynamics/*
usr/include/bullet/BulletSoftBody/*
usr/include/bullet/LinearMath/*
+usr/lib/*/cmake/bullet/*
+usr/lib/*/libBullet3Collision.so
+usr/lib/*/libBullet3Common.so
+usr/lib/*/libBullet3Dynamics.so
+usr/lib/*/libBullet3Geometry.so
+usr/lib/*/libBullet3OpenCL_clew.so
usr/lib/*/libBulletCollision.so
usr/lib/*/libBulletDynamics.so
usr/lib/*/libBulletSoftBody.so
diff -Nru bullet-2.83.6+dfsg/debian/libbulletdynamics2.83.6.install bullet-2.86.1+dfsg/debian/libbulletdynamics2.83.6.install
--- bullet-2.83.6+dfsg/debian/libbulletdynamics2.83.6.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbulletdynamics2.83.6.install 1970-01-01 00:00:00.000000000 +0000
@@ -1 +0,0 @@
-usr/lib/*/libBulletDynamics.so.*
diff -Nru bullet-2.83.6+dfsg/debian/libbullet-extras2.86.install bullet-2.86.1+dfsg/debian/libbullet-extras2.86.install
--- bullet-2.83.6+dfsg/debian/libbullet-extras2.86.install 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbullet-extras2.86.install 2017-02-21 02:37:35.000000000 +0000
@@ -0,0 +1,9 @@
+usr/lib/*/libBullet2FileLoader.so.*
+usr/lib/*/libBulletFileLoader.so.*
+usr/lib/*/libBulletInverseDynamics.so.*
+usr/lib/*/libBulletInverseDynamicsUtils.so.*
+usr/lib/*/libBulletWorldImporter.so.*
+usr/lib/*/libBulletXmlWorldImporter.so.*
+usr/lib/*/libConvexDecomposition.so.*
+usr/lib/*/libGIMPACTUtils.so.*
+usr/lib/*/libHACD.so.*
diff -Nru bullet-2.83.6+dfsg/debian/libbullet-extras2.86.lintian-overrides bullet-2.86.1+dfsg/debian/libbullet-extras2.86.lintian-overrides
--- bullet-2.83.6+dfsg/debian/libbullet-extras2.86.lintian-overrides 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbullet-extras2.86.lintian-overrides 2017-02-21 02:37:35.000000000 +0000
@@ -0,0 +1,3 @@
+# We install all Bullet libraries into one binary package and no longer into
+# separate ones.
+package-name-doesnt-match-sonames
diff -Nru bullet-2.83.6+dfsg/debian/libbullet-extras-dev.install bullet-2.86.1+dfsg/debian/libbullet-extras-dev.install
--- bullet-2.83.6+dfsg/debian/libbullet-extras-dev.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbullet-extras-dev.install 2017-02-09 08:37:48.000000000 +0000
@@ -1,10 +1,16 @@
+usr/include/bullet/Bullet2FileLoader/*
usr/include/bullet/BulletFileLoader/*
+usr/include/bullet/BulletInverseDynamics/*
usr/include/bullet/BulletWorldImporter/*
usr/include/bullet/BulletXmlWorldImporter/*
usr/include/bullet/ConvexDecomposition/*
usr/include/bullet/GIMPACTUtils/*
usr/include/bullet/HACD/*
+usr/include/bullet/InverseDynamics/*
+usr/lib/*/libBullet2FileLoader.so
usr/lib/*/libBulletFileLoader.so
+usr/lib/*/libBulletInverseDynamics.so
+usr/lib/*/libBulletInverseDynamicsUtils.so
usr/lib/*/libBulletWorldImporter.so
usr/lib/*/libBulletXmlWorldImporter.so
usr/lib/*/libConvexDecomposition.so
diff -Nru bullet-2.83.6+dfsg/debian/libbulletfileloader2.83.6.install bullet-2.86.1+dfsg/debian/libbulletfileloader2.83.6.install
--- bullet-2.83.6+dfsg/debian/libbulletfileloader2.83.6.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbulletfileloader2.83.6.install 1970-01-01 00:00:00.000000000 +0000
@@ -1 +0,0 @@
-usr/lib/*/libBulletFileLoader.so.*
diff -Nru bullet-2.83.6+dfsg/debian/libbulletsoftbody2.83.6.install bullet-2.86.1+dfsg/debian/libbulletsoftbody2.83.6.install
--- bullet-2.83.6+dfsg/debian/libbulletsoftbody2.83.6.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbulletsoftbody2.83.6.install 1970-01-01 00:00:00.000000000 +0000
@@ -1 +0,0 @@
-usr/lib/*/libBulletSoftBody.so.*
diff -Nru bullet-2.83.6+dfsg/debian/libbulletworldimporter2.83.6.install bullet-2.86.1+dfsg/debian/libbulletworldimporter2.83.6.install
--- bullet-2.83.6+dfsg/debian/libbulletworldimporter2.83.6.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbulletworldimporter2.83.6.install 1970-01-01 00:00:00.000000000 +0000
@@ -1 +0,0 @@
-usr/lib/*/libBulletWorldImporter.so.*
diff -Nru bullet-2.83.6+dfsg/debian/libbulletxmlworldimporter2.83.6.install bullet-2.86.1+dfsg/debian/libbulletxmlworldimporter2.83.6.install
--- bullet-2.83.6+dfsg/debian/libbulletxmlworldimporter2.83.6.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libbulletxmlworldimporter2.83.6.install 1970-01-01 00:00:00.000000000 +0000
@@ -1 +0,0 @@
-usr/lib/*/libBulletXmlWorldImporter.so.*
diff -Nru bullet-2.83.6+dfsg/debian/libconvexdecomposition2.83.6.install bullet-2.86.1+dfsg/debian/libconvexdecomposition2.83.6.install
--- bullet-2.83.6+dfsg/debian/libconvexdecomposition2.83.6.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libconvexdecomposition2.83.6.install 1970-01-01 00:00:00.000000000 +0000
@@ -1 +0,0 @@
-usr/lib/*/libConvexDecomposition.so.*
diff -Nru bullet-2.83.6+dfsg/debian/libgimpactutils2.83.6.install bullet-2.86.1+dfsg/debian/libgimpactutils2.83.6.install
--- bullet-2.83.6+dfsg/debian/libgimpactutils2.83.6.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libgimpactutils2.83.6.install 1970-01-01 00:00:00.000000000 +0000
@@ -1 +0,0 @@
-usr/lib/*/libGIMPACTUtils.so.*
diff -Nru bullet-2.83.6+dfsg/debian/libhacd2.83.6.install bullet-2.86.1+dfsg/debian/libhacd2.83.6.install
--- bullet-2.83.6+dfsg/debian/libhacd2.83.6.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/libhacd2.83.6.install 1970-01-01 00:00:00.000000000 +0000
@@ -1 +0,0 @@
-usr/lib/*/libHACD.so.*
diff -Nru bullet-2.83.6+dfsg/debian/liblinearmath2.83.6.install bullet-2.86.1+dfsg/debian/liblinearmath2.83.6.install
--- bullet-2.83.6+dfsg/debian/liblinearmath2.83.6.install 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/liblinearmath2.83.6.install 1970-01-01 00:00:00.000000000 +0000
@@ -1 +0,0 @@
-usr/lib/*/libLinearMath.so.*
diff -Nru bullet-2.83.6+dfsg/debian/patches/do-not-build-with-embedded-tinyxml-library.patch bullet-2.86.1+dfsg/debian/patches/do-not-build-with-embedded-tinyxml-library.patch
--- bullet-2.83.6+dfsg/debian/patches/do-not-build-with-embedded-tinyxml-library.patch 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/patches/do-not-build-with-embedded-tinyxml-library.patch 2017-02-09 08:37:48.000000000 +0000
@@ -1,21 +1,21 @@
From: Markus Koschany
-Date: Tue, 15 Jan 2013 22:20:29 +0100
+Date: Thu, 14 Jan 2016 15:43:35 +0100
Subject: do not build with embedded tinyxml library
Unbundle the embedded tinyxml library. Use Debian's version instead.
Forwarded: not-needed
---
- .../BulletXmlWorldImporter/CMakeLists.txt | 23 ++++++++++++++------
- .../btBulletXmlWorldImporter.cpp | 2 +-
+ .../BulletXmlWorldImporter/CMakeLists.txt | 23 +++++++++++++++-------
+ .../btBulletXmlWorldImporter.cpp | 2 +-
2 files changed, 17 insertions(+), 8 deletions(-)
diff --git a/Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt b/Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt
-index 6f311af..5f8819a 100644
+index f453421..f8a467d 100644
--- a/Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt
+++ b/Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt
@@ -10,19 +10,28 @@ ADD_LIBRARY(
- btBulletXmlWorldImporter.h
+ btBulletXmlWorldImporter.h
string_split.cpp
string_split.h
- tinyxml.cpp
@@ -30,7 +30,7 @@
+FIND_PATH(TINYXML_INCLUDE_DIR NAMES tinyxml.h)
+MARK_AS_ADVANCED(TINYXML_INCLUDE_DIR)
+
-+# # Look for the library.
++# Look for the library.
+FIND_LIBRARY(TINYXML_LIBRARY NAMES tinyxml)
+MARK_AS_ADVANCED(TINYXML_LIBRARY)
+
@@ -45,13 +45,13 @@
SET_TARGET_PROPERTIES(BulletXmlWorldImporter PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
-- TARGET_LINK_LIBRARIES(BulletXmlWorldImporter BulletWorldImporter BulletDynamics BulletCollision BulletFileLoader LinearMath)
-+ TARGET_LINK_LIBRARIES(BulletXmlWorldImporter tinyxml BulletWorldImporter BulletDynamics BulletCollision BulletFileLoader LinearMath)
+- TARGET_LINK_LIBRARIES(BulletXmlWorldImporter BulletWorldImporter BulletDynamics BulletCollision BulletFileLoader LinearMath)
++ TARGET_LINK_LIBRARIES(BulletXmlWorldImporter tinyxml BulletWorldImporter BulletDynamics BulletCollision BulletFileLoader LinearMath)
ENDIF (BUILD_SHARED_LIBS)
IF (INSTALL_EXTRA_LIBS)
diff --git a/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp b/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
-index 5419572..cabfee8 100644
+index f3615d6..06e51e5 100644
--- a/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
+++ b/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
@@ -14,7 +14,7 @@ subject to the following restrictions:
diff -Nru bullet-2.83.6+dfsg/debian/rules bullet-2.86.1+dfsg/debian/rules
--- bullet-2.83.6+dfsg/debian/rules 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/rules 2017-02-09 08:37:48.000000000 +0000
@@ -1,10 +1,9 @@
#!/usr/bin/make -f
#export DH_VERBOSE=1
-
-VERSION=2.83
+export DEB_BUILD_MAINT_OPTIONS = hardening=+all
%:
- dh $@ --parallel --buildsystem=cmake
+ dh $@ --buildsystem=cmake
override_dh_auto_configure:
dh_auto_configure -- \
@@ -13,6 +12,7 @@
-DBUILD_BULLET2_DEMOS=off \
-DBUILD_OPENGL3_DEMOS=off \
-DBUILD_CPU_DEMOS=off \
+ -DBUILD_UNIT_TESTS=off \
-DINSTALL_LIBS=on \
-DINSTALL_EXTRA_LIBS=on \
-DCMAKE_BUILD_TYPE=RelWithDebInfo \
@@ -30,8 +30,8 @@
override_dh_compress:
dh_compress --exclude=.pdf
-override_dh_strip:
- dh_strip --dbg-package=libbullet$(VERSION)-dbg
+override_dh_install:
+ dh_install --fail-missing
override_dh_clean:
dh_clean
diff -Nru bullet-2.83.6+dfsg/debian/watch bullet-2.86.1+dfsg/debian/watch
--- bullet-2.83.6+dfsg/debian/watch 2015-11-11 16:00:35.000000000 +0000
+++ bullet-2.86.1+dfsg/debian/watch 2017-02-09 08:37:48.000000000 +0000
@@ -1,4 +1,4 @@
-version=3
+version=4
opts=repacksuffix=+dfsg,dversionmangle=s/(\da?)[\+\.\-~](?:dfsg|debian|ds|repack|repacked)\.?\d*$/$1/ \
https://github.com/bulletphysics/bullet3/tags \
.*/archive/(?:upstream/)?(?:v||version-|release-|X|R|r)(\d\S*)\.tar\.gz
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/docs/logo/bullet_logo_2010_9_1080p.png and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/docs/logo/bullet_logo_2010_9_1080p.png differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/docs/logo/bullet_logo_2010_9.emf and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/docs/logo/bullet_logo_2010_9.emf differ
diff -Nru bullet-2.83.6+dfsg/docs/logo/bullet_logo_2010_9.eps bullet-2.86.1+dfsg/docs/logo/bullet_logo_2010_9.eps
--- bullet-2.83.6+dfsg/docs/logo/bullet_logo_2010_9.eps 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/docs/logo/bullet_logo_2010_9.eps 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,1815 @@
+%!PS-Adobe-3.0 EPSF-3.0
+%%Creator: cairo 1.8.6 (http://cairographics.org)
+%%CreationDate: Sat Feb 06 02:01:21 2010
+%%Pages: 1
+%%BoundingBox: 0 0 262 96
+%%DocumentData: Clean7Bit
+%%LanguageLevel: 2
+%%EndComments
+%%BeginProlog
+/cairo_eps_state save def
+/dict_count countdictstack def
+/op_count count 1 sub def
+userdict begin
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+/BT { } bind def
+/ET { } bind def
+/pdfmark where { pop globaldict /?pdfmark /exec load put }
+ { globaldict begin /?pdfmark /pop load def /pdfmark
+ /cleartomark load def end } ifelse
+/BDC { mark 3 1 roll /BDC pdfmark } bind def
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+/cairo_store_point { /cairo_point_y exch def /cairo_point_x exch def } def
+/Tj { show currentpoint cairo_store_point } bind def
+/TJ {
+ {
+ dup
+ type /stringtype eq
+ { show } { -0.001 mul 0 cairo_font_matrix dtransform rmoveto } ifelse
+ } forall
+ currentpoint cairo_store_point
+} bind def
+/cairo_selectfont { cairo_font_matrix aload pop pop pop 0 0 6 array astore
+ cairo_font exch selectfont cairo_point_x cairo_point_y moveto } bind def
+/Tf { pop /cairo_font exch def /cairo_font_matrix where
+ { pop cairo_selectfont } if } bind def
+/Td { matrix translate cairo_font_matrix matrix concatmatrix dup
+ /cairo_font_matrix exch def dup 4 get exch 5 get cairo_store_point
+ /cairo_font where { pop cairo_selectfont } if } bind def
+/Tm { 2 copy 8 2 roll 6 array astore /cairo_font_matrix exch def
+ cairo_store_point /cairo_font where { pop cairo_selectfont } if } bind def
+/g { setgray } bind def
+/rg { setrgbcolor } bind def
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+%%EndProlog
+11 dict begin
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+43.293 47.835 m 23.574 51.515 l 26.746 70.632 l 46.469 66.952 l 43.293
+47.835 l h
+43.293 47.835 m f
+47.531 27.269 m 27.715 24.116 l 24.027 43.144 l 43.844 46.296 l 47.531
+27.269 l h
+47.531 27.269 m f
+59.633 23.691 m 59.359 4.011 l 39.605 3.753 l 39.879 23.437 l 59.633
+23.691 l h
+59.633 23.691 m f
+BT
+13.363021 0 0 14.275113 94.96445 0.00000172127 Tm
+/f-1-0 1 Tf
+<01>Tj
+14.826648 0 0 14.275113 106.759489 -0.000000768731 Tm
+/f-2-0 1 Tf
+<01>Tj
+14.826647 0 0 14.275112 119.430098 -0.000000768731 Tm
+/f-3-0 1 Tf
+<01>Tj
+/f-4-0 1 Tf
+0.794147 0.010254 Td
+<01>Tj
+/f-5-0 1 Tf
+0.803797 -0.010254 Td
+<01>Tj
+/f-6-0 1 Tf
+0.467029 0.010254 Td
+<01>Tj
+/f-7-0 1 Tf
+[<>-107<01>]TJ
+/f-8-0 1 Tf
+2.632227 -0.010254 Td
+<01>Tj
+/f-9-0 1 Tf
+[<>-154<01>]TJ
+/f-10-0 1 Tf
+[<>-199<01>]TJ
+/f-11-0 1 Tf
+[<>-130<01>]TJ
+/f-12-0 1 Tf
+[<>-129<01>]TJ
+/f-13-0 1 Tf
+[<>-155<01>]TJ
+/f-14-0 1 Tf
+[<>-109<01>]TJ
+ET
+Q
+showpage
+%%Trailer
+%%EOF
diff -Nru bullet-2.83.6+dfsg/docs/logo/bullet_logo_2010_9.svg bullet-2.86.1+dfsg/docs/logo/bullet_logo_2010_9.svg
--- bullet-2.83.6+dfsg/docs/logo/bullet_logo_2010_9.svg 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/docs/logo/bullet_logo_2010_9.svg 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,441 @@
+
+
+
+
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/docs/logo/bullet_logo_original_2005.png and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/docs/logo/bullet_logo_original_2005.png differ
Binary files /tmp/tmpdZXe1_/OlpL5jTSUe/bullet-2.83.6+dfsg/docs/pybullet_quickstartguide.pdf and /tmp/tmpdZXe1_/2Pnz05uQyp/bullet-2.86.1+dfsg/docs/pybullet_quickstartguide.pdf differ
diff -Nru bullet-2.83.6+dfsg/examples/BasicDemo/BasicExample.cpp bullet-2.86.1+dfsg/examples/BasicDemo/BasicExample.cpp
--- bullet-2.83.6+dfsg/examples/BasicDemo/BasicExample.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/BasicDemo/BasicExample.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -14,7 +14,6 @@
*/
-
#include "BasicExample.h"
#include "btBulletDynamicsCommon.h"
@@ -39,10 +38,10 @@
virtual void renderScene();
void resetCamera()
{
- float dist = 41;
+ float dist = 4;
float pitch = 52;
float yaw = 35;
- float targetPos[3]={0,0.46,0};
+ float targetPos[3]={0,0,0};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
@@ -52,7 +51,7 @@
m_guiHelper->setUpAxis(1);
createEmptyDynamicsWorld();
-
+ //m_dynamicsWorld->setGravity(btVector3(0,0,0));
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
if (m_dynamicsWorld->getDebugDrawer())
@@ -63,7 +62,7 @@
//groundShape->initializePolyhedralFeatures();
-// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+ //btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
@@ -81,7 +80,7 @@
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
- btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+ btBoxShape* colShape = createBoxShape(btVector3(.1,.1,.1));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
@@ -108,9 +107,9 @@
for(int j = 0;jautogenerateGraphicsObjects(m_dynamicsWorld);
+
}
@@ -140,7 +141,11 @@
CommonExampleInterface* BasicExampleCreateFunc(CommonExampleOptions& options)
{
return new BasicExample(options.m_guiHelper);
+
}
+B3_STANDALONE_EXAMPLE(BasicExampleCreateFunc)
+
+
diff -Nru bullet-2.83.6+dfsg/examples/BasicDemo/CMakeLists.txt bullet-2.86.1+dfsg/examples/BasicDemo/CMakeLists.txt
--- bullet-2.83.6+dfsg/examples/BasicDemo/CMakeLists.txt 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/BasicDemo/CMakeLists.txt 2017-02-17 23:43:38.000000000 +0000
@@ -1,16 +1,16 @@
# App_BasicExample is a minimal sample creating, stepping and deleting a Bullet dynamics world
INCLUDE_DIRECTORIES(
-${BULLET_PHYSICS_SOURCE_DIR}/src
+${BULLET_PHYSICS_SOURCE_DIR}/src
)
LINK_LIBRARIES(
- BulletDynamics BulletCollision LinearMath
+ BulletDynamics BulletCollision LinearMath
)
IF (WIN32)
ADD_EXECUTABLE(App_BasicExample
- BasicExample.cpp
+ BasicExample.cpp
main.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
@@ -28,4 +28,76 @@
SET_TARGET_PROPERTIES(App_BasicExample PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(App_BasicExample PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(App_BasicExample PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
-ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
\ No newline at end of file
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+
+
+
+
+
+#################
+# Standalone BasicExampleGui using OpenGL (but not the example browser)
+
+
+INCLUDE_DIRECTORIES(
+ ${BULLET_PHYSICS_SOURCE_DIR}/src
+ ${BULLET_PHYSICS_SOURCE_DIR}/btgui
+ ${BULLET_PHYSICS_SOURCE_DIR}/examples
+ ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
+)
+
+
+SET(AppBasicExampleGui_SRCS
+ BasicExample.cpp
+ ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
+ ../StandaloneMain/main_opengl_single_example.cpp
+ ../ExampleBrowser/OpenGLGuiHelper.cpp
+ ../ExampleBrowser/GL_ShapeDrawer.cpp
+ ../ExampleBrowser/CollisionShape2TriangleMesh.cpp
+ ../Utils/b3Clock.cpp
+)
+
+#this define maps StandaloneExampleCreateFunc to the right 'CreateFunc'
+ADD_DEFINITIONS(-DB3_USE_STANDALONE_EXAMPLE)
+
+LINK_LIBRARIES(
+ BulletDynamics BulletCollision LinearMath OpenGLWindow Bullet3Common
+)
+
+#some code to support OpenGL and Glew cross platform
+IF (WIN32)
+ INCLUDE_DIRECTORIES(
+ ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+ )
+ ADD_DEFINITIONS(-DGLEW_STATIC)
+ LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
+ELSE(WIN32)
+ IF(APPLE)
+ find_library(COCOA NAMES Cocoa)
+ MESSAGE(${COCOA})
+ link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
+
+ ELSE(APPLE)
+ INCLUDE_DIRECTORIES(
+ ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+ )
+ ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+ ADD_DEFINITIONS("-DGLEW_STATIC")
+ ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+
+ LINK_LIBRARIES( pthread dl )
+ ENDIF(APPLE)
+ENDIF(WIN32)
+
+
+ADD_EXECUTABLE(AppBasicExampleGui
+ ${AppBasicExampleGui_SRCS}
+)
+
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+ SET_TARGET_PROPERTIES(AppBasicExampleGui PROPERTIES DEBUG_POSTFIX "_Debug")
+ SET_TARGET_PROPERTIES(AppBasicExampleGui PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
+ SET_TARGET_PROPERTIES(AppBasicExampleGui PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+
+
diff -Nru bullet-2.83.6+dfsg/examples/BasicDemo/main.cpp bullet-2.86.1+dfsg/examples/BasicDemo/main.cpp
--- bullet-2.83.6+dfsg/examples/BasicDemo/main.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/BasicDemo/main.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -18,8 +18,13 @@
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btHashMap.h"
int main(int argc, char* argv[])
@@ -39,3 +44,4 @@
return 0;
}
+
diff -Nru bullet-2.83.6+dfsg/examples/BasicDemo/premake4.lua bullet-2.86.1+dfsg/examples/BasicDemo/premake4.lua
--- bullet-2.83.6+dfsg/examples/BasicDemo/premake4.lua 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/BasicDemo/premake4.lua 2017-02-17 23:43:38.000000000 +0000
@@ -18,5 +18,192 @@
files {
"**.cpp",
"**.h",
+ "../CommonInterfaces/*",
}
+
+project "App_BasicExampleGui"
+
+if _OPTIONS["ios"] then
+ kind "WindowedApp"
+else
+ kind "ConsoleApp"
+end
+defines {"B3_USE_STANDALONE_EXAMPLE"}
+
+includedirs {"../../src"}
+
+links {
+ "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
+}
+
+ initOpenGL()
+ initGlew()
+
+
+language "C++"
+
+files {
+ "BasicExample.cpp",
+ "*.h",
+ "../StandaloneMain/main_opengl_single_example.cpp",
+ "../ExampleBrowser/OpenGLGuiHelper.cpp",
+ "../ExampleBrowser/GL_ShapeDrawer.cpp",
+ "../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+ "../CommonInterfaces/*",
+ "../Utils/b3Clock.cpp",
+ "../Utils/b3Clock.h",
+}
+
+if os.is("Linux") then initX11() end
+
+if os.is("MacOSX") then
+ links{"Cocoa.framework"}
+end
+
+
+
+
+project "App_BasicExampleGuiWithSoftwareRenderer"
+
+if _OPTIONS["ios"] then
+ kind "WindowedApp"
+else
+ kind "ConsoleApp"
+end
+defines {"B3_USE_STANDALONE_EXAMPLE"}
+
+includedirs {"../../src"}
+
+links {
+ "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
+}
+
+ initOpenGL()
+ initGlew()
+
+
+language "C++"
+
+files {
+ "BasicExample.cpp",
+ "*.h",
+ "../StandaloneMain/main_sw_tinyrenderer_single_example.cpp",
+ "../ExampleBrowser/OpenGLGuiHelper.cpp",
+ "../ExampleBrowser/GL_ShapeDrawer.cpp",
+ "../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+ "../CommonInterfaces/*",
+ "../TinyRenderer/geometry.cpp",
+ "../TinyRenderer/model.cpp",
+ "../TinyRenderer/tgaimage.cpp",
+ "../TinyRenderer/our_gl.cpp",
+ "../TinyRenderer/TinyRenderer.cpp",
+ "../Utils/b3ResourcePath.cpp",
+ "../Utils/b3Clock.cpp",
+ "../Utils/b3Clock.h",
+}
+
+if os.is("Linux") then initX11() end
+
+if os.is("MacOSX") then
+ links{"Cocoa.framework"}
+end
+
+
+project "App_BasicExampleTinyRenderer"
+
+if _OPTIONS["ios"] then
+ kind "WindowedApp"
+else
+ kind "ConsoleApp"
+end
+defines {"B3_USE_STANDALONE_EXAMPLE"}
+
+includedirs {"../../src"}
+
+links {
+ "BulletDynamics","BulletCollision", "LinearMath", "Bullet3Common"
+}
+
+
+language "C++"
+
+files {
+ "BasicExample.cpp",
+ "*.h",
+ "../StandaloneMain/main_tinyrenderer_single_example.cpp",
+ "../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+ "../CommonInterfaces/*",
+ "../OpenGLWindow/SimpleCamera.cpp",
+ "../TinyRenderer/geometry.cpp",
+ "../TinyRenderer/model.cpp",
+ "../TinyRenderer/tgaimage.cpp",
+ "../TinyRenderer/our_gl.cpp",
+ "../TinyRenderer/TinyRenderer.cpp",
+ "../Utils/b3ResourcePath.cpp",
+ "../Utils/b3Clock.cpp",
+ "../Utils/b3Clock.h",
+}
+
+
+
+
+ if _OPTIONS["enable_openvr"] then
+
+project "App_BasicExampleVR"
+
+if _OPTIONS["ios"] then
+ kind "WindowedApp"
+else
+ kind "ConsoleApp"
+end
+defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
+
+
+
+includedirs {"../../src",
+ "../ThirdPartyLibs/openvr/headers",
+ "../ThirdPartyLibs/openvr/samples/shared"}
+
+links {
+ "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common", "openvr_api"
+}
+
+ initOpenGL()
+ initGlew()
+
+
+language "C++"
+
+files {
+ "BasicExample.cpp",
+ "*.h",
+ "../StandaloneMain/hellovr_opengl_main.cpp",
+ "../CommonInterfaces/*",
+ "../ExampleBrowser/OpenGLGuiHelper.cpp",
+ "../ExampleBrowser/GL_ShapeDrawer.cpp",
+ "../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+ "../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
+ "../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
+ "../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
+ "../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
+ "../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
+ "../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
+ "../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
+ "../Utils/b3Clock.cpp",
+ "../Utils/b3Clock.h",
+ "../Utils/ChromeTraceUtil.cpp",
+ "../Utils/ChromeTraceUtil.h",
+}
+
+if os.is("Windows") then
+ libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
+end
+
+if os.is("Linux") then initX11() end
+
+if os.is("MacOSX") then
+ links{"Cocoa.framework"}
+end
+
+end
diff -Nru bullet-2.83.6+dfsg/examples/Benchmarks/BenchmarkDemo.cpp bullet-2.86.1+dfsg/examples/Benchmarks/BenchmarkDemo.cpp
--- bullet-2.83.6+dfsg/examples/Benchmarks/BenchmarkDemo.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Benchmarks/BenchmarkDemo.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -32,10 +32,12 @@
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
+#include "../MultiThreadedDemo/ParallelFor.h"
class btDynamicsWorld;
#define NUMRAYS 500
+#define USE_PARALLEL_RAYCASTS 1
class btRigidBody;
class btBroadphaseInterface;
@@ -47,11 +49,11 @@
class btDefaultCollisionConfiguration;
-#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../MultiThreadedDemo/CommonRigidBodyMTBase.h"
-class BenchmarkDemo : public CommonRigidBodyBase
+class BenchmarkDemo : public CommonRigidBodyMTBase
{
//keep the collision shapes, for deletion/cleanup
@@ -91,7 +93,7 @@
public:
BenchmarkDemo(struct GUIHelperInterface* helper, int benchmark)
- :CommonRigidBodyBase(helper),
+ :CommonRigidBodyMTBase(helper),
m_benchmark(benchmark)
{
}
@@ -204,8 +206,47 @@
sign = -1.0;
}
- void cast (btCollisionWorld* cw)
+ void castRays( btCollisionWorld* cw, int iBegin, int iEnd )
+ {
+ for ( int i = iBegin; i < iEnd; ++i )
+ {
+
+ btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
+
+ {
+ BT_PROFILE("cw->rayTest");
+ cw->rayTest(source[i], dest[i], cb);
+ }
+ if (cb.hasHit ())
+ {
+ hit[i] = cb.m_hitPointWorld;
+ normal[i] = cb.m_hitNormalWorld;
+ normal[i].normalize ();
+ } else {
+ hit[i] = dest[i];
+ normal[i] = btVector3(1.0, 0.0, 0.0);
+ }
+
+ }
+ }
+
+ struct CastRaysLoopBody
+ {
+ btCollisionWorld* mWorld;
+ btRaycastBar2* mRaycasts;
+
+ CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {}
+
+ void forLoop( int iBegin, int iEnd ) const
+ {
+ mRaycasts->castRays(mWorld, iBegin, iEnd);
+ }
+ };
+
+ void cast (btCollisionWorld* cw, bool multiThreading = false)
{
+ BT_PROFILE("cast");
+
#ifdef USE_BT_CLOCK
frame_timer.reset ();
#endif //USE_BT_CLOCK
@@ -228,22 +269,19 @@
normal[i].normalize ();
}
#else
- for (int i = 0; i < NUMRAYS; i++)
- {
- btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
-
- cw->rayTest (source[i], dest[i], cb);
- if (cb.hasHit ())
- {
- hit[i] = cb.m_hitPointWorld;
- normal[i] = cb.m_hitNormalWorld;
- normal[i].normalize ();
- } else {
- hit[i] = dest[i];
- normal[i] = btVector3(1.0, 0.0, 0.0);
- }
-
- }
+#if USE_PARALLEL_RAYCASTS
+ if ( multiThreading )
+ {
+ CastRaysLoopBody rayLooper(cw, this);
+ int grainSize = 20; // number of raycasts per task
+ parallelFor( 0, NUMRAYS, grainSize, rayLooper );
+ }
+ else
+#endif // USE_PARALLEL_RAYCASTS
+ {
+ // single threaded
+ castRays(cw, 0, NUMRAYS);
+ }
#ifdef USE_BT_CLOCK
ms += frame_timer.getTimeMilliseconds ();
#endif //USE_BT_CLOCK
@@ -288,7 +326,7 @@
indices.push_back(indices.size());
}
- m_guiHelper->getRenderInterface()->drawLines(&points[0].m_floats[0],lineColor,points.size(),sizeof(btVector3),&indices[0],indices.size(),1);
+ m_guiHelper->getRenderInterface()->drawLines(&points[0].m_floats[0],lineColor,points.size(),sizeof(btVector3FloatData),&indices[0],indices.size(),1);
}
#if 0
@@ -354,42 +392,43 @@
setCameraDistance(btScalar(100.));
- ///collision configuration contains default setup for memory, collision setup
- btDefaultCollisionConstructionInfo cci;
- cci.m_defaultMaxPersistentManifoldPoolSize = 32768;
- m_collisionConfiguration = new btDefaultCollisionConfiguration(cci);
-
- ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
- m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
-
- m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
+ createEmptyDynamicsWorld();
+ /////collision configuration contains default setup for memory, collision setup
+ //btDefaultCollisionConstructionInfo cci;
+ //cci.m_defaultMaxPersistentManifoldPoolSize = 32768;
+ //m_collisionConfiguration = new btDefaultCollisionConfiguration(cci);
+
+ /////use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+ //m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+ //
+ //m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
- ///the maximum size of the collision world. Make sure objects stay within these boundaries
- ///Don't make the world AABB size too large, it will harm simulation quality and performance
- btVector3 worldAabbMin(-1000,-1000,-1000);
- btVector3 worldAabbMax(1000,1000,1000);
-
- btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache();
- m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache);
+ /////the maximum size of the collision world. Make sure objects stay within these boundaries
+ /////Don't make the world AABB size too large, it will harm simulation quality and performance
+ //btVector3 worldAabbMin(-1000,-1000,-1000);
+ //btVector3 worldAabbMax(1000,1000,1000);
+ //
+ //btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache();
+ //m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache);
// m_broadphase = new btSimpleBroadphase();
// m_broadphase = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
- btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
+ //btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
- m_solver = sol;
+ //m_solver = sol;
- btDiscreteDynamicsWorld* dynamicsWorld;
- m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+ //btDiscreteDynamicsWorld* dynamicsWorld;
+ //m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
///the following 3 lines increase the performance dramatically, with a little bit of loss of quality
m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; //don't recalculate friction values each frame
- dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations
+ m_dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations
//m_defaultContactProcessingThreshold = 0.f;//used when creating bodies: body->setContactProcessingThreshold(...);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
@@ -1242,7 +1281,7 @@
void BenchmarkDemo::castRays()
{
- raycastBar.cast (m_dynamicsWorld);
+ raycastBar.cast (m_dynamicsWorld, m_multithreadedWorld);
}
void BenchmarkDemo::createTest7()
@@ -1264,7 +1303,7 @@
}
m_ragdolls.clear();
- CommonRigidBodyBase::exitPhysics();
+ CommonRigidBodyMTBase::exitPhysics();
}
@@ -1273,7 +1312,7 @@
-struct CommonExampleInterface* BenchmarkCreateFunc(struct CommonExampleOptions& options)
+CommonExampleInterface* BenchmarkCreateFunc(struct CommonExampleOptions& options)
{
return new BenchmarkDemo(options.m_guiHelper,options.m_option);
}
\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/examples/CMakeLists.txt bullet-2.86.1+dfsg/examples/CMakeLists.txt
--- bullet-2.83.6+dfsg/examples/CMakeLists.txt 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/CMakeLists.txt 2017-02-17 23:43:38.000000000 +0000
@@ -1 +1,7 @@
-SUBDIRS( ExampleBrowser HelloWorld BasicDemo ThirdPartyLibs/Gwen OpenGLWindow)
+SUBDIRS( HelloWorld BasicDemo )
+IF(BUILD_BULLET3)
+ SUBDIRS( ExampleBrowser SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK OpenGLWindow )
+ENDIF()
+IF(BUILD_PYBULLET)
+ SUBDIRS(pybullet)
+ENDIF(BUILD_PYBULLET)
diff -Nru bullet-2.83.6+dfsg/examples/Collision/CollisionSdkC_Api.cpp bullet-2.86.1+dfsg/examples/Collision/CollisionSdkC_Api.cpp
--- bullet-2.83.6+dfsg/examples/Collision/CollisionSdkC_Api.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Collision/CollisionSdkC_Api.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,130 @@
+#include "CollisionSdkC_Api.h"
+#include "Internal/CollisionSdkInterface.h"
+#include "Internal/Bullet2CollisionSdk.h"
+#include "Internal/RealTimeBullet3CollisionSdk.h"
+
+ /* Collision World */
+
+plCollisionWorldHandle plCreateCollisionWorld(plCollisionSdkHandle collisionSdkHandle, int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ return sdk->createCollisionWorld( maxNumObjsCapacity, maxNumShapesCapacity, maxNumPairsCapacity);
+}
+
+void plDeleteCollisionWorld(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ if (sdk && worldHandle)
+ {
+ sdk->deleteCollisionWorld(worldHandle);
+ }
+}
+
+plCollisionSdkHandle plCreateBullet2CollisionSdk()
+{
+#ifndef DISABLE_BULLET2_COLLISION_SDK
+ return Bullet2CollisionSdk::createBullet2SdkHandle();
+#else
+ return 0;
+#endif //DISABLE_BULLET2_COLLISION_SDK
+}
+
+plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk()
+{
+#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
+ return RealTimeBullet3CollisionSdk::createRealTimeBullet3CollisionSdkHandle();
+#else
+ return 0;
+#endif
+}
+
+void plDeleteCollisionSdk(plCollisionSdkHandle collisionSdkHandle)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ delete sdk;
+}
+
+plCollisionShapeHandle plCreateSphereShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plReal radius)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ return sdk->createSphereShape(worldHandle,radius);
+
+}
+
+plCollisionShapeHandle plCreatePlaneShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle,
+ plReal planeNormalX,
+ plReal planeNormalY,
+ plReal planeNormalZ,
+ plReal planeConstant)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ return sdk->createPlaneShape(worldHandle,planeNormalX,planeNormalY,planeNormalZ,planeConstant);
+}
+
+plCollisionShapeHandle plCreateCapsuleShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plReal radius, plReal height, int capsuleAxis)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ return sdk->createCapsuleShape(worldHandle,radius,height,capsuleAxis);
+}
+
+plCollisionShapeHandle plCreateCompoundShape(plCollisionSdkHandle collisionSdkHandle,plCollisionWorldHandle worldHandle)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ return sdk->createCompoundShape(worldHandle);
+}
+void plAddChildShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ sdk->addChildShape(worldHandle,compoundShape,childShape,childPos,childOrn);
+}
+
+void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle shapeHandle)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ sdk->deleteShape(worldHandle,shapeHandle);
+}
+
+plCollisionObjectHandle plCreateCollisionObject( plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, void* userData, int userIndex, plCollisionShapeHandle cshape ,plVector3 childPos,plQuaternion childOrn)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ return sdk->createCollisionObject(worldHandle, userData, userIndex, cshape, childPos, childOrn);
+
+}
+
+void plDeleteCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle body)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ sdk->deleteCollisionObject(body);
+}
+
+void plSetCollisionObjectTransform( plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle objHandle, plVector3 position,plQuaternion orientation)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ sdk->setCollisionObjectTransform(worldHandle,objHandle,position,orientation);
+}
+
+void plAddCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ sdk->addCollisionObject(world,object);
+}
+void plRemoveCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ sdk->removeCollisionObject(world,object);
+}
+
+/* Collision Queries */
+int plCollide(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
+ lwContactPoint* pointsOut, int pointCapacity)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ return sdk->collide(worldHandle, colA,colB,pointsOut,pointCapacity);
+}
+
+void plWorldCollide(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world,
+ plNearCallback filter, void* userData)
+{
+ CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
+ sdk->collideWorld(world,filter,userData);
+}
diff -Nru bullet-2.83.6+dfsg/examples/Collision/CollisionSdkC_Api.h bullet-2.86.1+dfsg/examples/Collision/CollisionSdkC_Api.h
--- bullet-2.83.6+dfsg/examples/Collision/CollisionSdkC_Api.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Collision/CollisionSdkC_Api.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,111 @@
+#ifndef LW_COLLISION_C_API_H
+#define LW_COLLISION_C_API_H
+
+
+#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
+
+
+#ifdef BT_USE_DOUBLE_PRECISION
+typedef double plReal;
+#else
+typedef float plReal;
+#endif
+
+typedef plReal plVector3[3];
+typedef plReal plQuaternion[4];
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+
+ /** Particular collision SDK (C-API) */
+ PL_DECLARE_HANDLE(plCollisionSdkHandle);
+
+ /** Collision world, belonging to some collision SDK (C-API)*/
+ PL_DECLARE_HANDLE(plCollisionWorldHandle);
+
+ /** Collision object that can be part of a collision World (C-API)*/
+ PL_DECLARE_HANDLE(plCollisionObjectHandle);
+
+ /** Collision Shape/Geometry, property of a collision object (C-API)*/
+ PL_DECLARE_HANDLE(plCollisionShapeHandle);
+
+ /* Collision SDK */
+
+ extern plCollisionSdkHandle plCreateBullet2CollisionSdk();
+
+#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
+ extern plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk();
+#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
+
+// extern plCollisionSdkHandle plCreateCustomCollisionSdk();
+
+ extern void plDeleteCollisionSdk(plCollisionSdkHandle collisionSdkHandle);
+
+ //extern int plGetSdkWorldCreationIntParameter();
+ //extern int plSetSdkWorldCreationIntParameter(int newValue);
+
+ /* Collision World */
+
+ extern plCollisionWorldHandle plCreateCollisionWorld(plCollisionSdkHandle collisionSdkHandle, int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
+ extern void plDeleteCollisionWorld(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world);
+
+
+ extern void plAddCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object);
+ extern void plRemoveCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object);
+
+
+ /* Collision Object */
+
+ extern plCollisionObjectHandle plCreateCollisionObject( plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape , plVector3 startPosition,plQuaternion startOrientation);
+ extern void plDeleteCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle body);
+ extern void plSetCollisionObjectTransform( plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle objHandle, plVector3 startPosition,plQuaternion startOrientation);
+
+ /* Collision Shape definition */
+
+ extern plCollisionShapeHandle plCreateSphereShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius);
+ extern plCollisionShapeHandle plCreateCapsuleShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius, plReal height, int capsuleAxis);
+ extern plCollisionShapeHandle plCreatePlaneShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle,
+ plReal planeNormalX,
+ plReal planeNormalY,
+ plReal planeNormalZ,
+ plReal planeConstant);
+ extern plCollisionShapeHandle plCreateCompoundShape(plCollisionSdkHandle sdk,plCollisionWorldHandle worldHandle);
+ extern void plAddChildShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
+
+ extern void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
+
+
+
+ /* Contact Results */
+
+ struct lwContactPoint
+ {
+ plVector3 m_ptOnAWorld;
+ plVector3 m_ptOnBWorld;
+ plVector3 m_normalOnB;
+ plReal m_distance;
+ };
+
+ /* Collision Filtering */
+ typedef void(*plNearCallback)(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData,
+ plCollisionObjectHandle objA, plCollisionObjectHandle objB);
+
+
+ /* Collision Queries */
+ extern int plCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
+ lwContactPoint* pointsOut, int pointCapacity);
+
+ extern void plWorldCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world,
+ plNearCallback filter, void* userData);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif //LW_COLLISION_C_API_H
+
diff -Nru bullet-2.83.6+dfsg/examples/Collision/CollisionTutorialBullet2.cpp bullet-2.86.1+dfsg/examples/Collision/CollisionTutorialBullet2.cpp
--- bullet-2.83.6+dfsg/examples/Collision/CollisionTutorialBullet2.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Collision/CollisionTutorialBullet2.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,391 @@
+
+#include "CollisionTutorialBullet2.h"
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "LinearMath/btTransform.h"
+
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../RenderingExamples/TimeSeriesCanvas.h"
+#include "stb_image/stb_image.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3Matrix3x3.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include "CollisionSdkC_Api.h"
+#include "LinearMath/btQuickprof.h"
+
+///Not Invented Here link reminder http://www.joelonsoftware.com/articles/fog0000000007.html
+
+///todo: use the 'userData' to prevent this use of global variables
+static int gTotalPoints = 0;
+const int sPointCapacity = 10000;
+const int sNumCompounds = 10;
+const int sNumSpheres = 10;
+
+lwContactPoint pointsOut[sPointCapacity];
+int numNearCallbacks = 0;
+static btVector4 sColors[4] =
+{
+ btVector4(1,0.7,0.7,1),
+ btVector4(1,1,0.7,1),
+ btVector4(0.7,1,0.7,1),
+ btVector4(0.7,1,1,1),
+};
+
+void myNearCallback(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB)
+{
+ numNearCallbacks++;
+ int remainingCapacity = sPointCapacity-gTotalPoints;
+ btAssert(remainingCapacity>0);
+
+ if (remainingCapacity>0)
+ {
+ lwContactPoint* pointPtr = &pointsOut[gTotalPoints];
+ int numNewPoints = plCollide(sdkHandle, worldHandle, objA,objB,pointPtr,remainingCapacity);
+ btAssert(numNewPoints <= remainingCapacity);
+ gTotalPoints+=numNewPoints;
+ }
+}
+
+class CollisionTutorialBullet2 : public CommonExampleInterface
+{
+ CommonGraphicsApp* m_app;
+ GUIHelperInterface* m_guiHelper;
+ int m_tutorialIndex;
+
+ TimeSeriesCanvas* m_timeSeriesCanvas0;
+
+ plCollisionSdkHandle m_collisionSdkHandle;
+ plCollisionWorldHandle m_collisionWorldHandle;
+
+// int m_stage;
+// int m_counter;
+
+public:
+
+ CollisionTutorialBullet2(GUIHelperInterface* guiHelper, int tutorialIndex)
+ :m_app(guiHelper->getAppInterface()),
+ m_guiHelper(guiHelper),
+ m_tutorialIndex(tutorialIndex),
+ m_timeSeriesCanvas0(0),
+ m_collisionSdkHandle(0),
+ m_collisionWorldHandle(0)
+// m_stage(0),
+// m_counter(0)
+ {
+
+ gTotalPoints = 0;
+ m_app->setUpAxis(1);
+ m_app->m_renderer->enableBlend(true);
+
+ switch (m_tutorialIndex)
+ {
+ case TUT_SPHERE_PLANE_RTB3:
+ case TUT_SPHERE_PLANE_BULLET2:
+ {
+
+ if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
+ {
+ m_collisionSdkHandle = plCreateBullet2CollisionSdk();
+ } else
+ {
+#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
+ m_collisionSdkHandle = plCreateRealTimeBullet3CollisionSdk();
+#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
+ }
+ if (m_collisionSdkHandle)
+ {
+ int maxNumObjsCapacity=1024;
+ int maxNumShapesCapacity=1024;
+ int maxNumPairsCapacity=16384;
+ btAlignedObjectArray colliders;
+ m_collisionWorldHandle = plCreateCollisionWorld(m_collisionSdkHandle,maxNumObjsCapacity,maxNumShapesCapacity,maxNumPairsCapacity);
+ //create objects, do query etc
+ {
+ float radius = 1.f;
+
+ void* userPointer = 0;
+ {
+ for (int j=0;jcreateCollisionObjectGraphicsObject(colObj,color);
+
+ }
+ if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
+ {
+ btCollisionShape* colShape = (btCollisionShape*) compoundShape;
+ m_guiHelper->createCollisionShapeGraphicsObject(colShape);
+ } else
+ {
+ }
+
+ {
+ btVector3 pos(j*sNumSpheres*1.5,-2.4,0);
+ btQuaternion orn(0,0,0,1);
+ plCollisionObjectHandle colObjHandle = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, -1,compoundShape,pos,orn);
+ if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
+ {
+ btCollisionObject* colObj = (btCollisionObject*) colObjHandle;
+ btVector4 color=sColors[j&3];
+ m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
+ colliders.push_back(colObjHandle);
+ plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObjHandle);
+ }
+ }
+ }
+ }
+ }
+
+ {
+ plCollisionShapeHandle colShape = plCreatePlaneShape(m_collisionSdkHandle, m_collisionWorldHandle,0,1,0,-3.5);
+ btVector3 pos(0,0,0);
+ btQuaternion orn(0,0,0,1);
+ void* userPointer = 0;
+ plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, 0,colShape,pos,orn);
+ colliders.push_back(colObj);
+ plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObj);
+ }
+
+ int numContacts = plCollide(m_collisionSdkHandle,m_collisionWorldHandle,colliders[0],colliders[1],pointsOut,sPointCapacity);
+ printf("numContacts = %d\n", numContacts);
+ void* myUserPtr = 0;
+
+ plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
+ printf("total points=%d\n",gTotalPoints);
+
+ //plRemoveCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,colObj);
+ //plDeleteCollisionObject(m_collisionSdkHandle,colObj);
+ //plDeleteShape(m_collisionSdkHandle,colShape);
+ }
+
+
+ /*
+ m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Constant Velocity");
+
+ m_timeSeriesCanvas0 ->setupTimeSeries(2,60, 0);
+ m_timeSeriesCanvas0->addDataSource("X position (m)", 255,0,0);
+ m_timeSeriesCanvas0->addDataSource("X velocity (m/s)", 0,0,255);
+ m_timeSeriesCanvas0->addDataSource("dX/dt (m/s)", 0,0,0);
+ */
+ break;
+ }
+
+
+ default:
+ {
+
+ m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Unknown");
+ m_timeSeriesCanvas0 ->setupTimeSeries(1,60, 0);
+
+ }
+ };
+
+
+
+ {
+
+ int boxId = m_app->registerCubeShape(100,0.01,100);
+ b3Vector3 pos = b3MakeVector3(0,-3.5,0);
+ b3Quaternion orn(0,0,0,1);
+ b3Vector4 color = b3MakeVector4(1,1,1,1);
+ b3Vector3 scaling = b3MakeVector3(1,1,1);
+ m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
+ }
+
+
+ {
+ int textureIndex = -1;
+
+ if (1)
+ {
+ int width,height,n;
+
+ const char* filename = "data/cube.png";
+ const unsigned char* image=0;
+
+ const char* prefix[]={"./","../","../../","../../../","../../../../"};
+ int numprefix = sizeof(prefix)/sizeof(const char*);
+
+ for (int i=0;!image && im_renderer->registerTexture(image,width,height);
+ }
+ }
+
+ }
+
+ m_app->m_renderer->writeTransforms();
+ }
+ virtual ~CollisionTutorialBullet2()
+ {
+ delete m_timeSeriesCanvas0;
+
+ plDeleteCollisionWorld(m_collisionSdkHandle,m_collisionWorldHandle);
+
+ plDeleteCollisionSdk(m_collisionSdkHandle);
+
+ m_timeSeriesCanvas0 = 0;
+
+ m_app->m_renderer->enableBlend(false);
+ }
+
+
+ virtual void initPhysics()
+ {
+ }
+ virtual void exitPhysics()
+ {
+
+ }
+
+
+ virtual void stepSimulation(float deltaTime)
+ {
+#ifndef BT_NO_PROFILE
+ CProfileManager::Reset();
+#endif
+
+
+
+ void* myUserPtr = 0;
+
+ gTotalPoints = 0;
+ numNearCallbacks = 0;
+ {
+ BT_PROFILE("plWorldCollide");
+ if (m_collisionSdkHandle && m_collisionWorldHandle)
+ {
+ plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
+ }
+ }
+
+#if 0
+ switch (m_tutorialIndex)
+ {
+ case TUT_SPHERE_SPHERE:
+ {
+ if (m_timeSeriesCanvas0)
+ {
+ float xPos = 0.f;
+ float xVel = 1.f;
+ m_timeSeriesCanvas0->insertDataAtCurrentTime(xPos,0,true);
+ m_timeSeriesCanvas0->insertDataAtCurrentTime(xVel,1,true);
+ }
+ break;
+ }
+
+
+ default:
+ {
+ }
+
+ };
+#endif
+
+ if (m_timeSeriesCanvas0)
+ m_timeSeriesCanvas0->nextTick();
+
+
+
+ // m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
+
+
+ m_app->m_renderer->writeTransforms();
+#ifndef BT_NO_PROFILE
+ CProfileManager::Increment_Frame_Counter();
+#endif
+ }
+ virtual void renderScene()
+ {
+ if (m_app && m_app->m_renderer)
+ {
+ m_app->m_renderer->renderScene();
+
+ m_app->m_renderer->clearZBuffer();
+
+ m_app->drawText3D("X",1,0,0,1);
+ m_app->drawText3D("Y",0,1,0,1);
+ m_app->drawText3D("Z",0,0,1,1);
+
+
+ for (int i=0;im_renderer->drawLine(contact.m_ptOnAWorld,contact.m_ptOnBWorld,color,lineWidth);
+ }
+ }
+
+ }
+
+
+
+ virtual void physicsDebugDraw(int debugDrawFlags)
+ {
+
+
+ }
+ virtual bool mouseMoveCallback(float x,float y)
+ {
+ return false;
+ }
+ virtual bool mouseButtonCallback(int button, int state, float x, float y)
+ {
+ return false;
+ }
+ virtual bool keyboardCallback(int key, int state)
+ {
+ return false;
+ }
+
+
+ virtual void resetCamera()
+ {
+ float dist = 10.5;
+ float pitch = 136;
+ float yaw = 32;
+ float targetPos[3]={0,0,0};
+ if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
+ {
+ m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
+ m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
+ m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
+ m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
+ }
+ }
+};
+
+class CommonExampleInterface* CollisionTutorialBullet2CreateFunc(struct CommonExampleOptions& options)
+{
+ return new CollisionTutorialBullet2(options.m_guiHelper, options.m_option);
+}
+
diff -Nru bullet-2.83.6+dfsg/examples/Collision/CollisionTutorialBullet2.h bullet-2.86.1+dfsg/examples/Collision/CollisionTutorialBullet2.h
--- bullet-2.83.6+dfsg/examples/Collision/CollisionTutorialBullet2.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Collision/CollisionTutorialBullet2.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,12 @@
+#ifndef COLLISION_TUTORIAL_H
+#define COLLISION_TUTORIAL_H
+
+enum EnumCollisionTutorialTypes
+{
+ TUT_SPHERE_PLANE_BULLET2=0,
+ TUT_SPHERE_PLANE_RTB3,
+};
+
+class CommonExampleInterface* CollisionTutorialBullet2CreateFunc(struct CommonExampleOptions& options);
+
+#endif //COLLISION_TUTORIAL_H
diff -Nru bullet-2.83.6+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.cpp bullet-2.86.1+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.cpp
--- bullet-2.83.6+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,279 @@
+#include "Bullet2CollisionSdk.h"
+#include "btBulletCollisionCommon.h"
+
+struct Bullet2CollisionSdkInternalData
+{
+ btCollisionConfiguration* m_collisionConfig;
+ btCollisionDispatcher* m_dispatcher;
+ btBroadphaseInterface* m_aabbBroadphase;
+ btCollisionWorld* m_collisionWorld;
+
+ Bullet2CollisionSdkInternalData()
+ :
+ m_collisionConfig(0),
+ m_dispatcher(0),
+ m_aabbBroadphase(0),
+ m_collisionWorld(0)
+ {
+ }
+};
+
+
+Bullet2CollisionSdk::Bullet2CollisionSdk()
+{
+ m_internalData = new Bullet2CollisionSdkInternalData;
+}
+
+Bullet2CollisionSdk::~Bullet2CollisionSdk()
+{
+ delete m_internalData;
+ m_internalData = 0;
+}
+
+plCollisionWorldHandle Bullet2CollisionSdk::createCollisionWorld(int /*maxNumObjsCapacity*/, int /*maxNumShapesCapacity*/, int /*maxNumPairsCapacity*/)
+{
+ m_internalData->m_collisionConfig = new btDefaultCollisionConfiguration;
+
+ m_internalData->m_dispatcher = new btCollisionDispatcher(m_internalData->m_collisionConfig);
+ m_internalData->m_aabbBroadphase = new btDbvtBroadphase();
+ m_internalData->m_collisionWorld = new btCollisionWorld(m_internalData->m_dispatcher,
+ m_internalData->m_aabbBroadphase,
+ m_internalData->m_collisionConfig);
+ return (plCollisionWorldHandle) m_internalData->m_collisionWorld;
+}
+
+void Bullet2CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
+{
+ btCollisionWorld* world = (btCollisionWorld*) worldHandle;
+ btAssert(m_internalData->m_collisionWorld == world);
+
+ if (m_internalData->m_collisionWorld == world)
+ {
+ delete m_internalData->m_collisionWorld;
+ m_internalData->m_collisionWorld=0;
+ delete m_internalData->m_aabbBroadphase;
+ m_internalData->m_aabbBroadphase=0;
+ delete m_internalData->m_dispatcher;
+ m_internalData->m_dispatcher=0;
+ delete m_internalData->m_collisionConfig;
+ m_internalData->m_collisionConfig=0;
+ }
+}
+
+plCollisionShapeHandle Bullet2CollisionSdk::createSphereShape(plCollisionWorldHandle /*worldHandle*/, plReal radius)
+{
+ btSphereShape* sphereShape = new btSphereShape(radius);
+ return (plCollisionShapeHandle) sphereShape;
+}
+
+plCollisionShapeHandle Bullet2CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
+ plReal planeNormalX,
+ plReal planeNormalY,
+ plReal planeNormalZ,
+ plReal planeConstant)
+{
+ btStaticPlaneShape* planeShape = new btStaticPlaneShape(btVector3(planeNormalX,planeNormalY,planeNormalZ),planeConstant);
+ return (plCollisionShapeHandle) planeShape;
+}
+
+plCollisionShapeHandle Bullet2CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
+ plReal radius,
+ plReal height,
+ int capsuleAxis)
+{
+ btCapsuleShape* capsule = 0;
+
+ switch (capsuleAxis)
+ {
+ case 0:
+ {
+ capsule = new btCapsuleShapeX(radius,height);
+ break;
+ }
+ case 1:
+ {
+ capsule = new btCapsuleShape(radius,height);
+ break;
+ }
+ case 2:
+ {
+ capsule = new btCapsuleShapeZ(radius,height);
+ break;
+ }
+ default:
+ {
+ btAssert(0);
+ }
+ }
+ return (plCollisionShapeHandle)capsule;
+}
+
+plCollisionShapeHandle Bullet2CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
+{
+ return (plCollisionShapeHandle) new btCompoundShape();
+}
+void Bullet2CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShapeHandle, plCollisionShapeHandle childShapeHandle,plVector3 childPos,plQuaternion childOrn)
+{
+ btCompoundShape* compound = (btCompoundShape*) compoundShapeHandle;
+ btCollisionShape* childShape = (btCollisionShape*) childShapeHandle;
+ btTransform localTrans;
+ localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2]));
+ localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3]));
+ compound->addChildShape(localTrans,childShape);
+
+}
+
+void Bullet2CollisionSdk::deleteShape(plCollisionWorldHandle /*worldHandle*/, plCollisionShapeHandle shapeHandle)
+{
+ btCollisionShape* shape = (btCollisionShape*) shapeHandle;
+ delete shape;
+}
+
+void Bullet2CollisionSdk::addCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
+{
+ btCollisionWorld* world = (btCollisionWorld*) worldHandle;
+ btCollisionObject* colObj = (btCollisionObject*) objectHandle;
+ btAssert(world && colObj);
+ if (world == m_internalData->m_collisionWorld && colObj)
+ {
+ world->addCollisionObject(colObj);
+ }
+}
+void Bullet2CollisionSdk::removeCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
+{
+ btCollisionWorld* world = (btCollisionWorld*) worldHandle;
+ btCollisionObject* colObj = (btCollisionObject*) objectHandle;
+ btAssert(world && colObj);
+ if (world == m_internalData->m_collisionWorld && colObj)
+ {
+ world->removeCollisionObject(colObj);
+ }
+}
+
+plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle shapeHandle ,
+ plVector3 startPosition,plQuaternion startOrientation )
+
+{
+ btCollisionShape* colShape = (btCollisionShape*) shapeHandle;
+ btAssert(colShape);
+ if (colShape)
+ {
+ btCollisionObject* colObj= new btCollisionObject;
+ colObj->setUserIndex(userIndex);
+ colObj->setUserPointer(userPointer);
+ colObj->setCollisionShape(colShape);
+ btTransform tr;
+ tr.setOrigin(btVector3(startPosition[0],startPosition[1],startPosition[2]));
+ tr.setRotation(btQuaternion(startOrientation[0],startOrientation[1],startOrientation[2],startOrientation[3]));
+ colObj->setWorldTransform(tr);
+ return (plCollisionObjectHandle) colObj;
+ }
+ return 0;
+}
+
+void Bullet2CollisionSdk::deleteCollisionObject(plCollisionObjectHandle bodyHandle)
+{
+ btCollisionObject* colObj = (btCollisionObject*) bodyHandle;
+ delete colObj;
+}
+void Bullet2CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle /*worldHandle*/, plCollisionObjectHandle bodyHandle,
+ plVector3 position,plQuaternion orientation )
+{
+ btCollisionObject* colObj = (btCollisionObject*) bodyHandle;
+ btTransform tr;
+ tr.setOrigin(btVector3(position[0],position[1],position[2]));
+ tr.setRotation(btQuaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
+ colObj->setWorldTransform(tr);
+}
+
+
+struct Bullet2ContactResultCallback : public btCollisionWorld::ContactResultCallback
+{
+ int m_numContacts;
+ lwContactPoint* m_pointsOut;
+ int m_pointCapacity;
+
+ Bullet2ContactResultCallback(lwContactPoint* pointsOut, int pointCapacity) :
+ m_numContacts(0),
+ m_pointsOut(pointsOut),
+ m_pointCapacity(pointCapacity)
+ {
+ }
+ virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
+ {
+ if (m_numContactsm_collisionWorld && colObjA && colObjB)
+ {
+ Bullet2ContactResultCallback cb(pointsOut,pointCapacity);
+ world->contactPairTest(colObjA,colObjB,cb);
+ return cb.m_numContacts;
+ }
+ return 0;
+}
+
+static plNearCallback gTmpFilter;
+static int gNearCallbackCount = 0;
+static plCollisionSdkHandle gCollisionSdk = 0;
+static plCollisionWorldHandle gCollisionWorldHandle = 0;
+
+static void* gUserData = 0;
+
+void Bullet2NearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
+{
+ btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
+ btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
+ plCollisionObjectHandle obA =(plCollisionObjectHandle) colObj0;
+ plCollisionObjectHandle obB =(plCollisionObjectHandle) colObj1;
+ if(gTmpFilter)
+ {
+ gTmpFilter(gCollisionSdk,gCollisionWorldHandle, gUserData,obA,obB);
+ gNearCallbackCount++;
+ }
+}
+
+void Bullet2CollisionSdk::collideWorld( plCollisionWorldHandle worldHandle,
+ plNearCallback filter, void* userData)
+{
+ btCollisionWorld* world = (btCollisionWorld*) worldHandle;
+ //chain the near-callback
+ gTmpFilter = filter;
+ gNearCallbackCount = 0;
+ gUserData = userData;
+ gCollisionSdk = (plCollisionSdkHandle)this;
+ gCollisionWorldHandle = worldHandle;
+ m_internalData->m_dispatcher->setNearCallback(Bullet2NearCallback);
+ world->performDiscreteCollisionDetection();
+ gTmpFilter = 0;
+}
+
+plCollisionSdkHandle Bullet2CollisionSdk::createBullet2SdkHandle()
+{
+ return (plCollisionSdkHandle) new Bullet2CollisionSdk;
+}
diff -Nru bullet-2.83.6+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.h bullet-2.86.1+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.h
--- bullet-2.83.6+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,56 @@
+#ifndef BULLET2_COLLISION_SDK_H
+#define BULLET2_COLLISION_SDK_H
+
+#include "CollisionSdkInterface.h"
+
+class Bullet2CollisionSdk : public CollisionSdkInterface
+{
+ struct Bullet2CollisionSdkInternalData* m_internalData;
+
+public:
+
+ Bullet2CollisionSdk();
+
+ virtual ~Bullet2CollisionSdk();
+
+ virtual plCollisionWorldHandle createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
+
+ virtual void deleteCollisionWorld(plCollisionWorldHandle worldHandle);
+
+ virtual plCollisionShapeHandle createSphereShape(plCollisionWorldHandle worldHandle, plReal radius);
+
+ virtual plCollisionShapeHandle createPlaneShape(plCollisionWorldHandle worldHandle,
+ plReal planeNormalX,
+ plReal planeNormalY,
+ plReal planeNormalZ,
+ plReal planeConstant);
+
+ virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
+ plReal radius,
+ plReal height,
+ int capsuleAxis);
+
+ virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle);
+ virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn);
+
+ virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
+
+ virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
+ virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
+
+ virtual plCollisionObjectHandle createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape ,
+ plVector3 startPosition,plQuaternion startOrientation );
+ virtual void deleteCollisionObject(plCollisionObjectHandle body);
+ virtual void setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
+ plVector3 position,plQuaternion orientation );
+
+ virtual int collide(plCollisionWorldHandle world,plCollisionObjectHandle colA, plCollisionObjectHandle colB,
+ lwContactPoint* pointsOut, int pointCapacity);
+
+ virtual void collideWorld( plCollisionWorldHandle world,
+ plNearCallback filter, void* userData);
+
+ static plCollisionSdkHandle createBullet2SdkHandle();
+};
+
+#endif //BULLET2_COLLISION_SDK_H
diff -Nru bullet-2.83.6+dfsg/examples/Collision/Internal/CollisionSdkInterface.h bullet-2.86.1+dfsg/examples/Collision/Internal/CollisionSdkInterface.h
--- bullet-2.83.6+dfsg/examples/Collision/Internal/CollisionSdkInterface.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Collision/Internal/CollisionSdkInterface.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,55 @@
+#ifndef COLLISION_SDK_INTERFACE_H
+#define COLLISION_SDK_INTERFACE_H
+
+#include "../CollisionSdkC_Api.h"
+
+class CollisionSdkInterface
+{
+public:
+
+ virtual ~CollisionSdkInterface()
+ {
+ }
+
+ virtual plCollisionWorldHandle createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity) = 0;
+
+ virtual void deleteCollisionWorld(plCollisionWorldHandle worldHandle) = 0;
+
+ virtual plCollisionShapeHandle createSphereShape(plCollisionWorldHandle worldHandle, plReal radius) = 0;
+
+ virtual plCollisionShapeHandle createPlaneShape(plCollisionWorldHandle worldHandle,
+ plReal planeNormalX,
+ plReal planeNormalY,
+ plReal planeNormalZ,
+ plReal planeConstant) = 0;
+
+ virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
+ plReal radius,
+ plReal height,
+ int capsuleAxis) = 0;
+
+ virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle) = 0;
+ virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn)=0;
+
+ virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape) = 0;
+
+ virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)=0;
+ virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)=0;
+
+ virtual plCollisionObjectHandle createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape ,
+ plVector3 startPosition,plQuaternion startOrientation )=0;
+ virtual void deleteCollisionObject(plCollisionObjectHandle body)=0;
+ virtual void setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
+ plVector3 position,plQuaternion orientation )=0;
+
+ virtual int collide(plCollisionWorldHandle world,plCollisionObjectHandle colA, plCollisionObjectHandle colB,
+ lwContactPoint* pointsOut, int pointCapacity)=0;
+
+ virtual void collideWorld( plCollisionWorldHandle world,
+ plNearCallback filter, void* userData)=0;
+
+
+};
+
+#endif //COLLISION_SDK_INTERFACE_H
+
diff -Nru bullet-2.83.6+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp bullet-2.86.1+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp
--- bullet-2.83.6+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,492 @@
+#define BLAAT
+#include "RealTimeBullet3CollisionSdk.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
+#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
+
+//convert the opaque pointer to int
+struct RTB3_ColliderOpaque2Int
+{
+ union
+ {
+ plCollisionObjectHandle m_ptrValue;
+ int m_intValue;
+ };
+};
+struct RTB3_ShapeOpaque2Int
+{
+ union
+ {
+ plCollisionShapeHandle m_ptrValue;
+ int m_intValue;
+ };
+};
+
+enum RTB3ShapeTypes
+{
+ RTB3_SHAPE_SPHERE=0,
+ RTB3_SHAPE_PLANE,
+ RTB3_SHAPE_CAPSULE,
+ MAX_NUM_SINGLE_SHAPE_TYPES,
+ RTB3_SHAPE_COMPOUND_INTERNAL,
+
+
+};
+
+//we start at 1, so that the 0 index is 'invalid' just like a nullptr
+#define START_COLLIDABLE_INDEX 1
+#define START_SHAPE_INDEX 1
+
+struct RTB3CollisionWorld
+{
+ b3AlignedObjectArray m_collidableUserPointers;
+ b3AlignedObjectArray m_collidableUserIndices;
+ b3AlignedObjectArray m_collidablePositions;
+ b3AlignedObjectArray m_collidableOrientations;
+ b3AlignedObjectArray m_collidableTransforms;
+
+ b3AlignedObjectArray m_collidables;
+
+ b3AlignedObjectArray m_childShapes;
+ b3AlignedObjectArray m_localSpaceAabbs;
+ b3AlignedObjectArray m_worldSpaceAabbs;
+ b3AlignedObjectArray m_planeFaces;
+ b3AlignedObjectArray m_compoundOverlappingPairs;
+
+ union
+ {
+ int m_nextFreeShapeIndex;
+ void* m_nextFreeShapePtr;
+ };
+ int m_nextFreeCollidableIndex;
+ int m_nextFreePlaneFaceIndex;
+
+ RTB3CollisionWorld()
+ :
+ m_nextFreeShapeIndex(START_SHAPE_INDEX),
+ m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
+ m_nextFreePlaneFaceIndex(0)//this value is never exposed to the user, so we can start from 0
+ {
+ }
+};
+
+struct RealTimeBullet3CollisionSdkInternalData
+{
+ b3AlignedObjectArray m_collisionWorlds;
+};
+
+RealTimeBullet3CollisionSdk::RealTimeBullet3CollisionSdk()
+{
+// int szCol = sizeof(b3Collidable);
+// int szShap = sizeof(b3GpuChildShape);
+// int szComPair = sizeof(b3CompoundOverlappingPair);
+ m_internalData = new RealTimeBullet3CollisionSdkInternalData;
+}
+
+RealTimeBullet3CollisionSdk::~RealTimeBullet3CollisionSdk()
+{
+ delete m_internalData;
+ m_internalData=0;
+}
+
+plCollisionWorldHandle RealTimeBullet3CollisionSdk::createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity)
+{
+ RTB3CollisionWorld* world = new RTB3CollisionWorld();
+ world->m_collidables.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
+ world->m_collidablePositions.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
+ world->m_collidableOrientations.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
+ world->m_collidableTransforms.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
+ world->m_collidableUserPointers.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
+ world->m_collidableUserIndices.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
+ world->m_childShapes.resize(maxNumShapesCapacity+START_SHAPE_INDEX);
+ world->m_planeFaces.resize(maxNumShapesCapacity);
+
+ world->m_compoundOverlappingPairs.resize(maxNumPairsCapacity);
+
+ m_internalData->m_collisionWorlds.push_back(world);
+ return (plCollisionWorldHandle) world;
+}
+
+void RealTimeBullet3CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
+{
+ RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
+ int loc = m_internalData->m_collisionWorlds.findLinearSearch(world);
+ b3Assert(loc >=0 && locm_collisionWorlds.size());
+ if (loc >=0 && locm_collisionWorlds.size())
+ {
+ m_internalData->m_collisionWorlds.remove(world);
+ delete world;
+ }
+}
+
+plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisionWorldHandle worldHandle, plReal radius)
+{
+ RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
+ b3Assert(world->m_nextFreeShapeIndexm_childShapes.size());
+ if (world->m_nextFreeShapeIndexm_childShapes.size())
+ {
+ b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
+ shape.m_childPosition.setZero();
+ shape.m_childOrientation.setValue(0,0,0,1);
+ shape.m_radius = radius;
+ shape.m_shapeType = RTB3_SHAPE_SPHERE;
+ world->m_nextFreeShapeIndex++;
+ return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
+ }
+ return 0;
+}
+
+plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
+ plReal planeNormalX,
+ plReal planeNormalY,
+ plReal planeNormalZ,
+ plReal planeConstant)
+{
+ RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
+ b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
+
+ if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
+ {
+ b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
+ shape.m_childPosition.setZero();
+ shape.m_childOrientation.setValue(0,0,0,1);
+ world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX,planeNormalY,planeNormalZ,planeConstant);
+ shape.m_shapeIndex = world->m_nextFreePlaneFaceIndex++;
+ shape.m_shapeType = RTB3_SHAPE_PLANE;
+ world->m_nextFreeShapeIndex++;
+ return (plCollisionShapeHandle)world->m_nextFreeShapePtr ;
+ }
+ return 0;
+}
+
+plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
+ plReal radius,
+ plReal height,
+ int capsuleAxis)
+{
+ RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
+ b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
+
+ if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
+ {
+ b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
+ shape.m_childPosition.setZero();
+ shape.m_childOrientation.setValue(0,0,0,1);
+ shape.m_radius = radius;
+ shape.m_height = height;
+ shape.m_shapeIndex = capsuleAxis;
+ shape.m_shapeType = RTB3_SHAPE_CAPSULE;
+ world->m_nextFreeShapeIndex++;
+ return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
+ }
+ return 0;
+}
+
+plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
+{
+ RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
+ b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
+
+ if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
+ {
+ b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
+ shape.m_childPosition.setZero();
+ shape.m_childOrientation.setValue(0,0,0,1);
+ shape.m_numChildShapes = 0;
+ shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
+ world->m_nextFreeShapeIndex++;
+ return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
+ }
+ return 0;
+}
+
+void RealTimeBullet3CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn)
+{
+
+}
+void RealTimeBullet3CollisionSdk::deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape)
+{
+ ///todo
+ //deleting shapes would involve a garbage collection phase, and mess up all user indices
+ //this would be solved by one more in-direction, at some performance penalty for certain operations
+ //for now, we don't delete and eventually run out-of-shapes
+}
+
+void RealTimeBullet3CollisionSdk::addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
+{
+ ///createCollisionObject already adds it to the world
+}
+
+void RealTimeBullet3CollisionSdk::removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
+{
+ ///todo, see deleteShape
+}
+
+plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer,
+ int userIndex, plCollisionShapeHandle shapeHandle ,
+ plVector3 startPosition,plQuaternion startOrientation )
+{
+ RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
+ b3Assert(world->m_nextFreeCollidableIndex < world->m_collidables.size());
+ if (world->m_nextFreeCollidableIndex < world->m_collidables.size())
+ {
+ b3Collidable& collidable = world->m_collidables[world->m_nextFreeCollidableIndex];
+ world->m_collidablePositions[world->m_nextFreeCollidableIndex].setValue(startPosition[0],startPosition[1],startPosition[2]);
+ world->m_collidableOrientations[world->m_nextFreeCollidableIndex].setValue(startOrientation[0],startOrientation[1],startOrientation[2],startOrientation[3]);
+ world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setOrigin(world->m_collidablePositions[world->m_nextFreeCollidableIndex]);
+ world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setRotation(world->m_collidableOrientations[world->m_nextFreeCollidableIndex]);
+ world->m_collidableUserPointers[world->m_nextFreeCollidableIndex] = userPointer;
+ world->m_collidableUserIndices[world->m_nextFreeCollidableIndex] = userIndex;
+ RTB3_ShapeOpaque2Int caster;
+ caster.m_ptrValue = shapeHandle;
+ int shapeIndex = caster.m_intValue;
+ collidable.m_shapeIndex = shapeIndex;
+ b3GpuChildShape& shape = world->m_childShapes[shapeIndex];
+ collidable.m_shapeType = shape.m_shapeType;
+ collidable.m_numChildShapes = 1;
+
+ switch (collidable.m_shapeType)
+ {
+ case RTB3_SHAPE_SPHERE:
+ {
+ break;
+ }
+ case RTB3_SHAPE_PLANE:
+ {
+ break;
+ }
+ case RTB3_SHAPE_COMPOUND_INTERNAL:
+ {
+
+ break;
+ }
+ default:
+ {
+ b3Assert(0);
+ }
+ }
+
+ /*case SHAPE_COMPOUND_OF_CONVEX_HULLS:
+ case SHAPE_COMPOUND_OF_SPHERES:
+ case SHAPE_COMPOUND_OF_CAPSULES:
+ {
+ collidable.m_numChildShapes = shape.m_numChildShapes;
+ collidable.m_shapeIndex = shape.m_shapeIndex;
+ break;
+ */
+ world->m_nextFreeCollidableIndex++;
+ return (plCollisionObjectHandle)world->m_nextFreeShapePtr;
+ }
+ return 0;
+}
+
+void RealTimeBullet3CollisionSdk::deleteCollisionObject(plCollisionObjectHandle body)
+{
+ ///todo, see deleteShape
+}
+
+void RealTimeBullet3CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
+ plVector3 position,plQuaternion orientation )
+{
+}
+
+struct plContactCache
+{
+ lwContactPoint* pointsOut;
+ int pointCapacity;
+ int numAddedPoints;
+};
+
+typedef void (*plDetectCollisionFunc)(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
+ plContactCache* contactCache);
+
+void detectCollisionDummy(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
+ plContactCache* contactCache)
+{
+ (void)world;
+ (void)colA,(void)colB;
+ (void)contactCache;
+}
+
+void plVecCopy(float* dst,const b3Vector3& src)
+{
+ dst[0] = src.x;
+ dst[1] = src.y;
+ dst[2] = src.z;
+}
+void plVecCopy(double* dst,const b3Vector3& src)
+{
+ dst[0] = src.x;
+ dst[1] = src.y;
+ dst[2] = src.z;
+}
+
+void ComputeClosestPointsPlaneSphere(const b3Vector3& planeNormalWorld, b3Scalar planeConstant, const b3Vector3& spherePosWorld,b3Scalar sphereRadius, plContactCache* contactCache)
+{
+ if (contactCache->numAddedPoints < contactCache->pointCapacity)
+ {
+ lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
+ b3Scalar t = -(spherePosWorld.dot(-planeNormalWorld)+planeConstant);
+ b3Vector3 intersectionPoint = spherePosWorld+t*-planeNormalWorld;
+ b3Scalar distance = t-sphereRadius;
+ if (distance<=0)
+ {
+ pointOut.m_distance = distance;
+ plVecCopy(pointOut.m_ptOnBWorld,intersectionPoint);
+ plVecCopy(pointOut.m_ptOnAWorld,spherePosWorld+sphereRadius*-planeNormalWorld);
+ plVecCopy(pointOut.m_normalOnB,planeNormalWorld);
+ contactCache->numAddedPoints++;
+ }
+ }
+}
+
+void ComputeClosestPointsSphereSphere(b3Scalar sphereARadius, const b3Vector3& sphereAPosWorld, b3Scalar sphereBRadius, const b3Vector3& sphereBPosWorld, plContactCache* contactCache) {
+
+ if (contactCache->numAddedPoints < contactCache->pointCapacity)
+ {
+ lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
+ b3Vector3 diff = sphereAPosWorld-sphereBPosWorld;
+
+ b3Scalar len = diff.length();
+ pointOut.m_distance = len - (sphereARadius+sphereBRadius);
+ if (pointOut.m_distance<=0)
+ {
+ b3Vector3 normOnB = b3MakeVector3(1,0,0);
+ if (len > B3_EPSILON) {
+ normOnB = diff / len;
+ }
+
+ plVecCopy(pointOut.m_normalOnB,normOnB);
+ b3Vector3 ptAWorld = sphereAPosWorld - sphereARadius*normOnB;
+ plVecCopy(pointOut.m_ptOnAWorld,ptAWorld);
+ plVecCopy(pointOut.m_ptOnBWorld,ptAWorld-normOnB*pointOut.m_distance);
+
+ contactCache->numAddedPoints++;
+ }
+ }
+}
+
+B3_FORCE_INLINE void detectCollisionSphereSphere(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
+ plContactCache* contactCache)
+{
+
+ const b3Scalar radiusA = world->m_childShapes[shapeIndexA].m_radius;
+ const b3Scalar radiusB = world->m_childShapes[shapeIndexB].m_radius;
+
+ const b3Transform& trA = world->m_collidableTransforms[colA];
+ const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
+ b3Vector3 spherePosAWorld = trA(sphereALocalPos);
+ //b3Vector3 spherePosAWorld = b3QuatRotate( world->m_collidableOrientations[colA], sphereALocalPos ) + (world->m_collidablePositions[colA]);
+
+ const b3Transform& trB = world->m_collidableTransforms[colB];
+ const b3Vector3& sphereBLocalPos = world->m_childShapes[shapeIndexB].m_childPosition;
+ b3Vector3 spherePosBWorld = trB(sphereBLocalPos);
+ //b3Vector3 spherePosBWorld = b3QuatRotate( world->m_collidableOrientations[colB], sphereBLocalPos ) + (world->m_collidablePositions[colB]);
+
+ ComputeClosestPointsSphereSphere(radiusA,spherePosAWorld,radiusB,spherePosBWorld,contactCache);
+}
+
+void detectCollisionSpherePlane(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
+ plContactCache* contactCache)
+{
+ const b3Transform& trA = world->m_collidableTransforms[colA];
+ const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
+ b3Vector3 spherePosAWorld = trA(sphereALocalPos);
+
+
+ int planeFaceIndex = world->m_childShapes[shapeIndexB].m_shapeIndex;
+ b3Vector3 planeNormal = world->m_planeFaces[planeFaceIndex].m_plane;
+ b3Scalar planeConstant = planeNormal[3];
+ planeNormal[3] = 0.f;
+
+ ComputeClosestPointsPlaneSphere(planeNormal, planeConstant, spherePosAWorld,world->m_childShapes[shapeIndexA].m_radius, contactCache);
+
+}
+
+void detectCollisionPlaneSphere(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
+ plContactCache* contactCache)
+{
+ (void)world;
+ (void)colA,(void)shapeIndexA,(void)colB,(void)shapeIndexB;
+ (void)contactCache;
+}
+
+
+
+#ifdef RTB3_SHAPE_CAPSULE
+plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES,][MAX_NUM_SINGLE_SHAPE_TYPES,] = {
+ {detectCollisionSphereSphere ,detectCollisionSpherePlane ,detectCollisionSphereCapsule},
+ {detectCollisionPlaneSphere ,detectCollisionDummy ,detectCollisionPlaneCapsule},
+ {detectCollisionCapsuleSphere ,detectCollisionCapsulePlane ,detectCollisionCapsuleCapsule},
+};
+#else
+plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES][MAX_NUM_SINGLE_SHAPE_TYPES] = {
+ {detectCollisionSphereSphere ,detectCollisionSpherePlane},
+ {detectCollisionPlaneSphere ,detectCollisionDummy },
+};
+
+#endif
+
+int RealTimeBullet3CollisionSdk::collide(plCollisionWorldHandle worldHandle,plCollisionObjectHandle colAHandle, plCollisionObjectHandle colBHandle,
+ lwContactPoint* pointsOutOrg, int pointCapacity)
+{
+
+ RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
+ RTB3_ColliderOpaque2Int caster;
+ caster.m_ptrValue =colAHandle;
+ int colAIndex = caster.m_intValue;
+ caster.m_ptrValue = colBHandle;
+ int colBIndex = caster.m_intValue;
+ const b3Collidable& colA = world->m_collidables[colAIndex];
+ const b3Collidable& colB = world->m_collidables[colBIndex];
+
+ plContactCache contactCache;
+ contactCache.pointCapacity = pointCapacity;
+ contactCache.pointsOut = pointsOutOrg;
+ contactCache.numAddedPoints = 0;
+
+ for (int i=0;im_childShapes[colA.m_shapeIndex+i].m_shapeType]
+ // [world->m_childShapes[colB.m_shapeIndex+j].m_shapeType](world,colAIndex,colA.m_shapeIndex+i,colBIndex,colB.m_shapeIndex+j,&contactCache);
+ }
+ }
+ return contactCache.numAddedPoints;
+ }
+
+ return 0;
+}
+
+void RealTimeBullet3CollisionSdk::collideWorld( plCollisionWorldHandle worldHandle,
+ plNearCallback filter, void* userData)
+{
+ RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
+ if (filter)
+ {
+ RTB3_ColliderOpaque2Int caster;
+ plCollisionObjectHandle colA;
+ plCollisionObjectHandle colB;
+ for (int i=START_COLLIDABLE_INDEX;im_nextFreeCollidableIndex;i++)
+ {
+
+ for (int j=i+1;jm_nextFreeCollidableIndex;j++)
+ {
+ caster.m_intValue = i;
+ colA = caster.m_ptrValue;
+ caster.m_intValue = j;
+ colB = caster.m_ptrValue;
+ filter((plCollisionSdkHandle)this,worldHandle,userData,colA,colB);
+ }
+ }
+ }
+}
+
+plCollisionSdkHandle RealTimeBullet3CollisionSdk::createRealTimeBullet3CollisionSdkHandle()
+{
+ return (plCollisionSdkHandle) new RealTimeBullet3CollisionSdk();
+}
\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.h bullet-2.86.1+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.h
--- bullet-2.83.6+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,55 @@
+#ifndef REAL_TIME_COLLISION_SDK_H
+#define REAL_TIME_COLLISION_SDK_H
+
+#include "CollisionSdkInterface.h"
+
+class RealTimeBullet3CollisionSdk : public CollisionSdkInterface
+{
+ struct RealTimeBullet3CollisionSdkInternalData* m_internalData;
+
+public:
+
+ RealTimeBullet3CollisionSdk();
+
+ virtual ~RealTimeBullet3CollisionSdk();
+
+ virtual plCollisionWorldHandle createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
+
+ virtual void deleteCollisionWorld(plCollisionWorldHandle worldHandle);
+
+ virtual plCollisionShapeHandle createSphereShape(plCollisionWorldHandle worldHandle, plReal radius);
+ virtual plCollisionShapeHandle createPlaneShape(plCollisionWorldHandle worldHandle,
+ plReal planeNormalX,
+ plReal planeNormalY,
+ plReal planeNormalZ,
+ plReal planeConstant);
+ virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
+ plReal radius,
+ plReal height,
+ int capsuleAxis);
+
+ virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle);
+ virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn);
+
+ virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
+
+ virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
+ virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
+
+ virtual plCollisionObjectHandle createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape ,
+ plVector3 startPosition,plQuaternion startOrientation );
+ virtual void deleteCollisionObject(plCollisionObjectHandle body);
+ virtual void setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
+ plVector3 position,plQuaternion orientation );
+
+ virtual int collide(plCollisionWorldHandle world,plCollisionObjectHandle colA, plCollisionObjectHandle colB,
+ lwContactPoint* pointsOut, int pointCapacity);
+
+ virtual void collideWorld( plCollisionWorldHandle world,
+ plNearCallback filter, void* userData);
+
+ static plCollisionSdkHandle createRealTimeBullet3CollisionSdkHandle();
+};
+
+
+#endif //REAL_TIME_COLLISION_SDK_H
diff -Nru bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonCameraInterface.h bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonCameraInterface.h
--- bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonCameraInterface.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonCameraInterface.h 2017-02-17 23:43:38.000000000 +0000
@@ -3,9 +3,15 @@
struct CommonCameraInterface
{
+ virtual ~CommonCameraInterface(){}
virtual void getCameraProjectionMatrix(float m[16])const = 0;
virtual void getCameraViewMatrix(float m[16]) const = 0;
+ virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16])=0;
+ virtual void disableVRCamera()=0;
+ virtual bool isVRCamera() const =0;
+ virtual void setVRCameraOffsetTransform(const float offset[16])=0;
+
virtual void getCameraTargetPosition(float pos[3]) const = 0;
virtual void getCameraPosition(float pos[3]) const = 0;
@@ -30,6 +36,9 @@
virtual void setAspectRatio(float ratio) = 0;
virtual float getAspectRatio() const = 0;
+
+ virtual float getCameraFrustumFar() const = 0;
+ virtual float getCameraFrustumNear() const = 0;
};
#endif //COMMON_CAMERA_INTERFACE_H
diff -Nru bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonExampleInterface.h bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonExampleInterface.h
--- bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonExampleInterface.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonExampleInterface.h 2017-02-17 23:43:38.000000000 +0000
@@ -10,12 +10,14 @@
//Those are optional, some examples will use them others don't. Each example should work with them being 0.
int m_option;
const char* m_fileName;
+ class SharedMemoryInterface* m_sharedMem;
CommonExampleOptions(struct GUIHelperInterface* helper, int option=0)
:m_guiHelper(helper),
m_option(option),
- m_fileName(0)
+ m_fileName(0),
+ m_sharedMem(0)
{
}
@@ -35,6 +37,7 @@
virtual void initPhysics()=0;
virtual void exitPhysics()=0;
+ virtual void updateGraphics(){}
virtual void stepSimulation(float deltaTime)=0;
virtual void renderScene()=0;
virtual void physicsDebugDraw(int debugFlags)=0;//for now we reuse the flags in Bullet/src/LinearMath/btIDebugDraw.h
@@ -44,8 +47,48 @@
virtual bool mouseButtonCallback(int button, int state, float x, float y)=0;
virtual bool keyboardCallback(int key, int state)=0;
+ virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis) {}
+ virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
+
+ virtual void processCommandLineArgs(int argc, char* argv[]){};
+};
+
+class ExampleEntries
+{
+
+public:
+
+ virtual ~ExampleEntries() {}
+
+
+ virtual void initExampleEntries()=0;
+
+ virtual void initOpenCLExampleEntries()=0;
+
+ virtual int getNumRegisteredExamples()=0;
+
+ virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index)=0;
+
+ virtual const char* getExampleName(int index)=0;
+
+ virtual const char* getExampleDescription(int index)=0;
+
+ virtual int getExampleOption(int index)=0;
+
};
+CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options);
+
+#ifdef B3_USE_STANDALONE_EXAMPLE
+ #define B3_STANDALONE_EXAMPLE(ExampleFunc) CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options)\
+ {\
+ return ExampleFunc(options);\
+ }
+#else//B3_USE_STANDALONE_EXAMPLE
+ #define B3_STANDALONE_EXAMPLE(ExampleFunc)
+#endif //B3_USE_STANDALONE_EXAMPLE
+
+
#endif //COMMON_EXAMPLE_INTERFACE_H
diff -Nru bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonGraphicsAppInterface.h bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonGraphicsAppInterface.h
--- bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonGraphicsAppInterface.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonGraphicsAppInterface.h 2017-02-17 23:43:38.000000000 +0000
@@ -15,10 +15,10 @@
int upAxis;
float gridColor[4];
- DrawGridData()
+ DrawGridData(int upAxis=1)
:gridSize(10),
upOffset(0.001f),
- upAxis(1)
+ upAxis(upAxis)
{
gridColor[0] = 0.6f;
gridColor[1] = 0.6f;
@@ -66,9 +66,9 @@
m_mouseYpos(0.f),
m_mouseInitialized(false)
{
- m_backgroundColorRGB[0] = 0.9;
- m_backgroundColorRGB[1] = 0.9;
- m_backgroundColorRGB[2] = 1;
+ m_backgroundColorRGB[0] = 0.7;
+ m_backgroundColorRGB[1] = 0.7;
+ m_backgroundColorRGB[2] = 0.8;
}
virtual ~CommonGraphicsApp()
{
@@ -76,6 +76,9 @@
virtual void dumpNextFrameToPng(const char* pngFilename){}
virtual void dumpFramesToVideo(const char* mp4Filename){}
+
+ virtual void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes){}
+
virtual void getBackgroundColor(float* red, float* green, float* blue) const
{
if (red)
@@ -117,10 +120,12 @@
virtual int getUpAxis() const = 0;
virtual void swapBuffer() = 0;
- virtual void drawText( const char* txt, int posX, int posY) = 0;
+ virtual void drawText( const char* txt, int posX, int posY, float size = 1.0f) = 0;
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
+ virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)=0;
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1)=0;
virtual int registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1) = 0;
+
virtual void registerGrid(int xres, int yres, float color0[4], float color1[4])=0;
diff -Nru bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonGUIHelperInterface.h bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonGUIHelperInterface.h
--- bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonGUIHelperInterface.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonGUIHelperInterface.h 2017-02-17 23:43:38.000000000 +0000
@@ -29,10 +29,11 @@
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)=0;
- virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) =0;
-
+ virtual int registerTexture(const unsigned char* texels, int width, int height)=0;
+ virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) = 0;
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
-
+ virtual void removeAllGraphicsInstances()=0;
+
virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
virtual CommonParameterInterface* getParameterInterface()=0;
@@ -45,11 +46,38 @@
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
+ virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
+ unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
+ float* depthBuffer, int depthBufferSizeInPixels,
+ int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
+ {
+ copyCameraImageData(viewMatrix,projectionMatrix,pixelsRGBA,rgbaBufferSizeInPixels,
+ depthBuffer,depthBufferSizeInPixels,
+ 0,0,
+ startPixelIndex,destinationWidth,
+ destinationHeight,numPixelsCopied);
+ }
+
+ virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
+ unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
+ float* depthBuffer, int depthBufferSizeInPixels,
+ int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+ int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)=0;
+
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
+
+ virtual int addUserDebugText3D( const char* txt, const double posisionXYZ[3], const double textColorRGB[3], double size, double lifeTime){return -1;};
+ virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime ){return -1;};
+ virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue){return -1;};
+ virtual int readUserDebugParameter(int itemUniqueId, double* value) { return 0;}
+
+ virtual void removeUserDebugItem( int debugItemUniqueId){};
+ virtual void removeAllUserDebugItems( ){};
+
};
@@ -71,10 +99,11 @@
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
- virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) { return -1; }
-
- virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) { return -1;}
-
+ virtual int registerTexture(const unsigned char* texels, int width, int height){return -1;}
+ virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId){return -1;}
+ virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;}
+ virtual void removeAllGraphicsInstances(){}
+
virtual Common2dCanvasInterface* get2dCanvasInterface()
{
return 0;
@@ -103,6 +132,17 @@
{
}
+ virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
+ unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
+ float* depthBuffer, int depthBufferSizeInPixels,
+ int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+ int startPixelIndex, int width, int height, int* numPixelsCopied)
+
+ {
+ if (numPixelsCopied)
+ *numPixelsCopied = 0;
+ }
+
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
}
@@ -110,7 +150,22 @@
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
{
}
-
+
+ virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
+ {
+ return -1;
+ }
+ virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )
+ {
+ return -1;
+ }
+ virtual void removeUserDebugItem( int debugItemUniqueId)
+ {
+ }
+ virtual void removeAllUserDebugItems( )
+ {
+ }
+
};
#endif //GUI_HELPER_INTERFACE_H
diff -Nru bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonMultiBodyBase.h bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonMultiBodyBase.h
--- bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonMultiBodyBase.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonMultiBodyBase.h 2017-02-17 23:43:38.000000000 +0000
@@ -18,10 +18,49 @@
#include "CommonWindowInterface.h"
#include "CommonCameraInterface.h"
+enum MyFilterModes
+{
+ FILTER_GROUPAMASKB_AND_GROUPBMASKA2=0,
+ FILTER_GROUPAMASKB_OR_GROUPBMASKA2
+};
+
+struct MyOverlapFilterCallback2 : public btOverlapFilterCallback
+{
+ int m_filterMode;
+
+ MyOverlapFilterCallback2()
+ :m_filterMode(FILTER_GROUPAMASKB_AND_GROUPBMASKA2)
+ {
+ }
+
+ virtual ~MyOverlapFilterCallback2()
+ {}
+ // return true when pairs need collision
+ virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
+ {
+ if (m_filterMode==FILTER_GROUPAMASKB_AND_GROUPBMASKA2)
+ {
+ bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+ collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+ return collides;
+ }
+
+ if (m_filterMode==FILTER_GROUPAMASKB_OR_GROUPBMASKA2)
+ {
+ bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+ collides = collides || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+ return collides;
+ }
+ return false;
+ }
+};
+
struct CommonMultiBodyBase : public CommonExampleInterface
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray m_collisionShapes;
+ MyOverlapFilterCallback2* m_filterCallback;
+ btOverlappingPairCache* m_pairCache;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btMultiBodyConstraintSolver* m_solver;
@@ -41,7 +80,9 @@
struct GUIHelperInterface* m_guiHelper;
CommonMultiBodyBase(GUIHelperInterface* helper)
- :m_broadphase(0),
+ :m_filterCallback(0),
+ m_pairCache(0),
+ m_broadphase(0),
m_dispatcher(0),
m_solver(0),
m_collisionConfiguration(0),
@@ -59,11 +100,16 @@
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
-
+ m_filterCallback = new MyOverlapFilterCallback2();
+
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
- m_broadphase = new btDbvtBroadphase();
+ m_pairCache = new btHashedOverlappingPairCache();
+
+ m_pairCache->setOverlapFilterCallback(m_filterCallback);
+
+ m_broadphase = new btDbvtBroadphase(m_pairCache);//btSimpleBroadphase();
m_solver = new btMultiBodyConstraintSolver;
@@ -97,6 +143,20 @@
{
m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
}
+
+ for (i = m_dynamicsWorld->getNumMultiBodyConstraints() - 1; i >= 0; i--)
+ {
+ btMultiBodyConstraint* mbc = m_dynamicsWorld->getMultiBodyConstraint(i);
+ m_dynamicsWorld->removeMultiBodyConstraint(mbc);
+ delete mbc;
+ }
+
+ for (i = m_dynamicsWorld->getNumMultibodies() - 1; i >= 0; i--)
+ {
+ btMultiBody* mb = m_dynamicsWorld->getMultiBody(i);
+ m_dynamicsWorld->removeMultiBody(mb);
+ delete mb;
+ }
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
@@ -118,14 +178,25 @@
m_collisionShapes.clear();
delete m_dynamicsWorld;
+ m_dynamicsWorld = 0;
delete m_solver;
+ m_solver=0;
delete m_broadphase;
+ m_broadphase=0;
delete m_dispatcher;
-
+ m_dispatcher=0;
+
+ delete m_pairCache;
+ m_pairCache = 0;
+
+ delete m_filterCallback;
+ m_filterCallback = 0;
+
delete m_collisionConfiguration;
+ m_collisionConfiguration=0;
}
virtual void syncPhysicsToGraphics()
diff -Nru bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonParameterInterface.h bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonParameterInterface.h
--- bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonParameterInterface.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonParameterInterface.h 2017-02-17 23:43:38.000000000 +0000
@@ -4,7 +4,7 @@
#pragma once
-typedef void (*SliderParamChangedCallback) (float newVal);
+typedef void (*SliderParamChangedCallback) (float newVal, void* userPointer);
#include "LinearMath/btScalar.h"
struct SliderParams
@@ -16,6 +16,7 @@
btScalar* m_paramValuePointer;
void* m_userPointer;
bool m_clampToNotches;
+ bool m_clampToIntegers;
bool m_showValues;
SliderParams(const char* name, btScalar* targetValuePointer)
@@ -25,7 +26,8 @@
m_callback(0),
m_paramValuePointer(targetValuePointer),
m_userPointer(0),
- m_clampToNotches(false),
+ m_clampToNotches(true),
+ m_clampToIntegers(false),
m_showValues(true)
{
}
@@ -33,23 +35,48 @@
};
typedef void (*ButtonParamChangedCallback) (int buttonId, bool buttonState, void* userPointer);
+typedef void (*ComboBoxCallback) (int combobox, const char* item, void* userPointer);
struct ButtonParams
{
const char* m_name;
int m_buttonId;
void* m_userPointer;
+ bool m_isTrigger;
+ bool m_initialState;
ButtonParamChangedCallback m_callback;
ButtonParams(const char* name, int buttonId, bool isTrigger)
:m_name(name),
m_buttonId(buttonId),
m_userPointer(0),
+ m_isTrigger(isTrigger),
+ m_initialState(false),
m_callback(0)
{
}
};
+struct ComboBoxParams
+{
+ int m_comboboxId;
+ int m_numItems;
+ const char** m_items;
+ int m_startItem;
+ ComboBoxCallback m_callback;
+ void* m_userPointer;
+
+ ComboBoxParams()
+ :m_comboboxId(-1),
+ m_numItems(0),
+ m_items(0),
+ m_startItem(0),
+ m_callback(0),
+ m_userPointer(0)
+ {
+ }
+};
+
struct CommonParameterInterface
{
@@ -57,6 +84,7 @@
virtual ~CommonParameterInterface() {}
virtual void registerSliderFloatParameter(SliderParams& params)=0;
virtual void registerButtonParameter(ButtonParams& params)=0;
+ virtual void registerComboBox(ComboBoxParams& params)=0;
virtual void syncParameters()=0;
virtual void removeAllParameters()=0;
diff -Nru bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonRenderInterface.h bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonRenderInterface.h
--- bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonRenderInterface.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonRenderInterface.h 2017-02-17 23:43:38.000000000 +0000
@@ -19,16 +19,18 @@
struct CommonRenderInterface
{
+ virtual ~CommonRenderInterface() {}
virtual void init()=0;
virtual void updateCamera(int upAxis)=0;
virtual void removeAllInstances() = 0;
-
+
virtual const CommonCameraInterface* getActiveCamera() const =0;
virtual CommonCameraInterface* getActiveCamera()=0;
virtual void setActiveCamera(CommonCameraInterface* cam)=0;
- virtual void renderScene()=0;
+ virtual void renderScene()=0;
+ virtual void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE){};
virtual int getScreenWidth() = 0;
virtual int getScreenHeight() = 0;
@@ -43,14 +45,23 @@
virtual void drawPoint(const double* position, const double color[4], double pointDrawSize)=0;
virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1)=0;
virtual void updateShape(int shapeIndex, const float* vertices)=0;
- virtual int registerTexture(const unsigned char* texels, int width, int height)=0;
+
+ virtual int registerTexture(const unsigned char* texels, int width, int height)=0;
+ virtual void updateTexture(int textureIndex, const unsigned char* texels)=0;
+ virtual void activateTexture(int textureIndex)=0;
+
virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)=0;
virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0;
+ virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex)=0;
+ virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex)=0;
+
+ virtual int getTotalNumInstances() const = 0;
virtual void writeTransforms()=0;
virtual void enableBlend(bool blend)=0;
+ virtual void clearZBuffer()=0;
//This is internal access to OpenGL3+ features, mainly used for OpenCL-OpenGL interop
//Only the GLInstancingRenderer supports it, just return 0 otherwise.
diff -Nru bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonRigidBodyBase.h bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonRigidBodyBase.h
--- bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonRigidBodyBase.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonRigidBodyBase.h 2017-02-17 23:43:38.000000000 +0000
@@ -446,9 +446,15 @@
virtual void renderScene()
{
- m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
+ {
+
+ m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
+ }
- m_guiHelper->render(m_dynamicsWorld);
+ {
+
+ m_guiHelper->render(m_dynamicsWorld);
+ }
}
};
diff -Nru bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonWindowInterface.h bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonWindowInterface.h
--- bullet-2.83.6+dfsg/examples/CommonInterfaces/CommonWindowInterface.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonWindowInterface.h 2017-02-17 23:43:38.000000000 +0000
@@ -119,7 +119,9 @@
virtual float getRetinaScale() const =0;
virtual void setAllowRetina(bool allow) =0;
-
+
+ virtual int getWidth() const = 0;
+ virtual int getHeight() const = 0;
virtual int fileOpenDialog(char* fileName, int maxFileNameLength) = 0;
diff -Nru bullet-2.83.6+dfsg/examples/Constraints/ConstraintDemo.cpp bullet-2.86.1+dfsg/examples/Constraints/ConstraintDemo.cpp
--- bullet-2.83.6+dfsg/examples/Constraints/ConstraintDemo.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Constraints/ConstraintDemo.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -56,7 +56,7 @@
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
- virtual void keyboardCallback(unsigned char key, int x, int y);
+ virtual bool keyboardCallback(int key, int state);
// for cone-twist motor driving
float m_Time;
@@ -66,7 +66,6 @@
-const int numObjects = 3;
#define ENABLE_ALL_DEMOS 1
@@ -839,10 +838,11 @@
}
#endif
-void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
+bool AllConstraintDemo::keyboardCallback(int key, int state)
{
- (void)x;
- (void)y;
+
+ bool handled = false;
+
switch (key)
{
case 'O' :
@@ -870,6 +870,7 @@
printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
}
}
+ handled = true;
break;
default :
{
@@ -877,6 +878,8 @@
}
break;
}
+ return handled;
+
}
class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options)
diff -Nru bullet-2.83.6+dfsg/examples/Constraints/Dof6Spring2Setup.cpp bullet-2.86.1+dfsg/examples/Constraints/Dof6Spring2Setup.cpp
--- bullet-2.83.6+dfsg/examples/Constraints/Dof6Spring2Setup.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Constraints/Dof6Spring2Setup.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -443,8 +443,6 @@
/////// servo motor: flip its target periodically
#ifdef USE_6DOF2
static float servoNextFrame = -1;
- btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
- btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
if(servoNextFrame < 0)
{
m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
diff -Nru bullet-2.83.6+dfsg/examples/Constraints/TestHingeTorque.cpp bullet-2.86.1+dfsg/examples/Constraints/TestHingeTorque.cpp
--- bullet-2.83.6+dfsg/examples/Constraints/TestHingeTorque.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Constraints/TestHingeTorque.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -4,8 +4,8 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
-short collisionFilterGroup = short(btBroadphaseProxy::CharacterFilter);
-short collisionFilterMask = short(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
+int collisionFilterGroup = int(btBroadphaseProxy::CharacterFilter);
+int collisionFilterMask = int(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
static btScalar radius(0.2);
struct TestHingeTorque : public CommonRigidBodyBase
@@ -123,9 +123,7 @@
{ // create a door using hinge constraint attached to the world
int numLinks = 2;
- bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
- bool canSleep = false;
- bool selfCollide = false;
+ // bool selfCollide = false;
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
@@ -223,7 +221,7 @@
btTransform start; start.setIdentity();
btVector3 groundOrigin(-0.4f, 3.f, 0.f);
- btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
+ // btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
btQuaternion groundOrn(btVector3(0,1,0),0.25*SIMD_PI);
groundOrigin[upAxis] -=.5;
diff -Nru bullet-2.83.6+dfsg/examples/Evolution/NN3DWalkers.cpp bullet-2.86.1+dfsg/examples/Evolution/NN3DWalkers.cpp
--- bullet-2.83.6+dfsg/examples/Evolution/NN3DWalkers.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Evolution/NN3DWalkers.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,1058 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "NN3DWalkers.h"
+
+#include "btBulletDynamicsCommon.h"
+
+#include "LinearMath/btIDebugDraw.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btHashMap.h"
+class btBroadphaseInterface;
+class btCollisionShape;
+class btOverlappingPairCache;
+class btCollisionDispatcher;
+class btConstraintSolver;
+struct btCollisionAlgorithmCreateFunc;
+class btDefaultCollisionConfiguration;
+class NNWalker;
+
+#include "NN3DWalkersTimeWarpBase.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+#include "../Utils/b3ReferenceFrameHelper.hpp"
+#include "../RenderingExamples/TimeSeriesCanvas.h"
+
+static btScalar gRootBodyRadius = 0.25f;
+static btScalar gRootBodyHeight = 0.1f;
+static btScalar gLegRadius = 0.1f;
+static btScalar gLegLength = 0.45f;
+static btScalar gForeLegLength = 0.75f;
+static btScalar gForeLegRadius = 0.08f;
+
+static btScalar gParallelEvaluations = 10.0f;
+
+#ifndef SIMD_PI_4
+#define SIMD_PI_4 0.5 * SIMD_HALF_PI
+#endif
+
+#ifndef SIMD_PI_8
+#define SIMD_PI_8 0.25 * SIMD_HALF_PI
+#endif
+
+#ifndef RANDOM_MOVEMENT
+#define RANDOM_MOVEMENT false
+#endif
+
+#ifndef RANDOMIZE_DIMENSIONS
+#define RANDOMIZE_DIMENSIONS false
+#endif
+
+#ifndef NUM_WALKERS
+#define NUM_WALKERS 50
+#endif
+
+#ifndef EVALUATION_TIME
+#define EVALUATION_TIME 10 // s
+#endif
+
+#ifndef REAP_QTY
+#define REAP_QTY 0.3f // number of walkers reaped based on their bad performance
+#endif
+
+#ifndef SOW_CROSSOVER_QTY
+#define SOW_CROSSOVER_QTY 0.2f // this means REAP_QTY-SOW_CROSSOVER_QTY = NEW_RANDOM_BREED_QTY
+#endif
+
+#ifndef SOW_ELITE_QTY
+#define SOW_ELITE_QTY 0.2f // number of walkers kept using an elitist strategy
+#endif
+
+#ifndef SOW_MUTATION_QTY
+#define SOW_MUTATION_QTY 0.5f // SOW_ELITE_QTY + SOW_MUTATION_QTY + REAP_QTY = 1
+#endif
+
+#ifndef MUTATION_RATE
+#define MUTATION_RATE 0.5f // the mutation rate of for the walker with the worst performance
+#endif
+
+#ifndef SOW_ELITE_PARTNER
+#define SOW_ELITE_PARTNER 0.8f
+#endif
+
+#define NUM_LEGS 6
+#define BODYPART_COUNT (2 * NUM_LEGS + 1)
+#define JOINT_COUNT (BODYPART_COUNT - 1)
+#define DRAW_INTERPENETRATIONS false
+
+void* GROUND_ID = (void*)1;
+
+class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
+{
+ btScalar m_Time;
+ btScalar m_SpeedupTimestamp;
+ btScalar m_targetAccumulator;
+ btScalar m_targetFrequency;
+ btScalar m_motorStrength;
+ int m_evaluationsQty;
+ int m_nextReaped;
+
+ btAlignedObjectArray m_walkersInPopulation;
+
+ TimeSeriesCanvas* m_timeSeriesCanvas;
+
+public:
+ NN3DWalkersExample(struct GUIHelperInterface* helper)
+ :NN3DWalkersTimeWarpBase(helper),
+ m_Time(0),
+ m_SpeedupTimestamp(0),
+ m_targetAccumulator(0),
+ m_targetFrequency(3),
+ m_motorStrength(0.5f),
+ m_evaluationsQty(0),
+ m_nextReaped(0),
+ m_timeSeriesCanvas(0)
+ {
+ }
+
+ virtual ~NN3DWalkersExample()
+ {
+ delete m_timeSeriesCanvas;
+ }
+
+ void initPhysics();
+
+ virtual void exitPhysics();
+
+ void spawnWalker(int index, const btVector3& startOffset, bool bFixed);
+
+ virtual bool keyboardCallback(int key, int state);
+
+ bool detectCollisions();
+
+ void resetCamera()
+ {
+ float dist = 11;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3]={0,0.46,0};
+ m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+ }
+
+ // Evaluation
+
+ void update(const btScalar timeSinceLastTick);
+
+ void updateEvaluations(const btScalar timeSinceLastTick);
+
+ void scheduleEvaluations();
+
+ void drawMarkings();
+
+ // Reaper
+
+ void rateEvaluations();
+
+ void reap();
+
+ void sow();
+
+ void crossover(NNWalker* mother, NNWalker* father, NNWalker* offspring);
+
+ void mutate(NNWalker* mutant, btScalar mutationRate);
+
+ NNWalker* getRandomElite();
+
+ NNWalker* getRandomNonElite();
+
+ NNWalker* getNextReaped();
+
+ void printWalkerConfigs();
+
+};
+
+static NN3DWalkersExample* nn3DWalkers = NULL;
+
+class NNWalker
+{
+ btDynamicsWorld* m_ownerWorld;
+ btCollisionShape* m_shapes[BODYPART_COUNT];
+ btRigidBody* m_bodies[BODYPART_COUNT];
+ btTransform m_bodyRelativeTransforms[BODYPART_COUNT];
+ btTypedConstraint* m_joints[JOINT_COUNT];
+ btHashMap m_bodyTouchSensorIndexMap;
+ bool m_touchSensors[BODYPART_COUNT];
+ btScalar m_sensoryMotorWeights[BODYPART_COUNT*JOINT_COUNT];
+
+ bool m_inEvaluation;
+ btScalar m_evaluationTime;
+ bool m_reaped;
+ btVector3 m_startPosition;
+ int m_index;
+
+ btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
+ {
+ bool isDynamic = (mass != 0.f);
+
+ btVector3 localInertia(0,0,0);
+ if (isDynamic)
+ shape->calculateLocalInertia(mass,localInertia);
+
+ btDefaultMotionState* motionState = new btDefaultMotionState(startTransform);
+ btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,motionState,shape,localInertia);
+ btRigidBody* body = new btRigidBody(rbInfo);
+
+ return body;
+ }
+
+
+public:
+
+ void randomizeSensoryMotorWeights(){
+ //initialize random weights
+ for(int i = 0;i < BODYPART_COUNT;i++){
+ for(int j = 0;j < JOINT_COUNT;j++){
+ m_sensoryMotorWeights[i+j*BODYPART_COUNT] = ((double) rand() / (RAND_MAX))*2.0f-1.0f;
+ }
+ }
+ }
+
+ NNWalker(int index, btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
+ : m_ownerWorld (ownerWorld),
+ m_inEvaluation(false),
+ m_evaluationTime(0),
+ m_reaped(false)
+ {
+ m_index = index;
+ btVector3 vUp(0, 1, 0); // up in local reference frame
+
+ NN3DWalkersExample* nnWalkersDemo = (NN3DWalkersExample*)m_ownerWorld->getWorldUserInfo();
+
+ randomizeSensoryMotorWeights();
+
+ //
+ // Setup geometry
+ m_shapes[0] = new btCapsuleShape(gRootBodyRadius, gRootBodyHeight); // root body capsule
+ int i;
+ for ( i=0; iaddRigidBody(m_bodies[0]);
+ m_bodyRelativeTransforms[0] = btTransform::getIdentity();
+ m_bodies[0]->setUserPointer(this);
+ m_bodyTouchSensorIndexMap.insert(btHashPtr(m_bodies[0]), 0);
+
+ btHingeConstraint* hingeC;
+ //btConeTwistConstraint* coneC;
+
+ btTransform localA, localB, localC;
+
+ // legs
+ for (i = 0; i < NUM_LEGS; i++)
+ {
+ 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
+
+ transform.setIdentity();
+ btVector3 legCOM = btVector3(btScalar(footXUnitPosition*(gRootBodyRadius+0.5*gLegLength)), btScalar(rootAboveGroundHeight), btScalar(footYUnitPosition*(gRootBodyRadius+0.5*gLegLength)));
+ transform.setOrigin(legCOM);
+
+ // thigh
+ btVector3 legDirection = (legCOM - localRootBodyPosition).normalize();
+ btVector3 kneeAxis = legDirection.cross(vUp);
+ transform.setRotation(btQuaternion(kneeAxis, SIMD_HALF_PI));
+ m_bodies[1+2*i] = localCreateRigidBody(btScalar(1.), bodyOffset*transform, m_shapes[1+2*i]);
+ m_bodyRelativeTransforms[1+2*i] = transform;
+ m_bodies[1+2*i]->setUserPointer(this);
+ m_bodyTouchSensorIndexMap.insert(btHashPtr(m_bodies[1+2*i]),1+2*i);
+
+ // shin
+ transform.setIdentity();
+ transform.setOrigin(btVector3(btScalar(footXUnitPosition*(gRootBodyRadius+gLegLength)), btScalar(rootAboveGroundHeight-0.5*gForeLegLength), btScalar(footYUnitPosition*(gRootBodyRadius+gLegLength))));
+ m_bodies[2+2*i] = localCreateRigidBody(btScalar(1.), bodyOffset*transform, m_shapes[2+2*i]);
+ m_bodyRelativeTransforms[2+2*i] = transform;
+ m_bodies[2+2*i]->setUserPointer(this);
+ m_bodyTouchSensorIndexMap.insert(btHashPtr(m_bodies[2+2*i]),2+2*i);
+
+ // hip joints
+ localA.setIdentity(); localB.setIdentity();
+ localA.getBasis().setEulerZYX(0,-footAngle,0); localA.setOrigin(btVector3(btScalar(footXUnitPosition*gRootBodyRadius), btScalar(0.), btScalar(footYUnitPosition*gRootBodyRadius)));
+ localB = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[1+2*i]->getWorldTransform(), b3ReferenceFrameHelper::getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
+ hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
+ 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;
+
+ // knee joints
+ localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
+ localA.getBasis().setEulerZYX(0,-footAngle,0); localA.setOrigin(btVector3(btScalar(footXUnitPosition*(gRootBodyRadius+gLegLength)), btScalar(0.), btScalar(footYUnitPosition*(gRootBodyRadius+gLegLength))));
+ localB = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[1+2*i]->getWorldTransform(), b3ReferenceFrameHelper::getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
+ localC = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[2+2*i]->getWorldTransform(), b3ReferenceFrameHelper::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(-SIMD_PI_8), btScalar(0.2));
+ m_joints[1+2*i] = hingeC;
+
+ m_ownerWorld->addRigidBody(m_bodies[1+2*i]); // add thigh bone
+
+ m_ownerWorld->addConstraint(m_joints[2*i], true); // connect thigh bone with root
+
+ if(nnWalkersDemo->detectCollisions()){ // if thigh bone causes collision, remove it again
+ m_ownerWorld->removeRigidBody(m_bodies[1+2*i]);
+ m_ownerWorld->removeConstraint(m_joints[2*i]); // disconnect thigh bone from root
+ }
+ else{
+
+ m_ownerWorld->addRigidBody(m_bodies[2+2*i]); // add shin bone
+ m_ownerWorld->addConstraint(m_joints[1+2*i], true); // connect shin bone with thigh
+
+ if(nnWalkersDemo->detectCollisions()){ // if shin bone causes collision, remove it again
+ m_ownerWorld->removeRigidBody(m_bodies[2+2*i]);
+ m_ownerWorld->removeConstraint(m_joints[1+2*i]); // disconnect shin bone from thigh
+ }
+ }
+ }
+
+ // Setup some damping on the m_bodies
+ for (i = 0; i < BODYPART_COUNT; ++i)
+ {
+ m_bodies[i]->setDamping(0.05, 0.85);
+ m_bodies[i]->setDeactivationTime(0.8);
+ //m_bodies[i]->setSleepingThresholds(1.6, 2.5);
+ m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
+ }
+
+ removeFromWorld(); // it should not yet be in the world
+ }
+
+ virtual ~NNWalker ()
+ {
+ int i;
+
+ // Remove all constraints
+ for ( i = 0; i < JOINT_COUNT; ++i)
+ {
+ m_ownerWorld->removeConstraint(m_joints[i]);
+ delete m_joints[i]; m_joints[i] = 0;
+ }
+
+ // Remove all bodies and shapes
+ for ( i = 0; i < BODYPART_COUNT; ++i)
+ {
+ m_ownerWorld->removeRigidBody(m_bodies[i]);
+
+ delete m_bodies[i]->getMotionState();
+
+ delete m_bodies[i]; m_bodies[i] = 0;
+ delete m_shapes[i]; m_shapes[i] = 0;
+ }
+ }
+
+ btTypedConstraint** getJoints() {
+ return &m_joints[0];
+ }
+
+ void setTouchSensor(void* bodyPointer){
+ m_touchSensors[*m_bodyTouchSensorIndexMap.find(btHashPtr(bodyPointer))] = true;
+ }
+
+ void clearTouchSensors(){
+ for(int i = 0 ; i < BODYPART_COUNT;i++){
+ m_touchSensors[i] = false;
+ }
+ }
+
+ bool getTouchSensor(int i){
+ return m_touchSensors[i];
+ }
+
+ btScalar* getSensoryMotorWeights() {
+ return m_sensoryMotorWeights;
+ }
+
+ void addToWorld() {
+ int i;
+ // add all bodies and shapes
+ for ( i = 0; i < BODYPART_COUNT; ++i)
+ {
+ m_ownerWorld->addRigidBody(m_bodies[i]);
+ }
+
+ // add all constraints
+ for ( i = 0; i < JOINT_COUNT; ++i)
+ {
+ m_ownerWorld->addConstraint(m_joints[i], true); // important! If you add constraints back, you must set bullet physics to disable collision between constrained bodies
+ }
+ m_startPosition = getPosition();
+ }
+
+ void removeFromWorld(){
+ int i;
+
+ // Remove all constraints
+ for ( i = 0; i < JOINT_COUNT; ++i)
+ {
+ m_ownerWorld->removeConstraint(m_joints[i]);
+ }
+
+ // Remove all bodies
+ for ( i = 0; i < BODYPART_COUNT; ++i)
+ {
+ m_ownerWorld->removeRigidBody(m_bodies[i]);
+ }
+ }
+
+ btVector3 getPosition() const {
+ btVector3 finalPosition(0,0,0);
+
+ for(int i = 0; i < BODYPART_COUNT;i++)
+ {
+ finalPosition += m_bodies[i]->getCenterOfMassPosition();
+ }
+
+ finalPosition /= BODYPART_COUNT;
+ return finalPosition;
+ }
+
+ btScalar getDistanceFitness() const
+ {
+ btScalar distance = 0;
+
+ distance = (getPosition() - m_startPosition).length2();
+
+ return distance;
+ }
+
+ btScalar getFitness() const
+ {
+ return getDistanceFitness(); // for now it is only distance
+ }
+
+ void resetAt(const btVector3& position) {
+ btTransform resetPosition(btQuaternion::getIdentity(), position);
+ for (int i = 0; i < BODYPART_COUNT; ++i)
+ {
+ m_bodies[i]->setWorldTransform(resetPosition*m_bodyRelativeTransforms[i]);
+ if(m_bodies[i]->getMotionState()){
+ m_bodies[i]->getMotionState()->setWorldTransform(resetPosition*m_bodyRelativeTransforms[i]);
+ }
+ m_bodies[i]->clearForces();
+ m_bodies[i]->setAngularVelocity(btVector3(0,0,0));
+ m_bodies[i]->setLinearVelocity(btVector3(0,0,0));
+
+ }
+
+ clearTouchSensors();
+ }
+
+ btScalar getEvaluationTime() const {
+ return m_evaluationTime;
+ }
+
+ void setEvaluationTime(btScalar evaluationTime) {
+ m_evaluationTime = evaluationTime;
+ }
+
+ bool isInEvaluation() const {
+ return m_inEvaluation;
+ }
+
+ void setInEvaluation(bool inEvaluation) {
+ m_inEvaluation = inEvaluation;
+ }
+
+ bool isReaped() const {
+ return m_reaped;
+ }
+
+ void setReaped(bool reaped) {
+ m_reaped = reaped;
+ }
+
+ int getIndex() const {
+ return m_index;
+ }
+};
+
+void evaluationUpdatePreTickCallback(btDynamicsWorld *world, btScalar timeStep);
+
+bool legContactProcessedCallback(btManifoldPoint& cp, void* body0, void* body1)
+{
+ btCollisionObject* o1 = static_cast(body0);
+ btCollisionObject* o2 = static_cast(body1);
+
+ void* ID1 = o1->getUserPointer();
+ void* ID2 = o2->getUserPointer();
+
+ if (ID1 != GROUND_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){
+ if(!nn3DWalkers->mIsHeadless){
+ nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
+ }
+ }
+
+ if(ID1 != GROUND_ID && ID1){
+ ((NNWalker*)ID1)->setTouchSensor(o1);
+ }
+
+ if(ID2 != GROUND_ID && ID2){
+ ((NNWalker*)ID2)->setTouchSensor(o2);
+ }
+ }
+ return false;
+}
+
+struct WalkerFilterCallback : public btOverlapFilterCallback
+{
+ // return true when pairs need collision
+ virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const
+ {
+ btCollisionObject* obj0 = static_cast(proxy0->m_clientObject);
+ btCollisionObject* obj1 = static_cast(proxy1->m_clientObject);
+
+ if (obj0->getUserPointer() == GROUND_ID || obj1->getUserPointer() == GROUND_ID) { // everything collides with ground
+ return true;
+ }
+ else{
+ return ((NNWalker*)obj0->getUserPointer())->getIndex() == ((NNWalker*)obj1->getUserPointer())->getIndex();
+ }
+ }
+};
+
+void NN3DWalkersExample::initPhysics()
+{
+
+ setupBasicParamInterface(); // parameter interface to use timewarp
+
+ gContactProcessedCallback = legContactProcessedCallback;
+
+ m_guiHelper->setUpAxis(1);
+
+ // Setup the basic world
+
+ m_Time = 0;
+
+ createEmptyDynamicsWorld();
+
+ m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true);
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+ m_targetFrequency = 3;
+
+ // new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
+ // should be (numberOfsolverIterations * oldLimits)
+ m_motorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations;
+
+
+ { // create a slider to change the motor update frequency
+ SliderParams slider("Motor update frequency", &m_targetFrequency);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 10;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the motor torque
+ SliderParams slider("Motor force", &m_motorStrength);
+ slider.m_minVal = 1;
+ slider.m_maxVal = 50;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the root body radius
+ SliderParams slider("Root body radius", &gRootBodyRadius);
+ slider.m_minVal = 0.01f;
+ slider.m_maxVal = 10;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the root body height
+ SliderParams slider("Root body height", &gRootBodyHeight);
+ slider.m_minVal = 0.01f;
+ slider.m_maxVal = 10;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the leg radius
+ SliderParams slider("Leg radius", &gLegRadius);
+ slider.m_minVal = 0.01f;
+ slider.m_maxVal = 10;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the leg length
+ SliderParams slider("Leg length", &gLegLength);
+ slider.m_minVal = 0.01f;
+ slider.m_maxVal = 10;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the fore leg radius
+ SliderParams slider("Fore Leg radius", &gForeLegRadius);
+ slider.m_minVal = 0.01f;
+ slider.m_maxVal = 10;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the fore leg length
+ SliderParams slider("Fore Leg length", &gForeLegLength);
+ slider.m_minVal = 0.01f;
+ slider.m_maxVal = 10;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the number of parallel evaluations
+ SliderParams slider("Parallel evaluations", &gParallelEvaluations);
+ slider.m_minVal = 1;
+ slider.m_maxVal = NUM_WALKERS;
+ slider.m_clampToIntegers = true;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+
+ // Setup a big ground box
+ {
+ btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
+ m_collisionShapes.push_back(groundShape);
+ btTransform groundTransform;
+ groundTransform.setIdentity();
+ groundTransform.setOrigin(btVector3(0,-10,0));
+ btRigidBody* ground = createRigidBody(btScalar(0.),groundTransform,groundShape);
+ ground->setFriction(5);
+ ground->setUserPointer(GROUND_ID);
+ }
+
+ for(int i = 0; i < NUM_WALKERS ; i++){
+ if(RANDOMIZE_DIMENSIONS){
+ float maxDimension = 0.2f;
+
+ // randomize the dimensions
+ gRootBodyRadius = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+ gRootBodyHeight = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+ gLegRadius = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+ gLegLength = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+ gForeLegLength = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+ gForeLegRadius = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+ }
+
+ // Spawn one walker
+ btVector3 offset(0,0,0);
+ spawnWalker(i, offset, false);
+ }
+
+ btOverlapFilterCallback * filterCallback = new WalkerFilterCallback();
+ m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(filterCallback);
+
+ m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,300,200, "Fitness Performance");
+ m_timeSeriesCanvas ->setupTimeSeries(40, NUM_WALKERS*EVALUATION_TIME, 0);
+ for(int i = 0; i < NUM_WALKERS ; i++){
+ m_timeSeriesCanvas->addDataSource(" ", 100*i/NUM_WALKERS,100*(NUM_WALKERS-i)/NUM_WALKERS,100*(i)/NUM_WALKERS);
+ }
+}
+
+
+void NN3DWalkersExample::spawnWalker(int index, const btVector3& startOffset, bool bFixed)
+{
+ NNWalker* walker = new NNWalker(index, m_dynamicsWorld, startOffset, bFixed);
+ m_walkersInPopulation.push_back(walker);
+}
+
+bool NN3DWalkersExample::detectCollisions()
+{
+ bool collisionDetected = false;
+ if(m_dynamicsWorld){
+ m_dynamicsWorld->performDiscreteCollisionDetection(); // let the collisions be calculated
+ }
+
+ int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
+ for (int i = 0;i < numManifolds;i++)
+ {
+ btPersistentManifold* contactManifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
+ const btCollisionObject* obA = contactManifold->getBody0();
+ const btCollisionObject* obB = contactManifold->getBody1();
+
+ if(obA->getUserPointer() != GROUND_ID && obB->getUserPointer() != GROUND_ID){
+
+ int numContacts = contactManifold->getNumContacts();
+ for (int j=0;jgetContactPoint(j);
+ if (pt.getDistance()<0.f)
+ {
+ //const btVector3& ptA = pt.getPositionWorldOnA();
+ //const btVector3& ptB = pt.getPositionWorldOnB();
+ //const btVector3& normalOnB = pt.m_normalWorldOnB;
+
+ if(!DRAW_INTERPENETRATIONS){
+ return collisionDetected;
+ }
+
+ if(m_dynamicsWorld->getDebugDrawer()){
+ m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnA(), 0.1, btVector3(0., 0., 1.));
+ m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnB(), 0.1, btVector3(0., 0., 1.));
+ }
+ }
+ }
+ }
+ }
+
+ return collisionDetected;
+}
+
+bool NN3DWalkersExample::keyboardCallback(int key, int state)
+{
+ switch (key)
+ {
+ case '[':
+ m_motorStrength /= 1.1f;
+ return true;
+ case ']':
+ m_motorStrength *= 1.1f;
+ return true;
+ case 'l':
+ printWalkerConfigs();
+ return true;
+ default:
+ break;
+ }
+
+ return NN3DWalkersTimeWarpBase::keyboardCallback(key,state);
+}
+
+void NN3DWalkersExample::exitPhysics()
+{
+
+ gContactProcessedCallback = NULL; // clear contact processed callback on exiting
+
+ int i;
+
+ for (i = 0;i < NUM_WALKERS;i++)
+ {
+ NNWalker* walker = m_walkersInPopulation[i];
+ delete walker;
+ }
+
+ CommonRigidBodyBase::exitPhysics();
+}
+
+class CommonExampleInterface* ET_NN3DWalkersCreateFunc(struct CommonExampleOptions& options)
+{
+ nn3DWalkers = new NN3DWalkersExample(options.m_guiHelper);
+ return nn3DWalkers;
+}
+
+bool fitnessComparator (const NNWalker* a, const NNWalker* b)
+{
+ return a->getFitness() > b->getFitness(); // sort walkers descending
+}
+
+void NN3DWalkersExample::rateEvaluations(){
+
+ m_walkersInPopulation.quickSort(fitnessComparator); // Sort walkers by fitness
+
+ b3Printf("Best performing walker: %f meters", btSqrt(m_walkersInPopulation[0]->getDistanceFitness()));
+
+ for(int i = 0; i < NUM_WALKERS;i++){
+ m_timeSeriesCanvas->insertDataAtCurrentTime(btSqrt(m_walkersInPopulation[i]->getDistanceFitness()),0,true);
+ }
+ m_timeSeriesCanvas->nextTick();
+
+ for(int i = 0; i < NUM_WALKERS;i++){
+ m_walkersInPopulation[i]->setEvaluationTime(0);
+ }
+ m_nextReaped = 0;
+}
+
+void NN3DWalkersExample::reap() {
+ int reaped = 0;
+ for(int i = NUM_WALKERS-1;i >=(NUM_WALKERS-1)*(1-REAP_QTY); i--){ // reap a certain percentage
+ m_walkersInPopulation[i]->setReaped(true);
+ reaped++;
+ b3Printf("%i Walker(s) reaped.",reaped);
+ }
+}
+
+NNWalker* NN3DWalkersExample::getRandomElite(){
+ return m_walkersInPopulation[((NUM_WALKERS-1) * SOW_ELITE_QTY) * (rand()/RAND_MAX)];
+}
+
+NNWalker* NN3DWalkersExample::getRandomNonElite(){
+ return m_walkersInPopulation[(NUM_WALKERS-1) * SOW_ELITE_QTY + (NUM_WALKERS-1) * (1.0f-SOW_ELITE_QTY) * (rand()/RAND_MAX)];
+}
+
+NNWalker* NN3DWalkersExample::getNextReaped() {
+ if((NUM_WALKERS-1) - m_nextReaped >= (NUM_WALKERS-1) * (1-REAP_QTY)){
+ m_nextReaped++;
+ }
+
+ if(m_walkersInPopulation[(NUM_WALKERS-1) - m_nextReaped+1]->isReaped()){
+ return m_walkersInPopulation[(NUM_WALKERS-1) - m_nextReaped+1];
+ }
+ else{
+ return NULL; // we asked for too many
+ }
+
+}
+
+void NN3DWalkersExample::sow() {
+ int sow = 0;
+ for(int i = 0; i < NUM_WALKERS * (SOW_CROSSOVER_QTY);i++){ // create number of new crossover creatures
+ sow++;
+ b3Printf("%i Walker(s) sown.",sow);
+ NNWalker* mother = getRandomElite(); // Get elite partner (mother)
+ NNWalker* father = (SOW_ELITE_PARTNER < rand()/RAND_MAX)?getRandomElite():getRandomNonElite(); //Get elite or random partner (father)
+ NNWalker* offspring = getNextReaped();
+ crossover(mother,father, offspring);
+ }
+
+ for(int i = NUM_WALKERS*SOW_ELITE_QTY; i < NUM_WALKERS*(SOW_ELITE_QTY+SOW_MUTATION_QTY);i++){ // create mutants
+ mutate(m_walkersInPopulation[i], btScalar(MUTATION_RATE / (NUM_WALKERS * SOW_MUTATION_QTY) * (i-NUM_WALKERS*SOW_ELITE_QTY)));
+ }
+
+ for(int i = 0; i < (NUM_WALKERS-1) * (REAP_QTY-SOW_CROSSOVER_QTY);i++){
+ sow++;
+ b3Printf("%i Walker(s) sown.",sow);
+ NNWalker* reaped = getNextReaped();
+ reaped->setReaped(false);
+ reaped->randomizeSensoryMotorWeights();
+ }
+}
+
+void NN3DWalkersExample::crossover(NNWalker* mother, NNWalker* father, NNWalker* child) {
+ for(int i = 0; i < BODYPART_COUNT*JOINT_COUNT;i++){
+ btScalar random = ((double) rand() / (RAND_MAX));
+
+ if(random >= 0.5f){
+ child->getSensoryMotorWeights()[i] = mother->getSensoryMotorWeights()[i];
+ }
+ else
+ {
+ child->getSensoryMotorWeights()[i] = father->getSensoryMotorWeights()[i];
+ }
+ }
+}
+
+void NN3DWalkersExample::mutate(NNWalker* mutant, btScalar mutationRate) {
+ for(int i = 0; i < BODYPART_COUNT*JOINT_COUNT;i++){
+ btScalar random = ((double) rand() / (RAND_MAX));
+
+ if(random >= mutationRate){
+ mutant->getSensoryMotorWeights()[i] = ((double) rand() / (RAND_MAX))*2.0f-1.0f;
+ }
+ }
+}
+
+void evaluationUpdatePreTickCallback(btDynamicsWorld *world, btScalar timeStep) {
+ NN3DWalkersExample* nnWalkersDemo = (NN3DWalkersExample*)world->getWorldUserInfo();
+
+ nnWalkersDemo->update(timeStep);
+}
+
+void NN3DWalkersExample::update(const btScalar timeSinceLastTick) {
+ updateEvaluations(timeSinceLastTick); /**!< We update all evaluations that are in the loop */
+
+ scheduleEvaluations(); /**!< Start new evaluations and finish the old ones. */
+
+ drawMarkings(); /**!< Draw markings on the ground */
+
+ if(m_Time > m_SpeedupTimestamp + 2.0f){ // print effective speedup
+ b3Printf("Avg Effective speedup: %f real time",calculatePerformedSpeedup());
+ m_SpeedupTimestamp = m_Time;
+ }
+}
+
+void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
+ btScalar delta = timeSinceLastTick;
+ btScalar minFPS = 1.f/60.f;
+ if (delta > minFPS){
+ delta = minFPS;
+ }
+
+ m_Time += delta;
+
+ m_targetAccumulator += delta;
+
+ for(int i = 0; i < NUM_WALKERS;i++) // evaluation time passes
+ {
+ if(m_walkersInPopulation[i]->isInEvaluation()){
+ m_walkersInPopulation[i]->setEvaluationTime(m_walkersInPopulation[i]->getEvaluationTime()+delta); // increase evaluation time
+ }
+ }
+
+ if(m_targetAccumulator >= 1.0f /((double)m_targetFrequency))
+ {
+ m_targetAccumulator = 0;
+
+ for (int r=0; risInEvaluation())
+ {
+ for (int i = 0; i < 2*NUM_LEGS; i++)
+ {
+ btScalar targetAngle = 0;
+ btHingeConstraint* hingeC = static_cast(m_walkersInPopulation[r]->getJoints()[i]);
+
+ if(RANDOM_MOVEMENT){
+ targetAngle = ((double) rand() / (RAND_MAX));
+ }
+ else{ // neural network movement
+
+ // accumulate sensor inputs with weights
+ for(int j = 0; j < JOINT_COUNT;j++){
+ targetAngle += m_walkersInPopulation[r]->getSensoryMotorWeights()[i+j*BODYPART_COUNT] * m_walkersInPopulation[r]->getTouchSensor(i);
+ }
+
+ // apply the activation function
+ targetAngle = (tanh(targetAngle)+1.0f)*0.5f;
+ }
+ btScalar targetLimitAngle = hingeC->getLowerLimit() + targetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
+ btScalar currentAngle = hingeC->getHingeAngle();
+ btScalar angleError = targetLimitAngle - currentAngle;
+ btScalar desiredAngularVel = 0;
+ if(delta){
+ desiredAngularVel = angleError/delta;
+ }
+ else{
+ desiredAngularVel = angleError/0.0001f;
+ }
+ hingeC->enableAngularMotor(true, desiredAngularVel, m_motorStrength);
+ }
+
+ // clear sensor signals after usage
+ m_walkersInPopulation[r]->clearTouchSensors();
+ }
+ }
+ }
+}
+
+void NN3DWalkersExample::scheduleEvaluations() {
+ for(int i = 0; i < NUM_WALKERS;i++){
+
+ if(m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() >= EVALUATION_TIME){ /**!< tear down evaluations */
+ b3Printf("An evaluation finished at %f s. Distance: %f m", m_Time, btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
+ m_walkersInPopulation[i]->setInEvaluation(false);
+ m_walkersInPopulation[i]->removeFromWorld();
+ m_evaluationsQty--;
+ }
+
+ if(m_evaluationsQty < gParallelEvaluations && !m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0){ /**!< Setup the new evaluations */
+ b3Printf("An evaluation started at %f s.",m_Time);
+ m_evaluationsQty++;
+ m_walkersInPopulation[i]->setInEvaluation(true);
+
+ if(m_walkersInPopulation[i]->getEvaluationTime() == 0){ // reset to origin if the evaluation did not yet run
+ m_walkersInPopulation[i]->resetAt(btVector3(0,0,0));
+ }
+
+ m_walkersInPopulation[i]->addToWorld();
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+ }
+ }
+
+ if(m_evaluationsQty == 0){ // if there are no more evaluations possible
+ rateEvaluations(); // rate evaluations by sorting them based on their fitness
+
+ reap(); // reap worst performing walkers
+
+ sow(); // crossover & mutate and sow new walkers
+ b3Printf("### A new generation started. ###");
+ }
+}
+
+void NN3DWalkersExample::drawMarkings() {
+ if(!mIsHeadless){
+ for(int i = 0; i < NUM_WALKERS;i++) // draw current distance plates of moving walkers
+ {
+ if(m_walkersInPopulation[i]->isInEvaluation()){
+ btVector3 walkerPosition = m_walkersInPopulation[i]->getPosition();
+ char performance[20];
+ sprintf(performance, "%.2f m", btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
+ m_guiHelper->drawText3D(performance,walkerPosition.x(),walkerPosition.y()+1,walkerPosition.z(),1);
+ }
+ }
+
+ for(int i = 2; i < 50; i+=2){ // draw distance circles
+ if(m_dynamicsWorld->getDebugDrawer()){
+ m_dynamicsWorld->getDebugDrawer()->drawArc(btVector3(0,0,0),btVector3(0,1,0),btVector3(1,0,0),btScalar(i), btScalar(i),btScalar(0),btScalar(SIMD_2_PI),btVector3(10*i,0,0),false);
+ }
+ }
+ }
+}
+
+void NN3DWalkersExample::printWalkerConfigs(){
+#if 0
+ char configString[25 + NUM_WALKERS*BODYPART_COUNT*JOINT_COUNT*(3+15+1) + NUM_WALKERS*4 + 1]; // 15 precision + [],\n
+ char* runner = configString;
+ sprintf(runner,"Population configuration:");
+ runner +=25;
+ for(int i = 0;i < NUM_WALKERS;i++) {
+ runner[0] = '\n';
+ runner++;
+ runner[0] = '[';
+ runner++;
+ for(int j = 0; j < BODYPART_COUNT*JOINT_COUNT;j++) {
+ sprintf(runner,"%.15f", m_walkersInPopulation[i]->getSensoryMotorWeights()[j]);
+ runner +=15;
+ if(j + 1 < BODYPART_COUNT*JOINT_COUNT){
+ runner[0] = ',';
+ }
+ else{
+ runner[0] = ']';
+ }
+ runner++;
+ }
+ }
+ runner[0] = '\0';
+ b3Printf(configString);
+#endif
+}
diff -Nru bullet-2.83.6+dfsg/examples/Evolution/NN3DWalkers.h bullet-2.86.1+dfsg/examples/Evolution/NN3DWalkers.h
--- bullet-2.83.6+dfsg/examples/Evolution/NN3DWalkers.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Evolution/NN3DWalkers.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_NN_3D_WALKERS_EXAMPLE_H
+#define ET_NN_3D_WALKERS_EXAMPLE_H
+
+class CommonExampleInterface* ET_NN3DWalkersCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_NN_3D_WALKERS_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/Evolution/NN3DWalkersTimeWarpBase.h bullet-2.86.1+dfsg/examples/Evolution/NN3DWalkersTimeWarpBase.h
--- bullet-2.83.6+dfsg/examples/Evolution/NN3DWalkersTimeWarpBase.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Evolution/NN3DWalkersTimeWarpBase.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,898 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#ifndef NN3D_WALKERS_TIME_WARP_BASE_H
+#define NN3D_WALKERS_TIME_WARP_BASE_H
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btQuickprof.h" // Use your own timer, this timer is only used as we lack another timer
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+//Solvers
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
+#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
+#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
+#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
+#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
+
+#include "../Utils/b3ERPCFMHelper.hpp" // ERP/CFM setting utils
+
+static btScalar gSimulationSpeed = 1; // default simulation speed at startup
+
+// the current simulation speeds to choose from (the slider will snap to those using a custom form of snapping)
+namespace SimulationSpeeds {
+static double/*0*/PAUSE = 0;
+static double/*1*/QUARTER_SPEED = 0.25;
+static double/*2*/HALF_SPEED = 0.5;
+static double/*3*/NORMAL_SPEED = 1;
+static double/*4*/DOUBLE_SPEED = 2;
+static double/*5*/QUADRUPLE_SPEED = 4;
+static double/*6*/DECUPLE_SPEED = 10;
+static double/*7*/CENTUPLE_SPEED = 100;
+static double/*8*/QUINCENTUPLE_SPEED = 500;
+static double /*9*/ MILLITUPLE_SPEED = 1000;
+static double/*0*/MAX_SPEED = MILLITUPLE_SPEED;
+static double /**/NUM_SPEEDS = 11;
+};
+
+// add speeds from the namespace here
+static double speeds[] = {
+ SimulationSpeeds::PAUSE,
+ SimulationSpeeds::QUARTER_SPEED, SimulationSpeeds::HALF_SPEED,
+ SimulationSpeeds::NORMAL_SPEED, SimulationSpeeds::DOUBLE_SPEED,
+ SimulationSpeeds::QUADRUPLE_SPEED, SimulationSpeeds::DECUPLE_SPEED,
+ SimulationSpeeds::CENTUPLE_SPEED, SimulationSpeeds::QUINCENTUPLE_SPEED,
+ SimulationSpeeds::MILLITUPLE_SPEED};
+
+static btScalar gSolverIterations = 10; // default number of solver iterations for the iterative solvers
+
+static bool gIsHeadless = false; // demo runs with graphics by default
+
+static bool gChangeErpCfm = false; // flag to make recalculation of ERP/CFM
+
+static int gMinSpeed = SimulationSpeeds::PAUSE; // the minimum simulation speed
+
+static int gMaxSpeed = SimulationSpeeds::MAX_SPEED; // the maximum simulation speed
+
+static bool gMaximumSpeed = false; // the demo does not try to achieve maximum stepping speed by default
+
+static bool gInterpolate = false; // the demo does not use any bullet interpolated physics substeps
+
+static bool useSplitImpulse = true; // split impulse fixes issues with restitution in Baumgarte stabilization
+// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=7117&p=24631&hilit=Baumgarte#p24631
+// disabling continuous collision detection can also fix issues with restitution, though CCD is disabled by default an only kicks in at higher speeds
+// set CCD speed threshold and testing sphere radius per rigidbody (rb->setCCDSpeedThreshold())
+
+// all supported solvers by bullet
+enum SolverEnumType {
+ SEQUENTIALIMPULSESOLVER = 0,
+ GAUSSSEIDELSOLVER = 1,
+ NNCGSOLVER = 2,
+ DANZIGSOLVER = 3,
+ LEMKESOLVER = 4,
+ FSSOLVER = 5,
+ NUM_SOLVERS = 6
+};
+
+
+// solvers can be changed by drop down menu
+namespace SolverType {
+static char SEQUENTIALIMPULSESOLVER[] = "Sequential Impulse Solver";
+static char GAUSSSEIDELSOLVER[] = "Gauss-Seidel Solver";
+static char NNCGSOLVER[] = "NNCG Solver";
+static char DANZIGSOLVER[] = "Danzig Solver";
+static char LEMKESOLVER[] = "Lemke Solver";
+static char FSSOLVER[] = "FeatherStone Solver";
+};
+
+static const char* solverTypes[NUM_SOLVERS];
+
+static SolverEnumType SOLVER_TYPE = SEQUENTIALIMPULSESOLVER; // You can switch the solver here
+
+//TODO:s===
+//TODO: Give specific explanations about solver values
+
+/**
+ * Step size of the bullet physics simulator (solverAccuracy). Accuracy versus speed.
+ */
+// Choose an appropriate number of steps per second for your needs
+static btScalar gPhysicsStepsPerSecond = 60.0f; // Default number of steps
+//static btScalar gPhysicsStepsPerSecond = 120.0f; // Double steps for more accuracy
+//static btScalar gPhysicsStepsPerSecond = 240.0f; // For high accuracy
+//static btScalar gPhysicsStepsPerSecond = 1000.0f; // Very high accuracy
+
+// appropriate inverses for seconds and milliseconds
+static double fixedPhysicsStepSizeSec = 1.0f / gPhysicsStepsPerSecond; // steps size in seconds
+static double fixedPhysicsStepSizeMilli = 1000.0f / gPhysicsStepsPerSecond; // step size in milliseconds
+
+static btScalar gApplicationFrequency = 60.0f; // number of internal application ticks per second
+static int gApplicationTick = 1000.0f / gApplicationFrequency; //ms
+
+static btScalar gFramesPerSecond = 30.0f; // number of frames per second
+
+static btScalar gERPSpringK = 10;
+static btScalar gERPDamperC = 1;
+
+static btScalar gCFMSpringK = 10;
+static btScalar gCFMDamperC = 1;
+static btScalar gCFMSingularityAvoidance = 0;
+
+//GUI related parameter changing helpers
+
+inline void twxChangePhysicsStepsPerSecond(float physicsStepsPerSecond, void*) { // function to change simulation physics steps per second
+ gPhysicsStepsPerSecond = physicsStepsPerSecond;
+}
+
+inline void twxChangeFPS(float framesPerSecond, void*) {
+ gFramesPerSecond = framesPerSecond;
+}
+
+inline void twxChangeERPCFM(float notUsed, void*) { // function to change ERP/CFM appropriately
+ gChangeErpCfm = true;
+}
+
+inline void changeSolver(int comboboxId, const char* item, void* userPointer) { // function to change the solver
+ for(int i = 0; i < NUM_SOLVERS;i++){
+ if(strcmp(solverTypes[i], item) == 0){ // if the strings are equal
+ SOLVER_TYPE = ((SolverEnumType)i);
+ b3Printf("=%s=\n Reset the simulation by double clicking it in the menu list.",item);
+ return;
+ }
+ }
+ b3Printf("No Change");
+}
+
+
+inline void twxChangeSolverIterations(float notUsed, void* userPtr) { // change the solver iterations
+
+
+}
+
+inline void clampToCustomSpeedNotches(float speed, void*) { // function to clamp to custom speed notches
+ double minSpeed = 0;
+ double minSpeedDist = SimulationSpeeds::MAX_SPEED;
+ for (int i = 0; i < SimulationSpeeds::NUM_SPEEDS; i++) {
+ double speedDist = (speeds[i]-speed >= 0)?speeds[i]-speed:speed-speeds[i]; // float absolute
+
+ if (minSpeedDist > speedDist) {
+ minSpeedDist = speedDist;
+ minSpeed = speeds[i];
+ }
+ }
+ gSimulationSpeed = minSpeed;
+}
+
+inline void switchInterpolated(int buttonId, bool buttonState, void* userPointer){ // toggle if interpolation steps are taken
+ gInterpolate=!gInterpolate;
+// b3Printf("Interpolate substeps %s", gInterpolate?"on":"off");
+}
+
+inline void switchHeadless(int buttonId, bool buttonState, void* userPointer){ // toggle if the demo should run headless
+ gIsHeadless=!gIsHeadless;
+// b3Printf("Run headless %s", gIsHeadless?"on":"off");
+}
+
+inline void switchMaximumSpeed(int buttonId, bool buttonState, void* userPointer){ // toggle it the demo should run as fast as possible
+// b3Printf("Run maximum speed %s", gMaximumSpeed?"on":"off");
+}
+
+inline void setApplicationTick(float frequency, void*){ // set internal application tick
+ gApplicationTick = 1000.0f/frequency;
+}
+
+/**
+ * @link: Gaffer on Games - Fix your timestep: http://gafferongames.com/game-physics/fix-your-timestep/
+ */
+struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
+
+ NN3DWalkersTimeWarpBase(struct GUIHelperInterface* helper):
+ CommonRigidBodyBase(helper),
+ mPhysicsStepsPerSecondUpdated(false),
+ mFramesPerSecondUpdated(false),
+ mSolverIterationsUpdated(false) {
+
+ // main frame timer initialization
+ mApplicationStart = mLoopTimer.getTimeMilliseconds(); /**!< Initialize when the application started running */
+ mInputClock = mApplicationStart; /**!< Initialize the last time the input was updated */
+ mPreviousModelIteration = mApplicationStart;
+ mThisModelIteration = mApplicationStart;
+ mApplicationRuntime = mThisModelIteration - mApplicationStart; /**!< Initialize the application runtime */
+
+ // sub frame time initializations
+ mGraphicsStart = mApplicationStart; /** !< Initialize the last graphics start */
+ mModelStart = mApplicationStart; /** !< Initialize the last model start */
+ mInputStart = mApplicationStart; /** !< Initialize the last input start */
+
+ mPhysicsStepStart = mApplicationStart; /**!< Initialize the physics step start */
+ mPhysicsStepEnd = mApplicationStart; /**!< Initialize the physics step end */
+
+ //durations
+ mLastGraphicsTick = 0;
+ mLastModelTick = 0;
+ mLastInputTick = 0;
+ mPhysicsTick = 0;
+
+ mInputDt = 0;
+ mModelAccumulator = 0;
+ mFrameTime = 0;
+
+ fpsTimeStamp = mLoopTimer.getTimeMilliseconds(); // to time the fps
+ fpsStep = 1000.0f/gFramesPerSecond;
+
+ // performance measurements for this demo
+ performanceTimestamp = 0;
+ performedTime = 0; // time the physics steps consumed
+ speedUpPrintTimeStamp = mLoopTimer.getTimeSeconds(); // timer to print the speed up periodically
+ mLoopTimer.reset();
+ }
+
+ ~NN3DWalkersTimeWarpBase(){
+
+ }
+
+
+ void initPhysics(){ // initialize the demo
+
+ setupBasicParamInterface(); // setup adjustable sliders and buttons for parameters
+
+ m_guiHelper->setUpAxis(1); // Set Y axis as Up axis
+
+ createEmptyDynamicsWorld(); // create an empty dynamic world
+
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+ }
+
+ void setupBasicParamInterface(){ // setup the adjustable sliders and button for parameters
+
+ { // create a slider to adjust the simulation speed
+ // Force increase the simulation speed to run the simulation with the same accuracy but a higher speed
+ SliderParams slider("Simulation speed",
+ &gSimulationSpeed);
+ slider.m_minVal = gMinSpeed;
+ slider.m_maxVal = gMaxSpeed;
+ slider.m_callback = clampToCustomSpeedNotches;
+ slider.m_clampToNotches = false;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a button to switch to headless simulation
+ // This turns off the graphics update and therefore results in more time for the model update
+ ButtonParams button("Run headless",0,true);
+ button.m_callback = switchHeadless;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerButtonParameter(
+ button);
+ }
+
+
+
+ { // create a button to switch to maximum speed simulation (fully deterministic)
+ // Interesting to test the maximal achievable speed on this hardware
+ ButtonParams button("Run maximum speed",0,true);
+ button.m_callback = switchMaximumSpeed;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerButtonParameter(
+ button);
+ }
+
+
+
+ { // create a button to switch bullet to perform interpolated substeps to speed up simulation
+ // generally, interpolated steps are a good speed-up and should only be avoided if higher accuracy is needed (research purposes etc.)
+ ButtonParams button("Perform interpolated substeps",0,true);
+ button.m_callback = switchInterpolated;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerButtonParameter(
+ button);
+ }
+
+ }
+
+ void setupAdvancedParamInterface(){
+
+ solverTypes[0] = SolverType::SEQUENTIALIMPULSESOLVER;
+ solverTypes[1] = SolverType::GAUSSSEIDELSOLVER;
+ solverTypes[2] = SolverType::NNCGSOLVER;
+ solverTypes[3] = SolverType::DANZIGSOLVER;
+ solverTypes[4] = SolverType::LEMKESOLVER;
+ solverTypes[5] = SolverType::FSSOLVER;
+
+ {
+ ComboBoxParams comboParams;
+ comboParams.m_comboboxId = 0;
+ comboParams.m_numItems = NUM_SOLVERS;
+ comboParams.m_startItem = SOLVER_TYPE;
+ comboParams.m_callback = changeSolver;
+
+ comboParams.m_items=solverTypes;
+ m_guiHelper->getParameterInterface()->registerComboBox(comboParams);
+ }
+
+ { // create a slider to adjust the number of internal application ticks
+ // The set application tick should contain enough time to perform a full cycle of model update (physics and input)
+ // and view update (graphics) with average application load. The graphics and input update determine the remaining time
+ // for the physics update
+ SliderParams slider("Application Ticks",
+ &gApplicationFrequency);
+ slider.m_minVal = gMinSpeed;
+ slider.m_maxVal = gMaxSpeed;
+ slider.m_callback = setApplicationTick;
+ slider.m_clampToNotches = false;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to adjust the number of physics steps per second
+ // The default number of steps is at 60, which is appropriate for most general simulations
+ // For simulations with higher complexity or if you experience undesired behavior, try increasing the number of steps per second
+ // Alternatively, try increasing the number of solver iterations if you experience jittering constraints due to non-converging solutions
+ SliderParams slider("Physics steps per second", &gPhysicsStepsPerSecond);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 1000;
+ slider.m_callback = twxChangePhysicsStepsPerSecond;
+ slider.m_clampToNotches = false;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to adjust the number of frames per second
+ SliderParams slider("Frames per second", &gFramesPerSecond);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 200;
+ slider.m_callback = twxChangeFPS;
+ slider.m_clampToNotches = false;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to adjust the number of solver iterations to converge to a solution
+ // more complex simulations might need a higher number of iterations to converge, it also
+ // depends on the type of solver.
+ SliderParams slider(
+ "Solver interations",
+ &gSolverIterations);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 1000;
+ slider.m_callback = twxChangePhysicsStepsPerSecond;
+ slider.m_clampToIntegers = true;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ // ERP/CFM sliders
+ // Advanced users: Check descriptions of ERP/CFM in BulletUtils.cpp
+
+ { // create a slider to adjust ERP Spring k constant
+ SliderParams slider("Global ERP Spring k (F=k*x)", &gERPSpringK);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 10;
+ slider.m_callback = twxChangeERPCFM;
+ slider.m_clampToNotches = false;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to adjust ERP damper c constant
+ SliderParams slider("Global ERP damper c (F=c*xdot)", &gERPDamperC);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 10;
+ slider.m_callback = twxChangeERPCFM;
+ slider.m_clampToNotches = false;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to adjust CFM Spring k constant
+ SliderParams slider("Global CFM Spring k (F=k*x)", &gCFMSpringK);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 10;
+ slider.m_callback = twxChangeERPCFM;
+ slider.m_clampToNotches = false;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to adjust CFM damper c constant
+ SliderParams slider("Global CFM damper c (F=c*xdot)", &gCFMDamperC);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 10;
+ slider.m_callback = twxChangeERPCFM;
+ slider.m_clampToNotches = false;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to adjust CFM damper c constant
+ SliderParams slider("Global CFM singularity avoidance", &gCFMSingularityAvoidance);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 10;
+ slider.m_callback = twxChangeERPCFM;
+ slider.m_clampToNotches = false;
+ if (m_guiHelper->getParameterInterface())
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+
+ }
+
+ void createEmptyDynamicsWorld(){ // create an empty dynamics worlds according to the chosen settings via statics (top section of code)
+
+ ///collision configuration contains default setup for memory, collision setup
+ m_collisionConfiguration = new btDefaultCollisionConfiguration();
+ //m_collisionConfiguration->setConvexConvexMultipointIterations();
+
+ ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+ m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+ // default broadphase
+ m_broadphase = new btDbvtBroadphase();
+
+ // different solvers require different settings
+ switch (SOLVER_TYPE) {
+ case SEQUENTIALIMPULSESOLVER: {
+// b3Printf("=%s=",SolverType::SEQUENTIALIMPULSESOLVER);
+ m_solver = new btSequentialImpulseConstraintSolver();
+ break;
+ }
+ case NNCGSOLVER: {
+// b3Printf("=%s=",SolverType::NNCGSOLVER);
+ m_solver = new btNNCGConstraintSolver();
+ break;
+ }
+ case DANZIGSOLVER: {
+// b3Printf("=%s=",SolverType::DANZIGSOLVER);
+ btDantzigSolver* mlcp = new btDantzigSolver();
+ m_solver = new btMLCPSolver(mlcp);
+ break;
+ }
+ case GAUSSSEIDELSOLVER: {
+// b3Printf("=%s=",SolverType::GAUSSSEIDELSOLVER);
+ btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel();
+ m_solver = new btMLCPSolver(mlcp);
+ break;
+ }
+ case LEMKESOLVER: {
+// b3Printf("=%s=",SolverType::LEMKESOLVER);
+ btLemkeSolver* mlcp = new btLemkeSolver();
+ m_solver = new btMLCPSolver(mlcp);
+ break;
+ }
+ case FSSOLVER: {
+// b3Printf("=%s=",SolverType::FSSOLVER);
+ //Use the btMultiBodyConstraintSolver for Featherstone btMultiBody support
+ m_solver = new btMultiBodyConstraintSolver;
+
+ break;
+ }
+ default:
+ break;
+ }
+
+ if (SOLVER_TYPE != FSSOLVER) {
+ //TODO: Set parameters for other solvers
+
+ m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,
+ m_broadphase, m_solver, m_collisionConfiguration);
+
+ if (SOLVER_TYPE == DANZIGSOLVER || SOLVER_TYPE == GAUSSSEIDELSOLVER) {
+ m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 1; //for mlcp solver it is better to have a small A matrix
+ } else {
+ m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 128; //for direct solver, it is better to solve multiple objects together, small batches have high overhead
+ }
+
+ m_dynamicsWorld->getDispatchInfo().m_useContinuous = true; // set continuous collision
+
+ }
+ else{
+ //use btMultiBodyDynamicsWorld for Featherstone btMultiBody support
+ m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_dispatcher,
+ m_broadphase, (btMultiBodyConstraintSolver*) m_solver,
+ m_collisionConfiguration);
+ }
+
+ changeERPCFM(); // set appropriate ERP/CFM values according to the string and damper properties of the constraint
+
+ if (useSplitImpulse) { // If you experience strong repulsion forces in your constraints, it might help to enable the split impulse feature
+ m_dynamicsWorld->getSolverInfo().m_splitImpulse = 1; //enable split impulse feature
+ // m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold =
+ // -0.02;
+ // m_dynamicsWorld->getSolverInfo().m_erp2 = BulletUtils::getERP(
+ // fixedPhysicsStepSizeSec, 10, 1);
+ // m_dynamicsWorld->getSolverInfo().m_splitImpulseTurnErp =
+ // BulletUtils::getERP(fixedPhysicsStepSizeSec, 10, 1);
+// b3Printf("Using split impulse feature with ERP/TurnERP: (%f,%f)",
+// m_dynamicsWorld->getSolverInfo().m_erp2,
+// m_dynamicsWorld->getSolverInfo().m_splitImpulseTurnErp);
+ }
+
+ m_dynamicsWorld->getSolverInfo().m_numIterations = gSolverIterations; // set the number of solver iterations for iteration based solvers
+
+ m_dynamicsWorld->setGravity(btVector3(0, -9.81f, 0)); // set gravity to -9.81
+
+ }
+
+ btScalar calculatePerformedSpeedup() { // calculate performed speedup
+ // we calculate the performed speed up
+ btScalar speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
+// b3Printf("Avg Effective speedup: %f",speedUp);
+ performedTime = 0;
+ performanceTimestamp = mLoopTimer.getTimeMilliseconds();
+ return speedUp;
+ }
+
+
+
+ void timeWarpSimulation(float deltaTime) // Override this
+ {
+
+ }
+
+ void stepSimulation(float deltaTime){ // customly step the simulation
+ do{
+
+// // settings
+ if(mPhysicsStepsPerSecondUpdated){
+ changePhysicsStepsPerSecond(gPhysicsStepsPerSecond);
+ mPhysicsStepsPerSecondUpdated = false;
+ }
+
+ if(mFramesPerSecondUpdated){
+ changeFPS(gFramesPerSecond);
+ mFramesPerSecondUpdated = false;
+ }
+
+ if(gChangeErpCfm){
+ changeERPCFM();
+ gChangeErpCfm = false;
+ }
+
+ if(mSolverIterationsUpdated){
+ changeSolverIterations(gSolverIterations);
+ mSolverIterationsUpdated = false;
+ }
+
+
+ // structure according to the canonical game loop
+ // http://www.bulletphysics.org/mediawiki-1.5.8/index.php/Canonical_Game_Loop
+
+ //##############
+ // breaking conditions - if the loop should stop, then check it here
+
+ //#############
+ // model update - here you perform updates of your model, be it the physics model, the game or simulation state or anything not related to graphics and input
+
+ timeWarpSimulation(deltaTime);
+ if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
+ // on reset, we calculate the performed speed up
+ //double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
+// b3Printf("Avg Effective speedup: %f",speedUp);
+ performedTime = 0;
+ performanceTimestamp = mLoopTimer.getTimeMilliseconds();
+ speedUpPrintTimeStamp = mLoopTimer.getTimeSeconds();
+ }
+
+ // update timers
+ mThisModelIteration = mLoopTimer.getTimeMilliseconds();
+ mFrameTime = mThisModelIteration - mPreviousModelIteration; /**!< Calculate the frame time (in Milliseconds) */
+ mPreviousModelIteration = mThisModelIteration;
+
+ // b3Printf("Current Frame time: % u", mFrameTime);
+
+ mApplicationRuntime = mThisModelIteration - mApplicationStart; /**!< Update main frame timer (in Milliseconds) */
+
+ mModelStart = mLoopTimer.getTimeMilliseconds(); /**!< Begin with the model update (in Milliseconds)*/
+ mLastGraphicsTick = mModelStart - mGraphicsStart; /**!< Update graphics timer (in Milliseconds) */
+
+ if (gMaximumSpeed /** If maximum speed is enabled*/) {
+ performMaxStep();
+ } else { /**!< This mode tries to progress as much time as it is expected from the game loop*/
+ performSpeedStep();
+ }
+
+ mInputStart = mLoopTimer.getTimeMilliseconds(); /**!< Start the input update */
+ mLastModelTick = mInputStart - mModelStart; /**!< Calculate the time the model update took */
+
+ //#############
+ // Input update - Game Clock part of the loop
+ /** This runs once every gApplicationTick milliseconds on average */
+ mInputDt = mThisModelIteration - mInputClock;
+ if (mInputDt >= gApplicationTick) {
+ mInputClock = mThisModelIteration;
+ // mInputHandler.injectInput(); /**!< Inject input into handlers */
+ // mInputHandler.update(mInputClock); /**!< update elements that work on the current input state */
+ }
+
+ mGraphicsStart = mLoopTimer.getTimeMilliseconds(); /**!< Start the graphics update */
+ mLastInputTick = mGraphicsStart - mInputStart; /**!< Calculate the time the input injection took */
+
+ //#############
+ // Graphics update - Here you perform the representation of your model, meaning graphics rendering according to what your game or simulation model describes
+ // In the example browser, there is a separate method called renderScene() for this
+
+ // Uncomment this for some detailed output about the application ticks
+ // b3Printf(
+ // "Physics time: %u milliseconds / Graphics time: %u milliseconds / Input time: %u milliseconds / Total time passed: %u milliseconds",
+ // mLastModelTick, mLastGraphicsTick, mLastInputTick, mApplicationRuntime);
+
+ }while(mLoopTimer.getTimeMilliseconds() - fpsTimeStamp < fpsStep); // escape the loop if it is time to render
+ // Unfortunately, the input is not included in the loop, therefore the input update frequency is equal to the fps
+
+ fpsTimeStamp = mLoopTimer.getTimeMilliseconds();
+
+ }
+
+ virtual bool keyboardCallback(int key, int state)
+ {
+ switch(key)
+ {
+ case '1':{
+ gSimulationSpeed = SimulationSpeeds::QUARTER_SPEED;
+ gMaximumSpeed = false;
+ return true;
+ }
+ case '2':{
+ gSimulationSpeed = SimulationSpeeds::HALF_SPEED;
+ gMaximumSpeed = false;
+ return true;
+ }
+ case '3':{
+ gSimulationSpeed = SimulationSpeeds::NORMAL_SPEED;
+ gMaximumSpeed = false;
+ return true;
+ }
+ case '4':{
+ gSimulationSpeed = SimulationSpeeds::DOUBLE_SPEED;
+ gMaximumSpeed = false;
+ return true;
+ }
+ case '5':{
+ gSimulationSpeed = SimulationSpeeds::QUADRUPLE_SPEED;
+ gMaximumSpeed = false;
+ return true;
+ }
+ case '6':{
+ gSimulationSpeed = SimulationSpeeds::DECUPLE_SPEED;
+ gMaximumSpeed = false;
+ return true;
+ }
+ case '7':{
+ gSimulationSpeed = SimulationSpeeds::CENTUPLE_SPEED;
+ gMaximumSpeed = false;
+ return true;
+ }
+ case '8':{
+ gSimulationSpeed = SimulationSpeeds::QUINCENTUPLE_SPEED;
+ gMaximumSpeed = false;
+ return true;
+ }
+ case '9':{
+ gSimulationSpeed = SimulationSpeeds::MILLITUPLE_SPEED;
+ gMaximumSpeed = false;
+ return true;
+ }
+ case '0':{
+ gSimulationSpeed = SimulationSpeeds::MAX_SPEED;
+ gMaximumSpeed = true;
+ return true;
+ }
+ }
+ return CommonRigidBodyBase::keyboardCallback(key,state);
+ }
+
+
+ void changePhysicsStepsPerSecond(float physicsStepsPerSecond){ // change the simulation accuracy
+ if (m_dynamicsWorld && physicsStepsPerSecond) {
+ fixedPhysicsStepSizeSec = 1.0f / physicsStepsPerSecond;
+ fixedPhysicsStepSizeMilli = 1000.0f / physicsStepsPerSecond;
+
+ changeERPCFM();
+ }
+ }
+
+ void changeERPCFM(){ // Change ERP/CFM appropriately to the timestep and the ERP/CFM parameters above
+ if(m_dynamicsWorld){
+ m_dynamicsWorld->getSolverInfo().m_erp = b3ERPCFMHelper::getERP( // set the error reduction parameter
+ fixedPhysicsStepSizeSec, // step size per second
+ gERPSpringK, // k of a spring in the equation F = k * x (x:position)
+ gERPDamperC); // k of a damper in the equation F = k * v (v:velocity)
+
+ m_dynamicsWorld->getSolverInfo().m_globalCfm = b3ERPCFMHelper::getCFM( // set the constraint force mixing according to the time step
+ gCFMSingularityAvoidance, // singularity avoidance (if you experience unsolvable constraints, increase this value
+ fixedPhysicsStepSizeSec, // steps size per second
+ gCFMSpringK, // k of a spring in the equation F = k * x (x:position)
+ gCFMDamperC); // k of a damper in the equation F = k * v (v:velocity)
+
+// b3Printf("Bullet DynamicsWorld ERP: %f",
+// m_dynamicsWorld->getSolverInfo().m_erp);
+
+// b3Printf("Bullet DynamicsWorld CFM: %f",
+// m_dynamicsWorld->getSolverInfo().m_globalCfm);
+ }
+ }
+
+ void changeSolverIterations(int iterations){ // change the number of iterations
+ m_dynamicsWorld->getSolverInfo().m_numIterations = iterations;
+ }
+
+ void changeFPS(float framesPerSecond){ // change the frames per second
+ fpsStep = 1000.0f / gFramesPerSecond;
+ }
+
+ void performTrueSteps(btScalar timeStep){ // physics stepping without interpolated substeps
+ int subSteps = floor((timeStep / fixedPhysicsStepSizeSec)+0.5); /**!< Calculate the number of full normal time steps we can take */
+
+ for (int i = 0; i < subSteps; i++) { /**!< Perform the number of substeps to reach the timestep*/
+ if (timeStep && m_dynamicsWorld) {
+ // since we want to perform all proper steps, we perform no interpolated substeps
+ int subSteps = 1;
+
+ m_dynamicsWorld->stepSimulation(btScalar(timeStep),
+ btScalar(subSteps), btScalar(fixedPhysicsStepSizeSec));
+ }
+ }
+ }
+
+ void performInterpolatedSteps(btScalar timeStep){ // physics stepping with interpolated substeps
+ int subSteps = 1 + floor((timeStep / fixedPhysicsStepSizeSec)+0.5); /**!< Calculate the number of full normal time steps we can take, plus 1 for safety of not losing time */
+ if (timeStep && m_dynamicsWorld) {
+
+ m_dynamicsWorld->stepSimulation(btScalar(timeStep), btScalar(subSteps),
+ btScalar(fixedPhysicsStepSizeSec)); /**!< Perform the number of substeps to reach the timestep*/
+ }
+ }
+
+ void performMaxStep(){ // perform as many steps as possible
+ if(gApplicationTick >= mLastGraphicsTick + mLastInputTick){ // if the remaining time for graphics is going to be positive
+ mPhysicsTick = gApplicationTick /**!< calculate the remaining time for physics (in Milliseconds) */
+ - mLastGraphicsTick - mLastInputTick;
+ }
+ else{
+ mPhysicsTick = 0; // no time for physics left / The internal application step is too high
+ }
+
+ // b3Printf("Application tick: %u",gApplicationTick);
+ // b3Printf("Graphics tick: %u",mLastGraphicsTick);
+ // b3Printf("Input tick: %u",mLastInputTick);
+ // b3Printf("Physics tick: %u",mPhysicsTick);
+
+ if (mPhysicsTick > 0) { // with positive physics tick we perform as many update steps until the time for it is used up
+
+ mPhysicsStepStart = mLoopTimer.getTimeMilliseconds(); /**!< The physics updates start (in Milliseconds)*/
+ mPhysicsStepEnd = mPhysicsStepStart;
+
+ while (mPhysicsTick > mPhysicsStepEnd - mPhysicsStepStart) { /**!< Update the physics until we run out of time (in Milliseconds) */
+ // b3Printf("Physics passed: %u", mPhysicsStepEnd - mPhysicsStepStart);
+ double timeStep = fixedPhysicsStepSizeSec; /**!< update the world (in Seconds) */
+
+ if (gInterpolate) {
+ performInterpolatedSteps(timeStep);
+ } else {
+ performTrueSteps(timeStep);
+ }
+ performedTime += timeStep;
+ mPhysicsStepEnd = mLoopTimer.getTimeMilliseconds(); /**!< Update the last physics step end to stop updating in time (in Milliseconds) */
+ }
+ }
+ }
+
+
+ void performSpeedStep(){ // force-perform the number of steps needed to achieve a certain speed (safe to too high speeds, meaning the application will lose time, not the physics)
+ if (mFrameTime > gApplicationTick) { /** cap frametime to make the application lose time, not the physics (in Milliseconds) */
+ mFrameTime = gApplicationTick; // This prevents the physics time accumulator to sum up too much time
+ } // The simulation therefore gets slower, but still performs all requested physics steps
+
+ mModelAccumulator += mFrameTime; /**!< Accumulate the time the physics simulation has to perform in order to stay in real-time (in Milliseconds) */
+ // b3Printf("Model time accumulator: %u", mModelAccumulator);
+
+ int steps = floor(mModelAccumulator / fixedPhysicsStepSizeMilli); /**!< Calculate the number of time steps we can take */
+ // b3Printf("Next steps: %i", steps);
+
+ if (steps > 0) { /**!< Update if we can take at least one step */
+
+ double timeStep = gSimulationSpeed * steps * fixedPhysicsStepSizeSec; /**!< update the universe (in Seconds) */
+
+ if (gInterpolate) {
+ performInterpolatedSteps(timeStep); // perform interpolated steps
+ } else {
+ performTrueSteps(timeStep); // perform full steps
+ }
+ performedTime += timeStep; // sum up the performed time for measuring the speed up
+ mModelAccumulator -= steps * fixedPhysicsStepSizeMilli; /**!< Remove the time performed by the physics simulation from the accumulator, the remaining time carries over to the next cycle (in Milliseconds) */
+ }
+ }
+
+ void renderScene() { // render the scene
+ if(!gIsHeadless){ // while the simulation is not running headlessly, render to screen
+ CommonRigidBodyBase::renderScene();
+
+ if(m_dynamicsWorld->getDebugDrawer()){
+ debugDraw(m_dynamicsWorld->getDebugDrawer()->getDebugMode());
+ }
+ }
+ mIsHeadless = gIsHeadless;
+ }
+ void resetCamera() { // reset the camera to its original position
+ float dist = 41;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3] = { 0, 0.46, 0 };
+ m_guiHelper->resetCamera(dist, pitch, yaw, targetPos[0], targetPos[1],
+ targetPos[2]);
+ }
+
+ // loop timing components ###################
+ //# loop timestamps
+ btClock mLoopTimer; /**!< The loop timer to time the loop correctly */
+ unsigned long int mApplicationStart; /**!< The time the application was started (absolute, in Milliseconds) */
+ unsigned long int mPreviousModelIteration; /**!< The previous model iteration timestamp (absolute, in Milliseconds) */
+ unsigned long int mThisModelIteration; /**!< This model iteration timestamp (absolute, in Milliseconds) */
+
+ //# loop durations
+ long int mModelAccumulator; /**!< The time to forward the model in this loop iteration (relative, in Milliseconds) */
+ unsigned long int mFrameTime; /**!< The time to render a frame (relative, in Milliseconds) */
+ unsigned long int mApplicationRuntime; /**!< The total application runtime (relative, in Milliseconds) */
+
+ long int mInputDt; /**!< The time difference of input that has to be fed in */
+ unsigned long int mInputClock;
+
+ long int mLastGraphicsTick; /*!< The time it took the graphics rendering last time (relative, in Milliseconds) */
+ unsigned long int mGraphicsStart;
+
+ long int mLastInputTick; /**!< The time it took the input to process last time (relative, in Milliseconds) */
+ unsigned long int mInputStart;
+
+ long int mLastModelTick; /**!< The time it took the model to update last time
+ This includes the bullet physics update */
+ unsigned long int mModelStart; /**!< The timestamp the model started updating last (absolute, in Milliseconds)*/
+
+ long int mPhysicsTick; /**!< The time remaining in the loop to update the physics (relative, in Milliseconds)*/
+ unsigned long int mPhysicsStepStart; /**!< The physics start timestamp (absolute, in Milliseconds) */
+ unsigned long int mPhysicsStepEnd; /**!< The last physics step end (absolute, in Milliseconds) */
+
+ // to measure the performance of the demo
+ double performedTime;
+ unsigned long int performanceTimestamp;
+
+ unsigned long int speedUpPrintTimeStamp;
+
+ unsigned long int fpsTimeStamp; /**!< FPS timing variables */
+ double fpsStep;
+
+ //store old values
+ bool mPhysicsStepsPerSecondUpdated;
+ bool mFramesPerSecondUpdated;
+ bool mSolverIterationsUpdated;
+ bool mIsHeadless;
+};
+
+#endif //NN3D_WALKERS_TIME_WARP_BASE_H
+
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/CMakeLists.txt bullet-2.86.1+dfsg/examples/ExampleBrowser/CMakeLists.txt
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/CMakeLists.txt 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/CMakeLists.txt 2017-02-17 23:43:38.000000000 +0000
@@ -1,36 +1,227 @@
-
INCLUDE_DIRECTORIES(
.
- ${BULLET_PHYSICS_SOURCE_DIR}/src
+ ${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
)
-FILE(GLOB ExampleBrowser_SRCS "*" "GwenGUISupport/*" )
-FILE(GLOB ExampleBrowser_HDRS "*" "GwenGUISupport/*" )
+FILE(GLOB GwenGUISupport_SRCS "GwenGUISupport/*" )
+FILE(GLOB GwenGUISupport_HDRS "GwenGUISupport/*" )
+
+
+IF (WIN32)
+ INCLUDE_DIRECTORIES(
+ ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
+ )
+ ADD_DEFINITIONS(-DGLEW_STATIC)
+ELSE(WIN32)
+ IF(APPLE)
+ find_library(COCOA NAMES Cocoa)
+ ELSE(APPLE)
+ ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+ ADD_DEFINITIONS("-DGLEW_STATIC")
+ ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+ INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
+ ENDIF(APPLE)
+ENDIF(WIN32)
+
+
+ADD_LIBRARY(BulletExampleBrowserLib
+ OpenGLExampleBrowser.cpp
+ OpenGLGuiHelper.cpp
+ GL_ShapeDrawer.cpp
+ CollisionShape2TriangleMesh.cpp
+ CollisionShape2TriangleMesh.h
+ ../Utils/b3Clock.cpp
+ ../Utils/b3Clock.h
+ ../Utils/ChromeTraceUtil.cpp
+ ../Utils/ChromeTraceUtil.h
+ ../Utils/b3ResourcePath.cpp
+ ../Utils/b3ResourcePath.h
+ ../Utils/b3ERPCFMHelper.hpp
+ ../Utils/b3ReferenceFrameHelper.hpp
+ ${GwenGUISupport_SRCS}
+ ${GwenGUISupport_HDRS}
+
+)
+
+SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+ IF (WIN32)
+ TARGET_LINK_LIBRARIES(
+ BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+ BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
+ ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+ )
+ ELSE(WIN32)
+ IF(APPLE)
+ TARGET_LINK_LIBRARIES(
+ BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+ BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
+ ${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+ )
+ ELSE(APPLE)
+ TARGET_LINK_LIBRARIES(
+ BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+ BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
+ pthread dl
+ )
+ ENDIF(APPLE)
+ ENDIF(WIN32)
+ENDIF(BUILD_SHARED_LIBS)
+
+####################
+#
+# Bullet Example Browser main app
+#
+####################
+
+INCLUDE_DIRECTORIES(
+ .
+ ${BULLET_PHYSICS_SOURCE_DIR}/src
+ ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+)
+
+
+LINK_LIBRARIES(
+ BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
+)
+
+IF (WIN32)
+ INCLUDE_DIRECTORIES(
+ ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
+ )
+ LINK_LIBRARIES(
+ ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+ )
+ ADD_DEFINITIONS(-DGLEW_STATIC)
+ELSE(WIN32)
+ IF(APPLE)
+ find_library(COCOA NAMES Cocoa)
+ MESSAGE(${COCOA})
+ link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
+ ELSE(APPLE)
+ ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+ ADD_DEFINITIONS("-DGLEW_STATIC")
+ ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+ INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
+ LINK_LIBRARIES( pthread dl)
+ ENDIF(APPLE)
+ENDIF(WIN32)
+IF (BULLET2_MULTITHREADED_OPEN_MP_DEMO)
+ ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
+ IF (MSVC)
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
+ ELSE (MSVC)
+ # GCC, Clang
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
+ ENDIF (MSVC)
+ENDIF (BULLET2_MULTITHREADED_OPEN_MP_DEMO)
+
+IF (BULLET2_MULTITHREADED_PPL_DEMO)
+ ADD_DEFINITIONS("-DBT_USE_PPL=1")
+ENDIF (BULLET2_MULTITHREADED_PPL_DEMO)
+
+IF (BULLET2_MULTITHREADED_TBB_DEMO)
+ SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
+ SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")
+ find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR})
+ find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR})
+ ADD_DEFINITIONS("-DBT_USE_TBB=1")
+ INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} )
+ LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} )
+ENDIF (BULLET2_MULTITHREADED_TBB_DEMO)
+
+SET(ExtendedTutorialsSources
+ ../ExtendedTutorials/Chain.cpp
+ ../ExtendedTutorials/Chain.h
+ ../ExtendedTutorials/Bridge.cpp
+ ../ExtendedTutorials/Bridge.h
+ ../ExtendedTutorials/RigidBodyFromObj.cpp
+ ../ExtendedTutorials/RigidBodyFromObj.h
+ ../ExtendedTutorials/SimpleBox.cpp
+ ../ExtendedTutorials/SimpleBox.h
+ ../ExtendedTutorials/MultipleBoxes.cpp
+ ../ExtendedTutorials/MultipleBoxes.h
+ ../ExtendedTutorials/SimpleCloth.cpp
+ ../ExtendedTutorials/SimpleCloth.h
+ ../ExtendedTutorials/SimpleJoint.cpp
+ ../ExtendedTutorials/SimpleJoint.h
+ ../ExtendedTutorials/NewtonsCradle.cpp
+ ../ExtendedTutorials/NewtonsCradle.h
+ ../ExtendedTutorials/InclinedPlane.cpp
+ ../ExtendedTutorials/InclinedPlane.h
+ ../ExtendedTutorials/MultiPendulum.cpp
+ ../ExtendedTutorials/MultiPendulum.h
+)
+SET(BulletExampleBrowser_SRCS
-SET(App_ExampleBrowser_SRCS
- main.cpp
- ExampleEntries.cpp
- ExampleEntries.h
+ ../TinyRenderer/geometry.cpp
+ ../TinyRenderer/model.cpp
+ ../TinyRenderer/tgaimage.cpp
+ ../TinyRenderer/our_gl.cpp
+ ../TinyRenderer/TinyRenderer.cpp
+ ../SharedMemory/TinyRendererVisualShapeConverter.cpp
+ ../SharedMemory/TinyRendererVisualShapeConverter.h
+ ../SharedMemory/IKTrajectoryHelper.cpp
+ ../SharedMemory/IKTrajectoryHelper.h
+
../SharedMemory/PhysicsServer.cpp
+ ../SharedMemory/PhysicsClientSharedMemory.cpp
+ ../SharedMemory/PhysicsClientSharedMemory_C_API.cpp
../SharedMemory/PhysicsClient.cpp
../SharedMemory/PhysicsClientC_API.cpp
../SharedMemory/PhysicsServerExample.cpp
../SharedMemory/PhysicsClientExample.cpp
- ../SharedMemory/RobotControlExample.cpp
../SharedMemory/PosixSharedMemory.cpp
../SharedMemory/Win32SharedMemory.cpp
+ ../SharedMemory/InProcessMemory.cpp
+ ../SharedMemory/PhysicsServerSharedMemory.cpp
+ ../SharedMemory/PhysicsDirect.cpp
+ ../SharedMemory/PhysicsDirect.h
+ ../SharedMemory/PhysicsDirectC_API.cpp
+ ../SharedMemory/PhysicsDirectC_API.h
+ ../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+ ../SharedMemory/PhysicsLoopBack.cpp
+ ../SharedMemory/PhysicsLoopBack.h
+ ../SharedMemory/PhysicsLoopBackC_API.cpp
+ ../SharedMemory/PhysicsLoopBackC_API.h
+ ../SharedMemory/PhysicsServerCommandProcessor.cpp
+ ../SharedMemory/PhysicsServerCommandProcessor.h
../BasicDemo/BasicExample.cpp
../BasicDemo/BasicExample.h
+ ../InverseDynamics/InverseDynamicsExample.cpp
+ ../InverseDynamics/InverseDynamicsExample.h
+ ../InverseKinematics/InverseKinematicsExample.cpp
+ ../InverseKinematics/InverseKinematicsExample.h
../ForkLift/ForkLiftDemo.cpp
../ForkLift/ForkLiftDemo.h
+ ../MultiThreadedDemo/MultiThreadedDemo.cpp
+ ../MultiThreadedDemo/MultiThreadedDemo.h
+ ../MultiThreadedDemo/CommonRigidBodyMTBase.cpp
+ ../MultiThreadedDemo/CommonRigidBodyMTBase.h
+ ../MultiThreadedDemo/ParallelFor.h
../Tutorial/Tutorial.cpp
../Tutorial/Tutorial.h
../Tutorial/Dof6ConstraintTutorial.cpp
../Tutorial/Dof6ConstraintTutorial.h
+ ../Evolution/NN3DWalkers.cpp
+ ../Evolution/NN3DWalkers.h
+ ../Evolution/NN3DWalkersTimeWarpBase.h
+ ../ExtendedTutorials/NewtonsRopeCradle.cpp
+ ../ExtendedTutorials/NewtonsRopeCradle.h
+ ../Collision/CollisionSdkC_Api.cpp
+ ../Collision/CollisionSdkC_Api.h
+ ../Collision/CollisionTutorialBullet2.cpp
+ ../Collision/CollisionTutorialBullet2.h
+ ../Collision/Internal/Bullet2CollisionSdk.cpp
+ ../Collision/Internal/Bullet2CollisionSdk.h
+ ../Collision/Internal/CollisionSdkInterface.h
+ ../Collision/Internal/RealTimeBullet3CollisionSdk.cpp
+ ../Collision/Internal/RealTimeBullet3CollisionSdk.h
../GyroscopicDemo/GyroscopicSetup.cpp
../GyroscopicDemo/GyroscopicSetup.h
../Planar2D/Planar2D.cpp
@@ -45,12 +236,28 @@
../FractureDemo/btFractureDynamicsWorld.h
../DynamicControlDemo/MotorDemo.cpp
../DynamicControlDemo/MotorDemo.h
-
+ ../MultiThreading/MultiThreadingExample.cpp
+ ../MultiThreading/b3PosixThreadSupport.cpp
+ ../MultiThreading/b3Win32ThreadSupport.cpp
+ ../MultiThreading/b3ThreadSupportInterface.cpp
+ ../RenderingExamples/TinyRendererSetup.cpp
../RenderingExamples/TimeSeriesCanvas.cpp
../RenderingExamples/TimeSeriesCanvas.h
../RenderingExamples/TimeSeriesFontData.cpp
../RenderingExamples/TimeSeriesFontData.h
+ ../RenderingExamples/DynamicTexturedCubeDemo.cpp
+ ../RenderingExamples/DynamicTexturedCubeDemo.h
+ ../RenderingExamples/TinyVRGui.cpp
+ ../RenderingExamples/TinyVRGui.h
+ ../RoboticsLearning/GripperGraspExample.cpp
+ ../RoboticsLearning/GripperGraspExample.h
+ ../RoboticsLearning/b3RobotSimAPI.cpp
+ ../RoboticsLearning/b3RobotSimAPI.h
+ ../RoboticsLearning/R2D2GraspExample.cpp
+ ../RoboticsLearning/R2D2GraspExample.h
+ ../RoboticsLearning/KukaGraspExample.cpp
+ ../RoboticsLearning/KukaGraspExample.h
../RenderingExamples/CoordinateSystemDemo.cpp
../RenderingExamples/CoordinateSystemDemo.h
../RenderingExamples/RaytracerSetup.cpp
@@ -65,12 +272,15 @@
../Raycast/RaytestDemo.cpp
../Importers/ImportBsp/BspConverter.h
../Importers/ImportBullet/SerializeSetup.cpp
- ../Importers/ImportBullet/SerializeSetup.h
-
+ ../Importers/ImportBullet/SerializeSetup.h
+ ../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+../Importers/ImportMeshUtility/b3ImportMeshUtility.h
../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
-../../Extras/Serialize/BulletFileLoader/bChunk.cpp ../../Extras/Serialize/BulletFileLoader/bFile.cpp
-../../Extras/Serialize/BulletFileLoader/bDNA.cpp ../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
+ ../../Extras/Serialize/BulletFileLoader/bChunk.cpp
+ ../../Extras/Serialize/BulletFileLoader/bFile.cpp
+ ../../Extras/Serialize/BulletFileLoader/bDNA.cpp
+ ../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
../Importers/ImportBsp/BspLoader.h
../Importers/ImportBsp/ImportBspExample.h
@@ -87,6 +297,11 @@
../Importers/ImportURDFDemo/ImportURDFSetup.h
../Importers/ImportURDFDemo/URDF2Bullet.h
../Importers/ImportURDFDemo/urdf_samples.h
+ ../Importers/ImportURDFDemo/urdf_samples.h
+ ../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+ ../Importers/ImportMJCFDemo/BulletMJCFImporter.h
+ ../Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
+ ../Importers/ImportMJCFDemo/ImportMJCFSetup.h
../Importers/ImportBsp/BspConverter.cpp
../Importers/ImportBsp/BspLoader.cpp
../Importers/ImportBsp/ImportBspExample.cpp
@@ -96,11 +311,14 @@
../Importers/ImportObjDemo/LoadMeshFromObj.cpp
../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../Importers/ImportSTLDemo/ImportSTLSetup.cpp
+ ../Importers/ImportSDFDemo/ImportSDFSetup.cpp
../Importers/ImportURDFDemo/ImportURDFSetup.cpp
../Importers/ImportURDFDemo/URDF2Bullet.cpp
../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../Importers/ImportURDFDemo/MyMultiBodyCreator.h
../Importers/ImportURDFDemo/UrdfParser.cpp
+ ../Utils/RobotLoggingUtil.cpp
+ ../Utils/RobotLoggingUtil.h
../Importers/ImportURDFDemo/urdfStringSplit.cpp
../Importers/ImportURDFDemo/urdfStringSplit.h
../Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -111,6 +329,8 @@
../VoronoiFracture/btConvexConvexMprAlgorithm.h
../Vehicles/Hinge2Vehicle.cpp
../Vehicles/Hinge2Vehicle.h
+ ../MultiBody/Pendulum.cpp
+ ../MultiBody/MultiBodySoftContact.cpp
../MultiBody/TestJointTorqueSetup.cpp
../MultiBody/TestJointTorqueSetup.h
../MultiBody/InvertedPendulumPDControl.cpp
@@ -118,6 +338,7 @@
../MultiBody/MultiBodyConstraintFeedback.cpp
../MultiBody/MultiDofDemo.cpp
../MultiBody/MultiDofDemo.h
+ ../RigidBody/RigidBodySoftContact.cpp
../Constraints/TestHingeTorque.cpp
../Constraints/TestHingeTorque.h
../Constraints/ConstraintDemo.cpp
@@ -126,83 +347,63 @@
../Constraints/Dof6Spring2Setup.h
../Constraints/ConstraintPhysicsSetup.cpp
../Constraints/ConstraintPhysicsSetup.h
-
-
- ../ThirdPartyLibs/stb_image/stb_image.cpp
- ../ThirdPartyLibs/stb_image/stb_image.h
- ../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
- ../ThirdPartyLibs/tinyxml/tinystr.cpp
- ../ThirdPartyLibs/tinyxml/tinyxml.cpp
- ../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
- ../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
+ ../ThirdPartyLibs/stb_image/stb_image.cpp
+ ../ThirdPartyLibs/stb_image/stb_image.h
- ../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp
- ../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp
- ../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp
- ../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp
- ../ThirdPartyLibs/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h
- ../ThirdPartyLibs/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h
- ../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h
- ../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h
- ../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h
- ../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h
- ../ThirdPartyLibs/tinyxml/tinystr.cpp
- ../ThirdPartyLibs/tinyxml/tinyxml.cpp
- ../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
- ../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
- ../ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h
- ../ThirdPartyLibs/urdf/boost_replacement/shared_ptr.h
- ../ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp
- ../ThirdPartyLibs/urdf/boost_replacement/printf_console.h
- ../ThirdPartyLibs/urdf/boost_replacement/string_split.cpp
- ../ThirdPartyLibs/urdf/boost_replacement/string_split.h
- ../Utils/b3Clock.cpp
- ../Utils/b3Clock.h
- ../Utils/b3ResourcePath.cpp
- ../Utils/b3ResourcePath.h
- ${ExampleBrowser_SRCS}
- ${ExampleBrowser_HDRS}
+ ../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+ ../ThirdPartyLibs/tinyxml/tinystr.cpp
+ ../ThirdPartyLibs/tinyxml/tinyxml.cpp
+ ../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
+ ../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
+
+ ../ThirdPartyLibs/tinyxml/tinystr.cpp
+ ../ThirdPartyLibs/tinyxml/tinyxml.cpp
+ ../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
+ ../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
+ InProcessExampleBrowser.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
-LINK_LIBRARIES(
- Bullet3Common BulletSoftBody BulletDynamics BulletCollision LinearMath OpenGLWindow gwen ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-)
-
-IF (WIN32)
- SET(App_ExampleBrowser_SRCS ${App_ExampleBrowser_SRCS} )
- INCLUDE_DIRECTORIES(
- ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
- )
- ADD_DEFINITIONS(-DGLEW_STATIC)
-ELSE(WIN32)
- IF(APPLE)
- find_library(COCOA NAMES Cocoa)
- MESSAGE(${COCOA})
- link_libraries(${COCOA})
- ELSE(APPLE)
- ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
- ADD_DEFINITIONS("-DGLEW_STATIC")
- ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
- INCLUDE_DIRECTORIES(
- ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
- )
- LINK_LIBRARIES( pthread dl)
- ENDIF(APPLE)
-ENDIF(WIN32)
-
-
ADD_EXECUTABLE(App_ExampleBrowser
- ${App_ExampleBrowser_SRCS}
+ main.cpp
+ ExampleEntries.cpp
+ ExampleEntries.h
+ ${ExtendedTutorialsSources}
+ ${BulletExampleBrowser_SRCS}
)
-
+
+FILE( MAKE_DIRECTORY "${PROJECT_BINARY_DIR}/data" )
+
+ADD_CUSTOM_COMMAND(
+ TARGET App_ExampleBrowser
+ POST_BUILD
+ COMMAND ${CMAKE_COMMAND} ARGS -E copy_directory ${BULLET_PHYSICS_SOURCE_DIR}/data ${PROJECT_BINARY_DIR}/data
+ )
+
+IF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32)
+ # add a post build command to copy some dlls to the executable directory
+ set(TBB_VC_VER "vc12")
+ set(TBB_VC_ARCH "ia32")
+ # assume 32-bit build in VC12 for now
+ # checks can be added here at a later time
+ ADD_CUSTOM_COMMAND(TARGET App_ExampleBrowser POST_BUILD
+ COMMAND ${CMAKE_COMMAND} -E copy_if_different
+ "${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbb.dll"
+ $)
+ ADD_CUSTOM_COMMAND(TARGET App_ExampleBrowser POST_BUILD
+ COMMAND ${CMAKE_COMMAND} -E copy_if_different
+ "${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbbmalloc.dll"
+ $)
+ENDIF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32)
+
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp bullet-2.86.1+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,196 @@
+
+#include "CollisionShape2TriangleMesh.h"
+
+#include "btBulletCollisionCommon.h"
+#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
+
+void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray& vertexPositions, btAlignedObjectArray& vertexNormals, btAlignedObjectArray& indicesOut)
+
+{
+//todo: support all collision shape types
+ switch (collisionShape->getShapeType())
+ {
+ case SOFTBODY_SHAPE_PROXYTYPE:
+ {
+ //skip the soft body collision shape for now
+ break;
+ }
+ case STATIC_PLANE_PROXYTYPE:
+ {
+ //draw a box, oriented along the plane normal
+ const btStaticPlaneShape* staticPlaneShape = static_cast(collisionShape);
+ btScalar planeConst = staticPlaneShape->getPlaneConstant();
+ const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
+ btVector3 planeOrigin = planeNormal * planeConst;
+ btVector3 vec0,vec1;
+ btPlaneSpace1(planeNormal,vec0,vec1);
+ btScalar vecLen = 100.f;
+ btVector3 verts[4];
+
+ verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
+ verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
+ verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
+ verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
+
+ int startIndex = vertexPositions.size();
+ indicesOut.push_back(startIndex+0);
+ indicesOut.push_back(startIndex+1);
+ indicesOut.push_back(startIndex+2);
+ indicesOut.push_back(startIndex+0);
+ indicesOut.push_back(startIndex+2);
+ indicesOut.push_back(startIndex+3);
+
+ btVector3 triNormal = parentTransform.getBasis()*planeNormal;
+
+
+ for (int i=0;i<4;i++)
+ {
+ btVector3 vtxPos;
+ btVector3 pos =parentTransform*verts[i];
+ vertexPositions.push_back(pos);
+ vertexNormals.push_back(triNormal);
+ }
+ break;
+ }
+ case TRIANGLE_MESH_SHAPE_PROXYTYPE:
+ {
+
+
+ btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) collisionShape;
+ btVector3 trimeshScaling = trimesh->getLocalScaling();
+ btStridingMeshInterface* meshInterface = trimesh->getMeshInterface();
+ btAlignedObjectArray vertices;
+ btAlignedObjectArray indices;
+
+ for (int partId=0;partIdgetNumSubParts();partId++)
+ {
+
+ const unsigned char *vertexbase = 0;
+ int numverts = 0;
+ PHY_ScalarType type = PHY_INTEGER;
+ int stride = 0;
+ const unsigned char *indexbase = 0;
+ int indexstride = 0;
+ int numfaces = 0;
+ PHY_ScalarType indicestype = PHY_INTEGER;
+ //PHY_ScalarType indexType=0;
+
+ btVector3 triangleVerts[3];
+ meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
+ btVector3 aabbMin,aabbMax;
+
+ for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
+ {
+ unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
+
+ for (int j=2;j>=0;j--)
+ {
+
+ int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
+ if (type == PHY_FLOAT)
+ {
+ float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
+ triangleVerts[j] = btVector3(
+ graphicsbase[0]*trimeshScaling.getX(),
+ graphicsbase[1]*trimeshScaling.getY(),
+ graphicsbase[2]*trimeshScaling.getZ());
+ }
+ else
+ {
+ double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
+ triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
+ btScalar(graphicsbase[1]*trimeshScaling.getY()),
+ btScalar(graphicsbase[2]*trimeshScaling.getZ()));
+ }
+ }
+ indices.push_back(vertices.size());
+ vertices.push_back(triangleVerts[0]);
+ indices.push_back(vertices.size());
+ vertices.push_back(triangleVerts[1]);
+ indices.push_back(vertices.size());
+ vertices.push_back(triangleVerts[2]);
+
+ btVector3 triNormal = (triangleVerts[1]-triangleVerts[0]).cross(triangleVerts[2]-triangleVerts[0]);
+ btScalar dot = triNormal.dot(triNormal);
+
+ //cull degenerate triangles
+ if (dot >= SIMD_EPSILON*SIMD_EPSILON)
+ {
+ triNormal /= btSqrt(dot);
+ for (int v = 0; v < 3; v++)
+ {
+
+ btVector3 pos = parentTransform*triangleVerts[v];
+ indicesOut.push_back(vertexPositions.size());
+ vertexPositions.push_back(pos);
+ vertexNormals.push_back(triNormal);
+ }
+ }
+
+ }
+ }
+
+ break;
+ }
+ default:
+ {
+ if (collisionShape->isConvex())
+ {
+ btConvexShape* convex = (btConvexShape*)collisionShape;
+ {
+ btShapeHull* hull = new btShapeHull(convex);
+ hull->buildHull(0.0);
+
+ {
+ //int strideInBytes = 9*sizeof(float);
+ //int numVertices = hull->numVertices();
+ //int numIndices =hull->numIndices();
+
+ for (int t=0;tnumTriangles();t++)
+ {
+
+ btVector3 triNormal;
+
+ int index0 = hull->getIndexPointer()[t*3+0];
+ int index1 = hull->getIndexPointer()[t*3+1];
+ int index2 = hull->getIndexPointer()[t*3+2];
+ btVector3 pos0 =parentTransform*hull->getVertexPointer()[index0];
+ btVector3 pos1 =parentTransform*hull->getVertexPointer()[index1];
+ btVector3 pos2 =parentTransform*hull->getVertexPointer()[index2];
+ triNormal = (pos1-pos0).cross(pos2-pos0);
+ triNormal.normalize();
+
+ for (int v=0;v<3;v++)
+ {
+ int index = hull->getIndexPointer()[t*3+v];
+ btVector3 pos =parentTransform*hull->getVertexPointer()[index];
+ indicesOut.push_back(vertexPositions.size());
+ vertexPositions.push_back(pos);
+ vertexNormals.push_back(triNormal);
+ }
+ }
+ }
+ delete hull;
+ }
+ } else
+ {
+ if (collisionShape->isCompound())
+ {
+ btCompoundShape* compound = (btCompoundShape*) collisionShape;
+ for (int i=0;igetNumChildShapes();i++)
+ {
+
+ btTransform childWorldTrans = parentTransform * compound->getChildTransform(i);
+ CollisionShape2TriangleMesh(compound->getChildShape(i),childWorldTrans,vertexPositions,vertexNormals,indicesOut);
+ }
+ } else
+ {
+ btAssert(0);
+ }
+
+ }
+ }
+ };
+}
+
+
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.h bullet-2.86.1+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.h
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,10 @@
+#ifndef COLLISION_SHAPE_2_GRAPHICS_H
+#define COLLISION_SHAPE_2_GRAPHICS_H
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btTransform.h"
+class btCollisionShape;
+
+void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray& vertexPositions, btAlignedObjectArray& vertexNormals, btAlignedObjectArray& indicesOut);
+
+#endif //COLLISION_SHAPE_2_GRAPHICS_H
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/ExampleEntries.cpp bullet-2.86.1+dfsg/examples/ExampleBrowser/ExampleEntries.cpp
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/ExampleEntries.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/ExampleEntries.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -1,5 +1,3 @@
-
-
#include "ExampleEntries.h"
#include "LinearMath/btAlignedObjectArray.h"
@@ -7,7 +5,10 @@
#include "../RenderingExamples/RenderInstancingDemo.h"
#include "../RenderingExamples/CoordinateSystemDemo.h"
#include "../RenderingExamples/RaytracerSetup.h"
+#include "../RenderingExamples/TinyRendererSetup.h"
+#include "../RenderingExamples/DynamicTexturedCubeDemo.h"
#include "../ForkLift/ForkLiftDemo.h"
+#include "../MultiThreadedDemo/MultiThreadedDemo.h"
#include "../BasicDemo/BasicExample.h"
#include "../Planar2D/Planar2D.h"
#include "../Benchmarks/BenchmarkDemo.h"
@@ -16,14 +17,19 @@
#include "../Importers/ImportColladaDemo/ImportColladaSetup.h"
#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
-
+#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
+#include "../Importers/ImportMJCFDemo/ImportMJCFSetup.h"
+#include "../Collision/CollisionTutorialBullet2.h"
#include "../GyroscopicDemo/GyroscopicSetup.h"
#include "../Constraints/Dof6Spring2Setup.h"
#include "../Constraints/ConstraintPhysicsSetup.h"
#include "../MultiBody/TestJointTorqueSetup.h"
+#include "../MultiBody/Pendulum.h"
+#include "../MultiBody/MultiBodySoftContact.h"
#include "../MultiBody/MultiBodyConstraintFeedback.h"
#include "../MultiBody/MultiDofDemo.h"
#include "../MultiBody/InvertedPendulumPDControl.h"
+#include "../RigidBody/RigidBodySoftContact.h"
#include "../VoronoiFracture/VoronoiFractureDemo.h"
#include "../SoftDemo/SoftDemo.h"
#include "../Constraints/ConstraintDemo.h"
@@ -34,12 +40,17 @@
#include "../DynamicControlDemo/MotorDemo.h"
#include "../RollingFrictionDemo/RollingFrictionDemo.h"
#include "../SharedMemory/PhysicsServerExample.h"
-#include "../SharedMemory/RobotControlExample.h"
#include "../SharedMemory/PhysicsClientExample.h"
#include "../Constraints/TestHingeTorque.h"
#include "../RenderingExamples/TimeSeriesExample.h"
#include "../Tutorial/Tutorial.h"
#include "../Tutorial/Dof6ConstraintTutorial.h"
+#include "../MultiThreading/MultiThreadingExample.h"
+#include "../InverseDynamics/InverseDynamicsExample.h"
+#include "../RoboticsLearning/R2D2GraspExample.h"
+#include "../RoboticsLearning/KukaGraspExample.h"
+#include "../RoboticsLearning/GripperGraspExample.h"
+#include "../InverseKinematics/InverseKinematicsExample.h"
#ifdef ENABLE_LUA
#include "../LuaDemo/LuaPhysicsSetup.h"
@@ -52,7 +63,19 @@
#endif
#endif //B3_USE_CLEW
-
+//Extended Tutorial Includes Added by Mobeen and Benelot
+#include "../ExtendedTutorials/SimpleBox.h"
+#include "../ExtendedTutorials/MultipleBoxes.h"
+#include "../ExtendedTutorials/SimpleJoint.h"
+#include "../ExtendedTutorials/SimpleCloth.h"
+#include "../ExtendedTutorials/Chain.h"
+#include "../ExtendedTutorials/Bridge.h"
+#include "../ExtendedTutorials/RigidBodyFromObj.h"
+#include "../ExtendedTutorials/InclinedPlane.h"
+#include "../ExtendedTutorials/NewtonsCradle.h"
+#include "../ExtendedTutorials/NewtonsRopeCradle.h"
+#include "../ExtendedTutorials/MultiPendulum.h"
+#include "../Evolution/NN3DWalkers.h"
struct ExampleEntry
{
@@ -74,56 +97,75 @@
};
+
static ExampleEntry gDefaultExamples[]=
{
-
-
-
-
+
ExampleEntry(0,"API"),
+
ExampleEntry(1,"Basic Example","Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc),
ExampleEntry(1,"Rolling Friction", "Damping is often not good enough to keep rounded objects from rolling down a sloped surface. Instead, you can set the rolling friction of a rigid body. Generally it is best to leave the rolling friction to zero, to avoid artifacts.", RollingFrictionCreateFunc),
-
- ExampleEntry(1,"Constraints","Show the use of the various constraints in Bullet. Press the L key to visualize the constraint limits. Press the C key to visualize the constraint frames.",
+
+ ExampleEntry(1,"Constraints","Show the use of the various constraints in Bullet. Press the L key to visualize the constraint limits. Press the C key to visualize the constraint frames.",
AllConstraintCreateFunc),
ExampleEntry(1,"Motorized Hinge","Use of a btHingeConstraint. You can adjust the first slider to change the target velocity, and the second slider to adjust the maximum impulse applied to reach the target velocity. Note that the hinge angle can reach beyond -360 and 360 degrees.", ConstraintCreateFunc),
ExampleEntry(1,"TestHingeTorque", "Apply a torque in the hinge axis. This example uses a btHingeConstraint and btRigidBody. The setup is similar to the multi body example TestJointTorque.",
TestHingeTorqueCreateFunc),
// ExampleEntry(0,"What's new in 2.83"),
-
- ExampleEntry(1,"6DofSpring2","Show the use of the btGeneric6DofSpring2Constraint. This is a replacement of the btGeneric6DofSpringConstraint, it has various improvements. This includes improved spring implementation and better control over the restitution (bounce) when the constraint hits its limits.",
+
+ ExampleEntry(1,"6DofSpring2","Show the use of the btGeneric6DofSpring2Constraint. This is a replacement of the btGeneric6DofSpringConstraint, it has various improvements. This includes improved spring implementation and better control over the restitution (bounce) when the constraint hits its limits.",
Dof6Spring2CreateFunc),
ExampleEntry(1,"Motor Demo", "Dynamic control the target velocity of a motor of a btHingeConstraint. This demo makes use of the 'internal tick callback'. You can press W for wireframe, C and L to visualize constraint frame and limits.", MotorControlCreateFunc),
-
- ExampleEntry(1,"Gyroscopic", "Show the Dzhanibekov effect using various settings of the gyroscopic term. You can select the gyroscopic term computation using btRigidBody::setFlags, with arguments BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT (using explicit integration, which adds energy and can lead to explosions), BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD, BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY. If you don't set any of these flags, there is no gyroscopic term used.", GyroscopicCreateFunc),
+ ExampleEntry(1,"Gyroscopic", "Show the Dzhanibekov effect using various settings of the gyroscopic term. You can select the gyroscopic term computation using btRigidBody::setFlags, with arguments BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT (using explicit integration, which adds energy and can lead to explosions), BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD, BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY. If you don't set any of these flags, there is no gyroscopic term used.", GyroscopicCreateFunc),
-
+ ExampleEntry(1,"Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",RigidBodySoftContactCreateFunc),
ExampleEntry(0,"MultiBody"),
ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),
- ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
+ ExampleEntry(1,"TestPendulum","Simulate a pendulum using btMultiBody with a constant joint torque applied. The same code is also used as a unit test comparing Bullet with the numerical solution of second-order non-linear differential equation stored in pendulum_gold.h", TestPendulumCreateFunc),
+
+ ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
ExampleEntry(1,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
+ ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
+
+
+ ExampleEntry(0,"Inverse Dynamics"),
+ ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF),
+ ExampleEntry(1,"Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY),
+
+ ExampleEntry(0, "Inverse Kinematics"),
+ ExampleEntry(1, "SDLS", "Selectively Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_SDLS),
+ ExampleEntry(1, "DLS", "Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS),
+ ExampleEntry(1, "DLS-SVD", "Damped Least Squares with Singular Value Decomposition by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS_SVD),
+
+
+
+ ExampleEntry(1, "Jacobi Transpose", "Jacobi Transpose by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_JACOB_TRANS),
+ ExampleEntry(1, "Jacobi Pseudo Inv", "Jacobi Pseudo Inverse Method by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_PURE_PSEUDO),
+
-
ExampleEntry(0,"Tutorial"),
ExampleEntry(1,"Constant Velocity","Free moving rigid body, without external or constraint forces", TutorialCreateFunc,TUT_VELOCITY),
ExampleEntry(1,"Gravity Acceleration","Motion of a free falling rigid body under constant gravitational acceleration", TutorialCreateFunc,TUT_ACCELERATION),
ExampleEntry(1,"Contact Computation","Discrete Collision Detection for sphere-sphere", TutorialCreateFunc,TUT_COLLISION),
ExampleEntry(1,"Solve Contact Constraint","Compute and apply the impulses needed to satisfy non-penetrating contact constraints", TutorialCreateFunc,TUT_SOLVE_CONTACT_CONSTRAINT),
-
-
-
ExampleEntry(1,"Spring constraint","A rigid body with a spring constraint attached", Dof6ConstraintTutorialCreateFunc,0),
+ ExampleEntry(0,"Collision"),
+ ExampleEntry(1, "Spheres & Plane C-API (Bullet2)", "Collision C-API using Bullet 2.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_BULLET2),
+ //ExampleEntry(1, "Spheres & Plane C-API (Bullet3)", "Collision C-API using Bullet 3.x backend", CollisionTutorialBullet2CreateFunc,TUT_SPHERE_PLANE_RTB3),
+
+
+
#ifdef INCLUDE_CLOTH_DEMOS
ExampleEntry(0,"Soft Body"),
ExampleEntry(1,"Cloth","Simulate a patch of cloth.", SoftDemoCreateFunc,0),
-
+
ExampleEntry(1,"Pressure","Simulate 3d soft body using a pressure constraint.",SoftDemoCreateFunc,1),
ExampleEntry(1,"Volume","Simulate 3d soft body using a volume constraint.",SoftDemoCreateFunc,2),
ExampleEntry(1,"Ropes","Simulate ropes", SoftDemoCreateFunc,3),
@@ -131,7 +173,7 @@
ExampleEntry(1,"Cloth Attach","A rigid body attached to a cloth.", SoftDemoCreateFunc,5),
ExampleEntry(1,"Sticks","Show simulation of ropes fixed to the ground.", SoftDemoCreateFunc,6),
ExampleEntry(1,"Capsule Collision","Collision detection between a capsule shape and cloth.", SoftDemoCreateFunc,7),
-
+
ExampleEntry(1,"Collide","Soft body collision", SoftDemoCreateFunc,8),
ExampleEntry(1,"Collide 2","Soft body collision",SoftDemoCreateFunc,9),
ExampleEntry(1,"Collide 3","Soft body collision",SoftDemoCreateFunc,10),
@@ -157,11 +199,11 @@
ExampleEntry(1,"Cluster Stack Mixed","Stacking of soft bodies and rigid bodies.",SoftDemoCreateFunc,29),
ExampleEntry(1,"Tetra Cube","Simulate a volumetric soft body cube defined by tetrahedra.", SoftDemoCreateFunc,30),
ExampleEntry(1,"Tetra Bunny","Simulate a volumetric soft body Stanford bunny defined by tetrahedra.", SoftDemoCreateFunc,31),
-
+
#endif //INCLUDE_CLOTH_DEMOS
///we disable the benchmarks in debug mode, they are way too slow and benchmarking in debug mode is not recommended
-#ifndef _DEBUG
+//#ifndef _DEBUG
ExampleEntry(0,"Benchmarks"),
ExampleEntry(1,"3000 boxes", "Benchmark a stack of 3000 boxes. It will stress the collision detection, a specialized box-box implementation based on the separating axis test, and the constraint solver. ", BenchmarkCreateFunc, 1),
ExampleEntry(1,"1000 stack", "Benchmark a stack of 3000 boxes. It will stress the collision detection, a specialized box-box implementation based on the separating axis test, and the constraint solver. ",
@@ -171,63 +213,121 @@
ExampleEntry(1,"Prim vs Mesh", "Benchmark the performance and stability of rigid bodies using primitive collision shapes (btSphereShape, btBoxShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 5),
ExampleEntry(1,"Convex vs Mesh", "Benchmark the performance and stability of rigid bodies using convex hull collision shapes (btConvexHullShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 6),
ExampleEntry(1,"Raycast", "Benchmark the performance of the btCollisionWorld::rayTest. Note that currently the rays are not rendered.", BenchmarkCreateFunc, 7),
-#endif
+//#endif
+
-
ExampleEntry(0,"Importers"),
ExampleEntry(1,"Import .bullet", "Load a binary .bullet file. The serialization mechanism can deal with versioning, differences in endianess, 32 and 64bit, double/single precision. It is easy to save a .bullet file, see the examples/Importers/ImportBullet/SerializeDemo.cpp for a code example how to export a .bullet file.", SerializeBulletCreateFunc),
-
ExampleEntry(1,"Wavefront Obj", "Import a Wavefront .obj file", ImportObjCreateFunc, 0),
+ ExampleEntry(1,"Obj2RigidBody (Show Obj)", "Load a triangle mesh from Wavefront .obj and turn it in a convex hull collision shape, connected to a rigid body. We can use the original .obj mesh data to visualize the rigid body. In 'debug' wireframe mode (press 'w' to toggle) we still see the convex hull data.", ET_RigidBodyFromObjCreateFunc),
+ ExampleEntry(1,"Obj2RigidBody (Show Hull)", "Load a triangle mesh from Wavefront .obj and turn it in a convex hull collision shape, connected to a rigid body", ET_RigidBodyFromObjCreateFunc,ObjUseConvexHullForRendering),
+ ExampleEntry(1,"Obj2RigidBody Optimize", "Load a triangle mesh from Wavefront .obj, remove the vertices that are not on the convex hull", ET_RigidBodyFromObjCreateFunc,OptimizeConvexObj),
ExampleEntry(1,"Quake BSP", "Import a Quake .bsp file", ImportBspCreateFunc, 0),
- ExampleEntry(1,"COLLADA dae", "Import the geometric mesh data from a COLLADA file. This is used as part of the URDF importer. This loader can also be used to import collision geometry in general. ",
+ ExampleEntry(1,"COLLADA dae", "Import the geometric mesh data from a COLLADA file. This is used as part of the URDF importer. This loader can also be used to import collision geometry in general. ",
ImportColladaCreateFunc, 0),
ExampleEntry(1,"STL", "Import the geometric mesh data from a STL file. This is used as part of the URDF importer. This loader can also be used to import collision geometry in general. ",ImportSTLCreateFunc, 0),
ExampleEntry(1,"URDF (RigidBody)", "Import a URDF file, and create rigid bodies (btRigidBody) connected by constraints.", ImportURDFCreateFunc, 0),
- ExampleEntry(1,"URDF (MultiBody)", "Import a URDF file and create a single multibody (btMultiBody) with tree hierarchy of links (mobilizers).",
+ ExampleEntry(1,"URDF (MultiBody)", "Import a URDF file and create a single multibody (btMultiBody) with tree hierarchy of links (mobilizers).",
ImportURDFCreateFunc, 1),
+ ExampleEntry(1,"MJCF (MultiBody)", "Import a MJCF xml file, create multiple multibodies etc", ImportMJCFCreateFunc),
+
+ ExampleEntry(1,"SDF (MultiBody)", "Import an SDF file, create multiple multibodies etc", ImportSDFCreateFunc),
ExampleEntry(0,"Vehicles"),
ExampleEntry(1,"Hinge2 Vehicle", "A rigid body chassis with 4 rigid body wheels attached by a btHinge2Constraint",Hinge2VehicleCreateFunc),
ExampleEntry(1,"ForkLift","Simulate a fork lift vehicle with a working fork lift that can be moved using the cursor keys. The wheels collision is simplified using ray tests."
"There are currently some issues with the wheel rendering, the wheels rotate when picking up the object."
- "The demo implementation allows to choose various MLCP constraint solvers.",
+ "The demo implementation allows to choose various MLCP constraint solvers.",
ForkLiftCreateFunc),
ExampleEntry(0,"Raycast"),
ExampleEntry(1,"Raytest", "Cast rays using the btCollisionWorld::rayTest method. The example shows how to receive the hit position and normal along the ray against the first object. Also it shows how to receive all the hits along a ray.", RaytestCreateFunc),
- ExampleEntry(1,"Raytracer","Implement an extremely simple ray tracer using the ray trace functionality in btCollisionWorld.",
+ ExampleEntry(1,"Raytracer","Implement an extremely simple ray tracer using the ray trace functionality in btCollisionWorld.",
RayTracerCreateFunc),
-
+
+
ExampleEntry(0,"Experiments"),
-
- ExampleEntry(1,"Robot Control", "Perform some robot control tasks, using physics server and client that communicate over shared memory",
- RobotControlExampleCreateFunc),
-
+ ExampleEntry(1,"Robot Control", "Create a physics client and server to create and control robots.",
+ PhysicsClientCreateFunc, eCLIENTEXAMPLE_SERVER),
ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
PhysicsServerCreateFunc),
- ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
+ ExampleEntry(1,"Physics Server (RTC)", "Create a physics server that communicates with a physics client over shared memory. At each update, the Physics Server will continue calling 'stepSimulation' based on the real-time clock (RTC).",
+ PhysicsServerCreateFunc,PHYSICS_SERVER_USE_RTC_CLOCK),
+
+ ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
+ PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
+ ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
+ PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
+ ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
+ ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
+
+ ExampleEntry(1,"R2D2 Grasp","Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP),
+ ExampleEntry(1,"Kuka IK","Control a Kuka IIWA robot to follow a target using IK. This IK is not setup properly yet.", KukaGraspExampleCreateFunc,0),
+ ExampleEntry(1,"URDF Compliant Contact","Work-in-progress, experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_COMPLIANT_CONTACT),
+ ExampleEntry(1,"Rolling friction","Experiment on multibody rolling friction", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_ROLLING_FRICTION),
+ ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP),
+ ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP),
+ ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP),
+ ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
+ ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
+
+
#ifdef ENABLE_LUA
ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",
LuaDemoCreateFunc),
#endif
+ ExampleEntry(1,"MultiThreading (submitJob)", "Simple example of executing jobs across multiple threads.",
+ MultiThreadingExampleCreateFunc,SINGLE_SIM_THREAD),
+
ExampleEntry(1,"Voronoi Fracture", "Automatically create a compound rigid body using voronoi tesselation. Individual parts are modeled as rigid bodies using a btConvexHullShape.",
VoronoiFractureCreateFunc),
ExampleEntry(1,"Fracture demo", "Create a basic custom implementation to model fracturing objects, based on a btCompoundShape. It explicitly propagates the collision impulses and breaks the rigid body into multiple rigid bodies. Press F to toggle fracture and glue mode.", FractureDemoCreateFunc),
-
- ExampleEntry(1,"Planar 2D","Show the use of 2D collision shapes and rigid body simulation. The collision shape is wrapped into a btConvex2dShape. The rigid bodies are restricted in a plane using the 'setAngularFactor' and 'setLinearFactor' API call.",Planar2DCreateFunc),
+ ExampleEntry(1,"Planar 2D","Show the use of 2D collision shapes and rigid body simulation. The collision shape is wrapped into a btConvex2dShape. The rigid bodies are restricted in a plane using the 'setAngularFactor' and 'setLinearFactor' API call.",Planar2DCreateFunc),
+#if BT_USE_OPENMP || BT_USE_TBB || BT_USE_PPL
+ // only enable MultiThreaded demo if a task scheduler is available
+ ExampleEntry( 1, "Multithreaded Demo",
+ "Stacks of boxes that do not sleep. Good for testing performance with large numbers of bodies and contacts. Sliders can be used to change the number of stacks (restart needed after each change)."
+ ,
+ MultiThreadedDemoCreateFunc ),
+#endif
ExampleEntry(0,"Rendering"),
ExampleEntry(1,"Instanced Rendering", "Simple example of fast instanced rendering, only active when using OpenGL3+.",RenderInstancingCreateFunc),
ExampleEntry(1,"CoordinateSystemDemo","Show the axis and positive rotation direction around the axis.", CoordinateSystemCreateFunc),
- ExampleEntry(1,"Time Series", "Render some value(s) in a 2D graph window, shifting to the left", TimeSeriesCreateFunc)
-
+ ExampleEntry(1,"Time Series", "Render some value(s) in a 2D graph window, shifting to the left", TimeSeriesCreateFunc),
+ ExampleEntry(1,"TinyRenderer", "Very small software renderer.", TinyRendererCreateFunc),
+ ExampleEntry(1,"Dynamic Texture", "Dynamic updated textured applied to a cube.", DynamicTexturedCubeDemoCreateFunc),
+
+
+
+ //Extended Tutorials Added by Mobeen
+ ExampleEntry(0,"Extended Tutorials"),
+ ExampleEntry(1,"Simple Box", "Simplest possible demo creating a single box rigid body that falls under gravity", ET_SimpleBoxCreateFunc),
+ ExampleEntry(1,"Multiple Boxes", "Add multiple box rigid bodies that fall under gravity", ET_MultipleBoxesCreateFunc),
+ ExampleEntry(1,"Simple Joint", "Create a single distance constraint between two box rigid bodies", ET_SimpleJointCreateFunc),
+ ExampleEntry(1,"Simple Cloth", "Create a simple piece of cloth", ET_SimpleClothCreateFunc),
+ ExampleEntry(1,"Simple Chain", "Create a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc),
+ ExampleEntry(1,"Simple Bridge", "Create a simple bridge using a pair of point2point/distance constraints. You may click and drag any plank to see the bridge respond.", ET_BridgeCreateFunc),
+ ExampleEntry(1,"Inclined Plane", "Create an inclined plane to show restitution and different types of friction. Use the sliders to vary restitution and friction and press space to reset the scene.", ET_InclinedPlaneCreateFunc),
+ ExampleEntry(1,"Newton's Cradle", "Create a Newton's Cradle using a pair of point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula, the number of displaced pendula and apply the displacement force.", ET_NewtonsCradleCreateFunc),
+ ExampleEntry(1,"Newton's Rope Cradle", "Create a Newton's Cradle using ropes. Press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula and the number of displaced pendula and apply the displacement force.",ET_NewtonsRopeCradleCreateFunc),
+ ExampleEntry(1,"Multi-Pendulum", "Create a Multi-Pendulum using point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula, the number of displaced pendula and apply the displacement force.",ET_MultiPendulumCreateFunc),
+
+ ExampleEntry(9,"Evolution"),
+ ExampleEntry(1,"Neural Network 3D Walkers","A simple example of using evolution to make a creature walk.",ET_NN3DWalkersCreateFunc),
+
+ //todo: create a category/tutorial about advanced topics, such as optimizations, using different collision detection algorithm, different constraint solvers etc.
+ //ExampleEntry(0,"Advanced"),
+ //ExampleEntry(1,"Obj2RigidBody Add Features", "Load a triangle mesh from Wavefront .obj and create polyhedral features to perform the separating axis test (instead of GJK/MPR). It is best to combine optimization and polyhedral feature generation.", ET_RigidBodyFromObjCreateFunc,OptimizeConvexObj+ComputePolyhedralFeatures),
+
+
};
#ifdef B3_USE_CLEW
@@ -250,17 +350,17 @@
btAlignedObjectArray m_allExamples;
};
-ExampleEntries::ExampleEntries()
+ExampleEntriesAll::ExampleEntriesAll()
{
m_data = new ExampleEntriesInternalData;
}
-ExampleEntries::~ExampleEntries()
+ExampleEntriesAll::~ExampleEntriesAll()
{
delete m_data;
}
-void ExampleEntries::initOpenCLExampleEntries()
+void ExampleEntriesAll::initOpenCLExampleEntries()
{
#ifdef B3_USE_CLEW
#ifndef NO_OPENGL3
@@ -273,7 +373,7 @@
#endif //B3_USE_CLEW
}
-void ExampleEntries::initExampleEntries()
+void ExampleEntriesAll::initExampleEntries()
{
m_data->m_allExamples.clear();
@@ -281,8 +381,8 @@
{
m_data->m_allExamples.push_back(gAdditionalRegisteredExamples[i]);
}
-
-
+
+
int numDefaultEntries = sizeof(gDefaultExamples)/sizeof(ExampleEntry);
for (int i=0;im_allExamples.size();
}
-CommonExampleInterface::CreateFunc* ExampleEntries::getExampleCreateFunc(int index)
+CommonExampleInterface::CreateFunc* ExampleEntriesAll::getExampleCreateFunc(int index)
{
return m_data->m_allExamples[index].m_createFunc;
}
-int ExampleEntries::getExampleOption(int index)
+int ExampleEntriesAll::getExampleOption(int index)
{
return m_data->m_allExamples[index].m_option;
}
-const char* ExampleEntries::getExampleName(int index)
+const char* ExampleEntriesAll::getExampleName(int index)
{
return m_data->m_allExamples[index].m_name;
}
-const char* ExampleEntries::getExampleDescription(int index)
+const char* ExampleEntriesAll::getExampleDescription(int index)
{
return m_data->m_allExamples[index].m_description;
}
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/ExampleEntries.h bullet-2.86.1+dfsg/examples/ExampleBrowser/ExampleEntries.h
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/ExampleEntries.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/ExampleEntries.h 2017-02-17 23:43:38.000000000 +0000
@@ -6,32 +6,31 @@
-
-class ExampleEntries
+class ExampleEntriesAll : public ExampleEntries
{
struct ExampleEntriesInternalData* m_data;
public:
- ExampleEntries();
- virtual ~ExampleEntries();
+ ExampleEntriesAll();
+ virtual ~ExampleEntriesAll();
static void registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0);
- void initExampleEntries();
+ virtual void initExampleEntries();
- void initOpenCLExampleEntries();
+ virtual void initOpenCLExampleEntries();
- int getNumRegisteredExamples();
+ virtual int getNumRegisteredExamples();
- CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
+ virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
- const char* getExampleName(int index);
+ virtual const char* getExampleName(int index);
- const char* getExampleDescription(int index);
+ virtual const char* getExampleDescription(int index);
- int getExampleOption(int index);
+ virtual int getExampleOption(int index);
};
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.cpp bullet-2.86.1+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.cpp
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -782,7 +782,7 @@
}
}
-void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWorld, int pass)
+void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWorld, int pass, int cameraUpAxis)
{
btAssert(dynamicsWorld);
@@ -849,7 +849,12 @@
//if (!(getDebugMode()& btIDebugDraw::DBG_DrawWireframe))
int debugMode = 0;//getDebugMode()
//btVector3 m_sundirection(-1,-1,-1);
+
btVector3 m_sundirection(btVector3(1,-2,1)*1000);
+ if (cameraUpAxis==2)
+ {
+ m_sundirection = btVector3(1,1,-2)*1000;
+ }
switch(pass)
{
@@ -861,9 +866,12 @@
}
-void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, bool useShadows)
+//this GL_ShapeDrawer will be removed, in the meanwhile directly access this global 'useShadoMaps'
+extern bool useShadowMap;
+void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, bool useShadows1, int cameraUpAxis)
{
+ bool useShadows = useShadowMap;
GLfloat light_ambient[] = { btScalar(0.2), btScalar(0.2), btScalar(0.2), btScalar(1.0) };
GLfloat light_diffuse[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0) };
GLfloat light_specular[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0 )};
@@ -897,7 +905,7 @@
{
glClear(GL_STENCIL_BUFFER_BIT);
glEnable(GL_CULL_FACE);
- drawSceneInternal(dynamicsWorld,0);
+ drawSceneInternal(dynamicsWorld,0, cameraUpAxis);
glDisable(GL_LIGHTING);
glDepthMask(GL_FALSE);
@@ -907,10 +915,10 @@
glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL);
glFrontFace(GL_CCW);
glStencilOp(GL_KEEP,GL_KEEP,GL_INCR);
- drawSceneInternal(dynamicsWorld,1);
+ drawSceneInternal(dynamicsWorld,1,cameraUpAxis);
glFrontFace(GL_CW);
glStencilOp(GL_KEEP,GL_KEEP,GL_DECR);
- drawSceneInternal(dynamicsWorld,1);
+ drawSceneInternal(dynamicsWorld,1,cameraUpAxis);
glFrontFace(GL_CCW);
glPolygonMode(GL_FRONT,GL_FILL);
@@ -929,7 +937,7 @@
glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL );
glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP );
glDisable(GL_LIGHTING);
- drawSceneInternal(dynamicsWorld,2);
+ drawSceneInternal(dynamicsWorld,2,cameraUpAxis);
glEnable(GL_LIGHTING);
glDepthFunc(GL_LESS);
glDisable(GL_STENCIL_TEST);
@@ -938,6 +946,6 @@
else
{
glDisable(GL_CULL_FACE);
- drawSceneInternal(dynamicsWorld,0);
+ drawSceneInternal(dynamicsWorld,0,cameraUpAxis);
}
}
\ No newline at end of file
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.h bullet-2.86.1+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.h
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.h 2017-02-17 23:43:38.000000000 +0000
@@ -44,7 +44,7 @@
ShapeCache* cache(btConvexShape*);
- virtual void drawSceneInternal(const btDiscreteDynamicsWorld* world, int pass);
+ virtual void drawSceneInternal(const btDiscreteDynamicsWorld* world, int pass, int cameraUpAxis);
public:
GL_ShapeDrawer();
@@ -53,7 +53,7 @@
- virtual void drawScene(const btDiscreteDynamicsWorld* world, bool useShadows);
+ virtual void drawScene(const btDiscreteDynamicsWorld* world, bool useShadows, int cameraUpAxis);
///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
virtual void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -21,6 +21,7 @@
m_height=0;
glDeleteTextures(1,(GLuint*)&m_textureId);
m_textureId=0;
+
}
bool GraphingTexture::create(int texWidth, int texHeight)
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenInternalData.h bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenInternalData.h
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenInternalData.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenInternalData.h 2017-02-17 23:43:38.000000000 +0000
@@ -45,7 +45,10 @@
Gwen::Controls::ListBox* m_TextOutput;
Gwen::Controls::Label* m_exampleInfoGroupBox;
Gwen::Controls::ListBox* m_exampleInfoTextOutput;
-
+ struct MyTestMenuBar* m_menubar;
+ Gwen::Controls::StatusBar* m_bar;
+ Gwen::Controls::ScrollControl* m_windowRight;
+ Gwen::Controls::TabControl* m_tab;
int m_curYposition;
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -3,12 +3,14 @@
struct MyButtonEventHandler : public Gwen::Event::Handler
{
+ Gwen::Controls::Button* m_buttonControl;
ButtonParamChangedCallback m_callback;
void* m_userPointer;
int m_buttonId;
- MyButtonEventHandler(ButtonParamChangedCallback callback, int buttonId, void* userPointer)
- :m_callback(callback),
+ MyButtonEventHandler(Gwen::Controls::Button* buttonControl, ButtonParamChangedCallback callback, int buttonId, void* userPointer)
+ :m_buttonControl(buttonControl),
+ m_callback(callback),
m_userPointer(userPointer),
m_buttonId(buttonId)
{
@@ -18,7 +20,12 @@
{
if (m_callback)
{
- (*m_callback)(m_buttonId, true, m_userPointer);
+ bool buttonState = true;
+ if (m_buttonControl->IsToggle())
+ {
+ buttonState = m_buttonControl->GetToggleState();
+ }
+ ( *m_callback )( m_buttonId, buttonState, m_userPointer );
}
}
};
@@ -27,17 +34,22 @@
template
struct MySliderEventHandler : public Gwen::Event::Handler
{
+ SliderParamChangedCallback m_callback;
+ void* m_userPointer;
Gwen::Controls::TextBox* m_label;
Gwen::Controls::Slider* m_pSlider;
char m_variableName[1024];
T* m_targetValue;
bool m_showValue;
- MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider,T* target)
- :m_label(label),
+ MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider,T* target, SliderParamChangedCallback callback, void* userPtr)
+ : m_callback(callback),
+ m_userPointer(userPtr),
+ m_label(label),
m_pSlider(pSlider),
- m_targetValue(target),
- m_showValue(true)
+ m_targetValue(target),
+ m_showValue(true)
+
{
memcpy(m_variableName,varName,strlen(varName)+1);
}
@@ -51,6 +63,11 @@
T v = T(bla);
SetValue(v);
+ if (m_callback)
+ {
+ (*m_callback)(v, m_userPointer);
+ }
+
}
void SetValue(T v)
@@ -83,7 +100,7 @@
{
b3AlignedObjectArray*> m_sliderEventHandlers;
b3AlignedObjectArray m_sliders;
-
+ b3AlignedObjectArray m_comboBoxes;
b3AlignedObjectArray m_buttons;
b3AlignedObjectArray m_buttonEventHandlers;
b3AlignedObjectArray m_textLabels;
@@ -131,20 +148,75 @@
{
Gwen::Controls::Button* button = new Gwen::Controls::Button(m_gwenInternalData->m_demoPage->GetPage());
- MyButtonEventHandler* handler = new MyButtonEventHandler(params.m_callback,params.m_buttonId,params.m_userPointer);
+ MyButtonEventHandler* handler = new MyButtonEventHandler(button, params.m_callback,params.m_buttonId,params.m_userPointer);
button->SetText(params.m_name);
button->onPress.Add( handler, &MyButtonEventHandler::onButtonPress );
-
+ button->SetIsToggle(params.m_isTrigger);
+ button->SetToggleState(params.m_initialState);
+
m_paramInternalData->m_buttons.push_back(button);
m_paramInternalData->m_buttonEventHandlers.push_back(handler);
button->SetPos( 5, m_gwenInternalData->m_curYposition );
- button->SetWidth(120);
+ button->SetWidth(220);
m_gwenInternalData->m_curYposition+=22;
}
+struct MyComboBoxHander2 :public Gwen::Event::Handler
+{
+ GwenInternalData* m_data;
+ int m_buttonId;
+ ComboBoxCallback m_callback;
+ void* m_userPointer;
+
+ MyComboBoxHander2 (GwenInternalData* data, int buttonId,ComboBoxCallback callback, void* userPointer)
+ :m_data(data),
+ m_buttonId(buttonId),
+ m_callback(callback),
+ m_userPointer(userPointer)
+ {
+ }
+
+ void onSelect( Gwen::Controls::Base* pControl )
+ {
+ Gwen::Controls::ComboBox* but = (Gwen::Controls::ComboBox*) pControl;
+
+ Gwen::String str = Gwen::Utility::UnicodeToString( but->GetSelectedItem()->GetText());
+
+ if (m_callback)
+ (*m_callback)(m_buttonId,str.c_str(),m_userPointer);
+ }
+
+};
+
+
+void GwenParameterInterface::registerComboBox(ComboBoxParams& params)
+{
+ Gwen::Controls::ComboBox* combobox = new Gwen::Controls::ComboBox(m_gwenInternalData->m_demoPage->GetPage());
+ m_paramInternalData->m_comboBoxes.push_back(combobox);
+ MyComboBoxHander2* handler = new MyComboBoxHander2(m_gwenInternalData, params.m_comboboxId,params.m_callback, params.m_userPointer);
+ m_gwenInternalData->m_handlers.push_back(handler);
+
+ combobox->onSelection.Add(handler,&MyComboBoxHander2::onSelect);
+ int ypos = m_gwenInternalData->m_curYposition;
+ m_gwenInternalData->m_curYposition+=22;
+ combobox->SetPos(5, ypos );
+ combobox->SetWidth( 220 );
+ //box->SetPos(120,130);
+ for (int i=0;iAddItem(Gwen::Utility::StringToUnicode(params.m_items[i]));
+ if (i==params.m_startItem)
+ combobox->OnItemSelected(item);
+ }
+
+
+
+
+}
+
void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
{
Gwen::Controls::TextBox* label = new Gwen::Controls::TextBox(m_gwenInternalData->m_demoPage->GetPage());
@@ -152,7 +224,7 @@
//m_data->m_myControls.push_back(label);
label->SetText( params.m_name);
label->SetPos( 10, 10 + 25 );
- label->SetWidth(110);
+ label->SetWidth(210);
label->SetPos(10,m_gwenInternalData->m_curYposition);
m_gwenInternalData->m_curYposition+=22;
@@ -160,14 +232,22 @@
m_paramInternalData->m_sliders.push_back(pSlider);
//m_data->m_myControls.push_back(pSlider);
pSlider->SetPos( 10, m_gwenInternalData->m_curYposition );
- pSlider->SetSize( 100, 20 );
+ pSlider->SetSize( 200, 20 );
pSlider->SetRange( params.m_minVal, params.m_maxVal);
- pSlider->SetNotchCount(128);//float(params.m_maxVal-params.m_minVal)/100.f);
- pSlider->SetClampToNotches( params.m_clampToNotches );
+ if (params.m_clampToIntegers)
+ {
+ pSlider->SetNotchCount( int( params.m_maxVal - params.m_minVal ) );
+ pSlider->SetClampToNotches( params.m_clampToNotches );
+ }
+ else
+ {
+ pSlider->SetNotchCount( 16 );//float(params.m_maxVal-params.m_minVal)/100.f);
+ pSlider->SetClampToNotches( params.m_clampToNotches );
+ }
pSlider->SetValue( *params.m_paramValuePointer);//dimensions[i] );
char labelName[1024];
sprintf(labelName,"%s",params.m_name);//axisNames[0]);
- MySliderEventHandler* handler = new MySliderEventHandler(labelName,label,pSlider,params.m_paramValuePointer);
+ MySliderEventHandler* handler = new MySliderEventHandler(labelName,label,pSlider,params.m_paramValuePointer,params.m_callback, params.m_userPointer);
handler->m_showValue = params.m_showValues;
m_paramInternalData->m_sliderEventHandlers.push_back(handler);
@@ -188,6 +268,7 @@
void GwenParameterInterface::removeAllParameters()
{
+
for (int i=0;im_buttons.size();i++)
{
delete m_paramInternalData->m_buttons[i];
@@ -222,5 +303,18 @@
}
m_paramInternalData->m_textLabels.clear();
+ for (int i=0;im_comboBoxes.size();i++)
+ {
+ delete m_paramInternalData->m_comboBoxes[i];
+ }
+ m_paramInternalData->m_comboBoxes.clear();
+
m_gwenInternalData->m_curYposition = this->m_paramInternalData->m_savedYposition;
-}
\ No newline at end of file
+ for (int i=0;im_handlers.size();i++)
+ {
+ delete m_gwenInternalData->m_handlers[i];
+ }
+ m_gwenInternalData->m_handlers.clear();
+
+
+}
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.h bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.h
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.h 2017-02-17 23:43:38.000000000 +0000
@@ -13,10 +13,13 @@
virtual ~GwenParameterInterface();
virtual void registerSliderFloatParameter(SliderParams& params);
virtual void registerButtonParameter(ButtonParams& params);
+ virtual void registerComboBox(ComboBoxParams& params);
virtual void setSliderValue(int sliderIndex, double sliderValue);
virtual void syncParameters();
virtual void removeAllParameters();
+
+
};
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -4,7 +4,7 @@
#include "LinearMath/btQuickprof.h"
-
+#ifndef BT_NO_PROFILE
class MyProfileWindow : public Gwen::Controls::WindowControl
@@ -42,9 +42,10 @@
}
public:
-
- CProfileIterator* profIter;
+ CProfileIterator* profIter;
+
+ class MyMenuItems3* m_menuItems;
MyProfileWindow ( Gwen::Controls::Base* pParent)
: Gwen::Controls::WindowControl( pParent ),
profIter(0)
@@ -83,6 +84,12 @@
}
+ virtual ~MyProfileWindow()
+ {
+
+ delete m_node;
+ delete m_ctrl;
+ }
float dumpRecursive(CProfileIterator* profileIterator, Gwen::Controls::TreeNode* parentNode)
{
@@ -93,7 +100,9 @@
float accumulated_time=0,parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time();
int i;
int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
-
+ if (0==frames_since_reset)
+ return 0.f;
+
//printf("Profiling: %s (total running time: %.3f ms) ---\n", profileIterator->Get_Current_Parent_Name(), parent_time );
float totalTime = 0.f;
@@ -183,7 +192,8 @@
// Gwen::Controls::TreeNode* curParent = m_node;
-
+
+
double accumulated_time = dumpRecursive(profileIterator,m_node);
const char* name = profileIterator->Get_Current_Parent_Name();
@@ -237,16 +247,17 @@
};
-class MyMenuItems : public Gwen::Controls::Base
+class MyMenuItems3 : public Gwen::Controls::Base
{
public:
class MyProfileWindow* m_profWindow;
- MyMenuItems() :Gwen::Controls::Base(0)
+ MyMenuItems3() :Gwen::Controls::Base(0)
{
}
-
+ virtual ~MyMenuItems3() {}
+
void MenuItemSelect(Gwen::Controls::Base* pControl)
{
if (m_profWindow->Hidden())
@@ -263,12 +274,17 @@
MyProfileWindow* setupProfileWindow(GwenInternalData* data)
{
- MyMenuItems* menuItems = new MyMenuItems;
+ MyMenuItems3* menuItems = new MyMenuItems3;
+
MyProfileWindow* profWindow = new MyProfileWindow(data->pCanvas);
//profWindow->SetHidden(true);
+
+ profWindow->m_menuItems = menuItems;
profWindow->profIter = CProfileManager::Get_Iterator();
- data->m_viewMenu->GetMenu()->AddItem( L"Profiler", menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::MenuItemSelect);
+ data->m_viewMenu->GetMenu()->AddItem( L"Profiler", menuItems,(Gwen::Event::Handler::Function)&MyMenuItems3::MenuItemSelect);
+
menuItems->m_profWindow = profWindow;
+
return profWindow;
}
@@ -277,16 +293,29 @@
{
if (profWindow)
{
-
- profWindow->UpdateText(profWindow->profIter, idle);
+ if (profWindow->profIter)
+ {
+ profWindow->UpdateText(profWindow->profIter, idle);
+ }
}
}
+bool isProfileWindowVisible(MyProfileWindow* window)
+{
+ return !window->Hidden();
+}
+
void profileWindowSetVisible(MyProfileWindow* window, bool visible)
{
window->SetHidden(!visible);
}
void destroyProfileWindow(MyProfileWindow* window)
{
+ CProfileManager::Release_Iterator(window->profIter);
+ delete window->m_menuItems;
delete window;
+ CProfileManager::CleanupMemory();
+
}
+
+#endif //BT_NO_PROFILE
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.h bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.h
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.h 2017-02-17 23:43:38.000000000 +0000
@@ -4,6 +4,8 @@
class MyProfileWindow* setupProfileWindow(struct GwenInternalData* data);
void processProfileData(MyProfileWindow* window, bool idle);
void profileWindowSetVisible(MyProfileWindow* window, bool visible);
+bool isProfileWindowVisible(MyProfileWindow* window);
+
void destroyProfileWindow(MyProfileWindow* window);
#endif//GWEN_PROFILE_WINDOW_H
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -17,82 +17,102 @@
}
-GwenUserInterface::~GwenUserInterface()
+class MyMenuItems : public Gwen::Controls::Base
{
- for (int i=0;im_handlers.size();i++)
- {
- delete m_data->m_handlers[i];
- }
-
- m_data->m_handlers.clear();
-
-
- delete m_data->pCanvas;
-
-
- delete m_data;
-
-
-
-}
+public:
+ b3FileOpenCallback m_fileOpenCallback;
+ b3QuitCallback m_quitCallback;
+ MyMenuItems() :Gwen::Controls::Base(0), m_fileOpenCallback(0)
+ {
+ }
+ void myQuitApp(Gwen::Controls::Base* pControl)
+ {
+ if (m_quitCallback)
+ {
+ (*m_quitCallback)();
+ }
+ }
+ void fileOpen(Gwen::Controls::Base* pControl)
+ {
+ if (m_fileOpenCallback)
+ {
+ (*m_fileOpenCallback)();
+ }
+ }
+};
-class MyMenuItems : public Gwen::Controls::Base
-{
-public:
- b3FileOpenCallback m_fileOpenCallback;
- b3QuitCallback m_quitCallback;
-
- MyMenuItems() :Gwen::Controls::Base(0),m_fileOpenCallback(0)
- {
- }
- void myQuitApp( Gwen::Controls::Base* pControl )
- {
- if (m_quitCallback)
- {
- (*m_quitCallback)();
- }
- }
- void fileOpen( Gwen::Controls::Base* pControl )
- {
- if (m_fileOpenCallback)
- {
- (*m_fileOpenCallback)();
- }
- }
-
-};
struct MyTestMenuBar : public Gwen::Controls::MenuStrip
{
Gwen::Controls::MenuItem* m_fileMenu;
Gwen::Controls::MenuItem* m_viewMenu;
- MyMenuItems* m_menuItems;
+ MyMenuItems* m_menuItems;
MyTestMenuBar(Gwen::Controls::Base* pParent)
:Gwen::Controls::MenuStrip(pParent)
{
-// Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
+ // Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
{
m_menuItems = new MyMenuItems();
- m_menuItems->m_fileOpenCallback = 0;
- m_menuItems->m_quitCallback = 0;
-
- m_fileMenu = AddItem( L"File" );
-
- m_fileMenu->GetMenu()->AddItem(L"Open",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
- m_fileMenu->GetMenu()->AddItem(L"Quit",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
- m_viewMenu = AddItem( L"View" );
-
+ m_menuItems->m_fileOpenCallback = 0;
+ m_menuItems->m_quitCallback = 0;
+
+ m_fileMenu = AddItem(L"File");
+
+ m_fileMenu->GetMenu()->AddItem(L"Open", m_menuItems, (Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
+ m_fileMenu->GetMenu()->AddItem(L"Quit", m_menuItems, (Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
+ m_viewMenu = AddItem(L"View");
+
}
}
+ virtual ~MyTestMenuBar()
+ {
+ delete m_menuItems;
+ }
};
+
+void GwenUserInterface::exit()
+{
+ //m_data->m_menubar->RemoveAllChildren();
+ delete m_data->m_tab;
+ delete m_data->m_windowRight;
+ delete m_data->m_leftStatusBar;
+ delete m_data->m_TextOutput;
+ delete m_data->m_rightStatusBar;
+ delete m_data->m_bar;
+ delete m_data->m_menubar;
+
+ m_data->m_menubar = 0;
+ delete m_data->pCanvas;
+ m_data->pCanvas = 0;
+}
+
+GwenUserInterface::~GwenUserInterface()
+{
+ for (int i=0;im_handlers.size();i++)
+ {
+ delete m_data->m_handlers[i];
+ }
+
+ m_data->m_handlers.clear();
+
+
+ delete m_data;
+
+}
+
+
+
+
+
+
void GwenUserInterface::resize(int width, int height)
{
m_data->pCanvas->SetSize(width,height);
@@ -232,6 +252,7 @@
}
}
+
void GwenUserInterface::registerFileOpenCallback(b3FileOpenCallback callback)
{
m_data->m_menuItems->m_fileOpenCallback = callback;
@@ -249,35 +270,43 @@
m_data->pRenderer = renderer;//new GwenOpenGL3CoreRenderer(m_data->m_primRenderer,stash,width,height,retinaScale);
m_data->skin.SetRender( m_data->pRenderer );
+
m_data->pCanvas= new Gwen::Controls::Canvas( &m_data->skin );
m_data->pCanvas->SetSize( width,height);
m_data->pCanvas->SetDrawBackground( false);
m_data->pCanvas->SetBackgroundColor( Gwen::Color( 150, 170, 170, 255 ) );
-
-
-
+
+
+
MyTestMenuBar* menubar = new MyTestMenuBar(m_data->pCanvas);
m_data->m_viewMenu = menubar->m_viewMenu;
m_data->m_menuItems = menubar->m_menuItems;
-
+ m_data->m_menubar = menubar;
+
-
Gwen::Controls::StatusBar* bar = new Gwen::Controls::StatusBar(m_data->pCanvas);
+ m_data->m_bar = bar;
+
+
m_data->m_rightStatusBar = new Gwen::Controls::Label( bar );
+
m_data->m_rightStatusBar->SetWidth(width/2);
//m_data->m_rightStatusBar->SetText( L"Label Added to Right" );
bar->AddControl( m_data->m_rightStatusBar, true );
-
+
m_data->m_TextOutput = new Gwen::Controls::ListBox( m_data->pCanvas );
+
m_data->m_TextOutput->Dock( Gwen::Pos::Bottom );
m_data->m_TextOutput->SetHeight( 100 );
-
+
m_data->m_leftStatusBar = new Gwen::Controls::Label( bar );
+
//m_data->m_leftStatusBar->SetText( L"Label Added to Left" );
m_data->m_leftStatusBar->SetWidth(width/2);
bar->AddControl( m_data->m_leftStatusBar,false);
+
//Gwen::KeyboardFocus
/*Gwen::Controls::GroupBox* box = new Gwen::Controls::GroupBox(m_data->pCanvas);
box->SetText("text");
@@ -286,17 +315,20 @@
*/
Gwen::Controls::ScrollControl* windowRight= new Gwen::Controls::ScrollControl(m_data->pCanvas);
windowRight->Dock(Gwen::Pos::Right);
- windowRight->SetWidth(150);
+ windowRight->SetWidth(250);
windowRight->SetHeight(250);
windowRight->SetScroll(false,true);
-
+ m_data->m_windowRight = windowRight;
//windowLeft->SetSkin(
Gwen::Controls::TabControl* tab = new Gwen::Controls::TabControl(windowRight);
+ m_data->m_tab = tab;
+
+
//tab->SetHeight(300);
- tab->SetWidth(140);
+ tab->SetWidth(240);
tab->SetHeight(1250);
//tab->Dock(Gwen::Pos::Left);
tab->Dock( Gwen::Pos::Fill );
@@ -304,7 +336,8 @@
Gwen::UnicodeString str1(L"Params");
m_data->m_demoPage = tab->AddPage(str1);
-
+
+
@@ -348,7 +381,7 @@
//windowLeft->SetClosable(false);
// windowLeft->SetShouldDrawBackground(true);
windowLeft->SetTabable(true);
-
+
Gwen::Controls::TabControl* explorerTab = new Gwen::Controls::TabControl(windowLeft);
//tab->SetHeight(300);
@@ -388,7 +421,6 @@
m_data->m_exampleInfoGroupBox->SetText("Example Description");
m_data->m_exampleInfoTextOutput = new Gwen::Controls::ListBox(m_data->m_explorerPage->GetPage());
-
//m_data->m_exampleInfoTextOutput->Dock( Gwen::Pos::Bottom );
m_data->m_exampleInfoTextOutput->SetPos(2, 332);
@@ -428,7 +460,7 @@
{
m_data->m_toggleButtonCallback = callback;
}
-void GwenUserInterface::registerToggleButton(int buttonId, const char* name)
+void GwenUserInterface::registerToggleButton2(int buttonId, const char* name)
{
assert(m_data);
assert(m_data->m_demoPage);
@@ -438,7 +470,7 @@
///some heuristic to find the button location
int ypos = m_data->m_curYposition;
but->SetPos(10, ypos );
- but->SetWidth( 100 );
+ but->SetWidth( 200 );
//but->SetBounds( 200, 30, 300, 200 );
MyButtonHander* handler = new MyButtonHander(m_data, buttonId);
@@ -460,7 +492,7 @@
{
return m_data->m_comboBoxCallback;
}
-void GwenUserInterface::registerComboBox(int comboboxId, int numItems, const char** items, int startItem)
+void GwenUserInterface::registerComboBox2(int comboboxId, int numItems, const char** items, int startItem)
{
Gwen::Controls::ComboBox* combobox = new Gwen::Controls::ComboBox(m_data->m_demoPage->GetPage());
MyComboBoxHander* handler = new MyComboBoxHander(m_data, comboboxId);
@@ -589,7 +621,6 @@
}
};
- bool bDown = (state == 1);
if (gwenKey>=0)
{
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h 2017-02-17 23:43:38.000000000 +0000
@@ -26,6 +26,7 @@
virtual ~GwenUserInterface();
void init(int width, int height,Gwen::Renderer::Base* gwenRenderer,float retinaScale);
+ void exit();
void setFocus();
void forceUpdateScrollBars();
@@ -41,11 +42,11 @@
void setToggleButtonCallback(b3ToggleButtonCallback callback);
b3ToggleButtonCallback getToggleButtonCallback();
- void registerToggleButton(int buttonId, const char* name);
+ void registerToggleButton2(int buttonId, const char* name);
void setComboBoxCallback(b3ComboBoxCallback callback);
b3ComboBoxCallback getComboBoxCallback();
- void registerComboBox(int buttonId, int numItems, const char** items, int startItem = 0);
+ void registerComboBox2(int buttonId, int numItems, const char** items, int startItem = 0);
void setStatusBarMessage(const char* message, bool isLeft=true);
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.cpp bullet-2.86.1+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.cpp
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,443 @@
+#include "InProcessExampleBrowser.h"
+
+//#define EXAMPLE_CONSOLE_ONLY
+#ifdef EXAMPLE_CONSOLE_ONLY
+ #include "EmptyBrowser.h"
+ typedef EmptyBrowser DefaultBrowser;
+#else
+ #include "OpenGLExampleBrowser.h"
+ typedef OpenGLExampleBrowser DefaultBrowser;
+#endif //EXAMPLE_CONSOLE_ONLY
+
+#include "Bullet3Common/b3CommandLineArgs.h"
+#include "../Utils/b3Clock.h"
+
+#include "ExampleEntries.h"
+#include "Bullet3Common/b3Scalar.h"
+#include "../SharedMemory/InProcessMemory.h"
+
+void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory);
+void* ExampleBrowserMemoryFunc();
+
+#include
+//#include "BulletMultiThreaded/PlatformDefinitions.h"
+
+#include "Bullet3Common/b3Logging.h"
+#include "ExampleEntries.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "EmptyExample.h"
+
+#include "../SharedMemory/PhysicsServerExample.h"
+#include "../SharedMemory/PhysicsClientExample.h"
+
+#ifndef _WIN32
+#include "../MultiThreading/b3PosixThreadSupport.h"
+
+
+
+static b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThreads)
+{
+ b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
+ ExampleBrowserThreadFunc,
+ ExampleBrowserMemoryFunc,
+ numThreads);
+ b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
+
+ return threadSupport;
+
+}
+
+
+
+#elif defined( _WIN32)
+#include "../MultiThreading/b3Win32ThreadSupport.h"
+
+b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThreads)
+{
+ b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("testThreads",ExampleBrowserThreadFunc,ExampleBrowserMemoryFunc,numThreads);
+ b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
+ return threadSupport;
+
+}
+#endif
+
+
+
+
+
+class ExampleEntriesPhysicsServer : public ExampleEntries
+{
+
+ struct ExampleEntriesInternalData2* m_data;
+
+public:
+
+ ExampleEntriesPhysicsServer();
+ virtual ~ExampleEntriesPhysicsServer();
+
+ static void registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0);
+
+ virtual void initExampleEntries();
+
+ virtual void initOpenCLExampleEntries();
+
+ virtual int getNumRegisteredExamples();
+
+ virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
+
+ virtual const char* getExampleName(int index);
+
+ virtual const char* getExampleDescription(int index);
+
+ virtual int getExampleOption(int index);
+
+};
+
+
+struct ExampleEntryPhysicsServer
+{
+ int m_menuLevel;
+ const char* m_name;
+ const char* m_description;
+ CommonExampleInterface::CreateFunc* m_createFunc;
+ int m_option;
+
+ ExampleEntryPhysicsServer(int menuLevel, const char* name)
+ :m_menuLevel(menuLevel), m_name(name), m_description(0), m_createFunc(0), m_option(0)
+ {
+ }
+
+ ExampleEntryPhysicsServer(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0)
+ :m_menuLevel(menuLevel), m_name(name), m_description(description), m_createFunc(createFunc), m_option(option)
+ {
+ }
+};
+
+struct ExampleEntriesInternalData2
+{
+ btAlignedObjectArray m_allExamples;
+};
+
+static ExampleEntryPhysicsServer gDefaultExamplesPhysicsServer[]=
+{
+
+ ExampleEntryPhysicsServer(0,"Robotics Control"),
+
+ ExampleEntryPhysicsServer(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
+ PhysicsServerCreateFunc),
+ ExampleEntryPhysicsServer(1,"Physics Server (RTC)", "Create a physics server that communicates with a physics client over shared memory. At each update, the Physics Server will continue calling 'stepSimulation' based on the real-time clock (RTC).",
+ PhysicsServerCreateFunc,PHYSICS_SERVER_USE_RTC_CLOCK),
+
+ ExampleEntryPhysicsServer(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
+ PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
+ ExampleEntryPhysicsServer(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
+ PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
+
+
+};
+
+
+ExampleEntriesPhysicsServer::ExampleEntriesPhysicsServer()
+{
+ m_data = new ExampleEntriesInternalData2;
+}
+
+ExampleEntriesPhysicsServer::~ExampleEntriesPhysicsServer()
+{
+ delete m_data;
+}
+
+void ExampleEntriesPhysicsServer::initOpenCLExampleEntries()
+{
+}
+
+void ExampleEntriesPhysicsServer::initExampleEntries()
+{
+ m_data->m_allExamples.clear();
+
+
+
+ int numDefaultEntries = sizeof(gDefaultExamplesPhysicsServer)/sizeof(ExampleEntryPhysicsServer);
+ for (int i=0;im_allExamples.push_back(gDefaultExamplesPhysicsServer[i]);
+ }
+
+}
+
+void ExampleEntriesPhysicsServer::registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option)
+{
+}
+
+int ExampleEntriesPhysicsServer::getNumRegisteredExamples()
+{
+ return m_data->m_allExamples.size();
+}
+
+CommonExampleInterface::CreateFunc* ExampleEntriesPhysicsServer::getExampleCreateFunc(int index)
+{
+ return m_data->m_allExamples[index].m_createFunc;
+}
+
+int ExampleEntriesPhysicsServer::getExampleOption(int index)
+{
+ return m_data->m_allExamples[index].m_option;
+}
+
+const char* ExampleEntriesPhysicsServer::getExampleName(int index)
+{
+ return m_data->m_allExamples[index].m_name;
+}
+
+const char* ExampleEntriesPhysicsServer::getExampleDescription(int index)
+{
+ return m_data->m_allExamples[index].m_description;
+}
+
+
+
+
+struct ExampleBrowserArgs
+{
+ ExampleBrowserArgs()
+ :m_fakeWork(1),m_argc(0)
+ {
+ }
+ b3CriticalSection* m_cs;
+ float m_fakeWork;
+ int m_argc;
+ char** m_argv;
+};
+
+struct ExampleBrowserThreadLocalStorage
+{
+ SharedMemoryInterface* m_sharedMem;
+ int threadId;
+};
+
+enum TestExampleBrowserCommunicationEnums
+{
+ eRequestTerminateExampleBrowser = 13,
+ eExampleBrowserIsUnInitialized,
+ eExampleBrowserIsInitialized,
+ eExampleBrowserInitializationFailed,
+ eExampleBrowserHasTerminated
+};
+
+static double gMinUpdateTimeMicroSecs = 4000.;
+
+void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
+{
+ printf("ExampleBrowserThreadFunc started\n");
+
+ ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
+
+ ExampleBrowserArgs* args = (ExampleBrowserArgs*) userPtr;
+ //int workLeft = true;
+ b3CommandLineArgs args2(args->m_argc,args->m_argv);
+ b3Clock clock;
+
+
+ ExampleEntriesPhysicsServer examples;
+ examples.initExampleEntries();
+
+ DefaultBrowser* exampleBrowser = new DefaultBrowser(&examples);
+ exampleBrowser->setSharedMemoryInterface(localStorage->m_sharedMem);
+
+ bool init = exampleBrowser->init(args->m_argc,args->m_argv);
+ clock.reset();
+ if (init)
+ {
+
+ args->m_cs->lock();
+ args->m_cs->setSharedParam(0,eExampleBrowserIsInitialized);
+ args->m_cs->unlock();
+
+ do
+ {
+ B3_PROFILE("ExampleBrowserThreadFunc");
+ float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f;
+ {
+ if (deltaTimeInSeconds > 0.1)
+ {
+ deltaTimeInSeconds = 0.1;
+ }
+ if (deltaTimeInSeconds < (gMinUpdateTimeMicroSecs/1e6))
+ {
+ B3_PROFILE("clock.usleep");
+ clock.usleep(gMinUpdateTimeMicroSecs/10.);
+ exampleBrowser->updateGraphics();
+ } else
+ {
+ B3_PROFILE("exampleBrowser->update");
+ clock.reset();
+ exampleBrowser->update(deltaTimeInSeconds);
+ }
+ }
+
+ } while (!exampleBrowser->requestedExit() && (args->m_cs->getSharedParam(0)!=eRequestTerminateExampleBrowser));
+ } else
+ {
+ args->m_cs->lock();
+ args->m_cs->setSharedParam(0,eExampleBrowserInitializationFailed);
+ args->m_cs->unlock();
+ }
+
+ delete exampleBrowser;
+ args->m_cs->lock();
+ args->m_cs->setSharedParam(0,eExampleBrowserHasTerminated);
+ args->m_cs->unlock();
+ printf("finished\n");
+ //do nothing
+}
+
+
+void* ExampleBrowserMemoryFunc()
+{
+ //don't create local store memory, just return 0
+ return new ExampleBrowserThreadLocalStorage;
+}
+
+
+
+
+
+struct btInProcessExampleBrowserInternalData
+{
+ ExampleBrowserArgs m_args;
+ b3ThreadSupportInterface* m_threadSupport;
+ SharedMemoryInterface* m_sharedMem;
+};
+
+
+
+btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,char** argv2)
+{
+
+ btInProcessExampleBrowserInternalData* data = new btInProcessExampleBrowserInternalData;
+ data->m_sharedMem = new InProcessMemory;
+
+ int numThreads = 1;
+ int i;
+
+ data->m_threadSupport = createExampleBrowserThreadSupport(numThreads);
+
+ printf("argc=%d\n", argc);
+ for (i=0;im_threadSupport->getNumTasks();i++)
+ {
+ ExampleBrowserThreadLocalStorage* storage = (ExampleBrowserThreadLocalStorage*) data->m_threadSupport->getThreadLocalMemory(i);
+ b3Assert(storage);
+ storage->threadId = i;
+ storage->m_sharedMem = data->m_sharedMem;
+ }
+
+
+ data->m_args.m_cs = data->m_threadSupport->createCriticalSection();
+ data->m_args.m_cs->setSharedParam(0,eExampleBrowserIsUnInitialized);
+ data->m_args.m_argc = argc;
+ data->m_args.m_argv = argv2;
+
+
+ for (i=0;im_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &data->m_args, i);
+ }
+
+ while (data->m_args.m_cs->getSharedParam(0)==eExampleBrowserIsUnInitialized)
+ {
+ b3Clock::usleep(1000);
+ }
+
+ return data;
+}
+
+bool btIsExampleBrowserTerminated(btInProcessExampleBrowserInternalData* data)
+{
+ return (data->m_args.m_cs->getSharedParam(0)==eExampleBrowserHasTerminated);
+}
+
+SharedMemoryInterface* btGetSharedMemoryInterface(btInProcessExampleBrowserInternalData* data)
+{
+ return data->m_sharedMem;
+}
+
+void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
+{
+ int numActiveThreads = 1;
+
+ data->m_args.m_cs->lock();
+ data->m_args.m_cs->setSharedParam(0,eRequestTerminateExampleBrowser);
+ data->m_args.m_cs->unlock();
+
+ while (numActiveThreads)
+ {
+ int arg0,arg1;
+ if (data->m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
+ {
+ numActiveThreads--;
+ printf("numActiveThreads = %d\n",numActiveThreads);
+
+ } else
+ {
+// printf("polling..");
+ b3Clock::usleep(1000);
+ }
+ };
+
+ printf("btShutDownExampleBrowser stopping threads\n");
+ data->m_threadSupport->deleteCriticalSection(data->m_args.m_cs);
+
+ delete data->m_threadSupport;
+ delete data->m_sharedMem;
+ delete data;
+}
+
+struct btInProcessExampleBrowserMainThreadInternalData
+{
+ ExampleEntriesPhysicsServer m_examples;
+ DefaultBrowser* m_exampleBrowser;
+ SharedMemoryInterface* m_sharedMem;
+ b3Clock m_clock;
+};
+
+btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowserMainThread(int argc,char** argv)
+{
+ btInProcessExampleBrowserMainThreadInternalData* data = new btInProcessExampleBrowserMainThreadInternalData;
+ data->m_examples.initExampleEntries();
+ data->m_exampleBrowser = new DefaultBrowser(&data->m_examples);
+ data->m_sharedMem = new InProcessMemory;
+ data->m_exampleBrowser->setSharedMemoryInterface(data->m_sharedMem );
+ bool init;
+ init = data->m_exampleBrowser->init(argc,argv);
+ data->m_clock.reset();
+ return data;
+}
+
+bool btIsExampleBrowserMainThreadTerminated(btInProcessExampleBrowserMainThreadInternalData* data)
+{
+ return data->m_exampleBrowser->requestedExit();
+}
+
+void btUpdateInProcessExampleBrowserMainThread(btInProcessExampleBrowserMainThreadInternalData* data)
+{
+ float deltaTimeInSeconds = data->m_clock.getTimeMicroseconds()/1000000.f;
+ data->m_clock.reset();
+ data->m_exampleBrowser->update(deltaTimeInSeconds);
+}
+void btShutDownExampleBrowserMainThread(btInProcessExampleBrowserMainThreadInternalData* data)
+{
+
+ data->m_exampleBrowser->setSharedMemoryInterface(0);
+ delete data->m_exampleBrowser;
+ delete data;
+}
+
+class SharedMemoryInterface* btGetSharedMemoryInterfaceMainThread(btInProcessExampleBrowserMainThreadInternalData* data)
+{
+ return data->m_sharedMem;
+}
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.h bullet-2.86.1+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.h
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,33 @@
+#ifndef IN_PROCESS_EXAMPLE_BROWSER_H
+#define IN_PROCESS_EXAMPLE_BROWSER_H
+
+struct btInProcessExampleBrowserInternalData;
+
+btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,char** argv2);
+
+bool btIsExampleBrowserTerminated(btInProcessExampleBrowserInternalData* data);
+
+void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data);
+
+class SharedMemoryInterface* btGetSharedMemoryInterface(btInProcessExampleBrowserInternalData* data);
+
+
+///////////////////////
+
+
+struct btInProcessExampleBrowserMainThreadInternalData;
+
+btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowserMainThread(int argc,char** argv2);
+
+bool btIsExampleBrowserMainThreadTerminated(btInProcessExampleBrowserMainThreadInternalData* data);
+
+void btUpdateInProcessExampleBrowserMainThread(btInProcessExampleBrowserMainThreadInternalData* data);
+
+void btShutDownExampleBrowserMainThread(btInProcessExampleBrowserMainThreadInternalData* data);
+
+class SharedMemoryInterface* btGetSharedMemoryInterfaceMainThread(btInProcessExampleBrowserMainThreadInternalData* data);
+
+
+//////////////////////
+
+#endif //IN_PROCESS_EXAMPLE_BROWSER_H
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/main.cpp bullet-2.86.1+dfsg/examples/ExampleBrowser/main.cpp
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/main.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/main.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -1,12 +1,6 @@
-//#define EXAMPLE_CONSOLE_ONLY
-#ifdef EXAMPLE_CONSOLE_ONLY
- #include "EmptyBrowser.h"
- typedef EmptyBrowser DefaultBrowser;
-#else
- #include "OpenGLExampleBrowser.h"
- typedef OpenGLExampleBrowser DefaultBrowser;
-#endif //EXAMPLE_CONSOLE_ONLY
+
+#include "OpenGLExampleBrowser.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "../Utils/b3Clock.h"
@@ -14,32 +8,67 @@
#include "ExampleEntries.h"
#include "Bullet3Common/b3Logging.h"
+#include "../Importers/ImportObjDemo/ImportObjExample.h"
+#include "../Importers/ImportBsp/ImportBspExample.h"
+#include "../Importers/ImportColladaDemo/ImportColladaSetup.h"
+#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
+#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
+#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
+#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
+#include "../Importers/ImportBullet/SerializeSetup.h"
+
+#include "LinearMath/btAlignedAllocator.h"
+
+static double gMinUpdateTimeMicroSecs = 1000.;
int main(int argc, char* argv[])
{
- b3CommandLineArgs args(argc,argv);
- b3Clock clock;
-
-
- ExampleEntries examples;
- examples.initExampleEntries();
-
- ExampleBrowserInterface* exampleBrowser = new DefaultBrowser(&examples);
- bool init = exampleBrowser->init(argc,argv);
- clock.reset();
- if (init)
{
- do
+ b3CommandLineArgs args(argc, argv);
+ b3Clock clock;
+ args.GetCmdLineArgument("minUpdateTimeMicroSecs",gMinUpdateTimeMicroSecs);
+
+ ExampleEntriesAll examples;
+ examples.initExampleEntries();
+
+ OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
+ bool init = exampleBrowser->init(argc, argv);
+ exampleBrowser->registerFileImporter(".urdf", ImportURDFCreateFunc);
+ exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc);
+ exampleBrowser->registerFileImporter(".obj", ImportObjCreateFunc);
+ exampleBrowser->registerFileImporter(".stl", ImportSTLCreateFunc);
+ exampleBrowser->registerFileImporter(".bullet", SerializeBulletCreateFunc);
+
+
+ clock.reset();
+ if (init)
{
- float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f;
- clock.reset();
- exampleBrowser->update(deltaTimeInSeconds);
+ do
+ {
+ float deltaTimeInSeconds = clock.getTimeMicroseconds() / 1000000.f;
+ if (deltaTimeInSeconds > 0.1)
+ {
+ deltaTimeInSeconds = 0.1;
+ }
+ if (deltaTimeInSeconds < (gMinUpdateTimeMicroSecs/1e6))
+ {
+ b3Clock::usleep(gMinUpdateTimeMicroSecs/10.);
+ } else
+ {
+ clock.reset();
+ exampleBrowser->update(deltaTimeInSeconds);
+ }
+ } while (!exampleBrowser->requestedExit());
+ }
+ delete exampleBrowser;
- } while (!exampleBrowser->requestedExit());
}
- delete exampleBrowser;
+#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
+ int numBytesLeaked = btDumpMemoryLeaks();
+ btAssert(numBytesLeaked==0);
+#endif//BT_DEBUG_MEMORY_ALLOCATIONS
return 0;
}
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.cpp bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -13,19 +13,26 @@
#include "../OpenGLWindow/Win32OpenGLWindow.h"
#else
//let's cross the fingers it is Linux/X11
+#ifdef BT_USE_EGL
+#include "../OpenGLWindow/EGLOpenGLWindow.h"
+#else
#include "../OpenGLWindow/X11OpenGLWindow.h"
+#endif //BT_USE_EGL
#endif //_WIN32
#endif//__APPLE__
#include "../ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.h"
-
+#include "LinearMath/btThreads.h"
#include "Bullet3Common/b3Vector3.h"
#include "assert.h"
#include
#include "GwenGUISupport/gwenInternalData.h"
#include "GwenGUISupport/gwenUserInterface.h"
#include "../Utils/b3Clock.h"
+#include "../Utils/ChromeTraceUtil.h"
#include "GwenGUISupport/GwenParameterInterface.h"
+#ifndef BT_NO_PROFILE
#include "GwenGUISupport/GwenProfileWindow.h"
+#endif
#include "GwenGUISupport/GwenTextureWindow.h"
#include "GwenGUISupport/GraphingTexture.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
@@ -42,28 +49,78 @@
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportBullet/SerializeSetup.h"
+#include "Bullet3Common/b3HashMap.h"
+
+struct GL3TexLoader : public MyTextureLoader
+{
+ b3HashMap m_hashMap;
+
+ virtual void LoadTexture(Gwen::Texture* pTexture)
+ {
+ Gwen::String namestr = pTexture->name.Get();
+ const char* n = namestr.c_str();
+ GLint* texIdPtr = m_hashMap[n];
+ if (texIdPtr)
+ {
+ pTexture->m_intData = *texIdPtr;
+ }
+ }
+ virtual void FreeTexture(Gwen::Texture* pTexture)
+ {
+ }
+};
+
+
+struct OpenGLExampleBrowserInternalData
+{
+ Gwen::Renderer::Base* m_gwenRenderer;
+ CommonGraphicsApp* m_app;
+#ifndef BT_NO_PROFILE
+ MyProfileWindow* m_profWindow;
+#endif //BT_NO_PROFILE
+ btAlignedObjectArray m_nodes;
+ GwenUserInterface* m_gui;
+ GL3TexLoader* m_myTexLoader;
+ struct MyMenuItemHander* m_handler2;
+ btAlignedObjectArray m_handlers;
+
+ OpenGLExampleBrowserInternalData()
+ : m_gwenRenderer(0),
+ m_app(0),
+// m_profWindow(0),
+ m_gui(0),
+ m_myTexLoader(0),
+ m_handler2(0)
+ {
+
+ }
+};
+
static CommonGraphicsApp* s_app=0;
static CommonWindowInterface* s_window = 0;
static CommonParameterInterface* s_parameterInterface=0;
static CommonRenderInterface* s_instancingRenderer=0;
static OpenGLGuiHelper* s_guiHelper=0;
+#ifndef BT_NO_PROFILE
static MyProfileWindow* s_profWindow =0;
+#endif //BT_NO_PROFILE
+static SharedMemoryInterface* sSharedMem = 0;
#define DEMO_SELECTION_COMBOBOX 13
const char* startFileName = "0_Bullet3Demo.txt";
char staticPngFileName[1024];
-static GwenUserInterface* gui = 0;
+//static GwenUserInterface* gui = 0;
+static GwenUserInterface* gui2 = 0;
static int sCurrentDemoIndex = -1;
static int sCurrentHightlighted = 0;
static CommonExampleInterface* sCurrentDemo = 0;
static b3AlignedObjectArray allNames;
static float gFixedTimeStep = 0;
bool gAllowRetina = true;
-
+bool gDisableDemoSelection = false;
static class ExampleEntries* gAllExamples=0;
bool sUseOpenGL2 = false;
-bool drawGUI=true;
#ifndef USE_OPENGL3
extern bool useShadowMap;
#endif
@@ -71,10 +128,12 @@
static bool visualWireframe=false;
static bool renderVisualGeometry=true;
static bool renderGrid = true;
+static bool renderGui = true;
static bool enable_experimental_opencl = false;
int gDebugDrawFlags = 0;
static bool pauseSimulation=false;
+static bool singleStepSimulation = false;
int midiBaseIndex = 176;
extern bool gDisableDeactivation;
@@ -85,16 +144,15 @@
int gPreferredOpenCLDeviceIndex=-1;
int gPreferredOpenCLPlatformIndex=-1;
-int gGpuArraySizeX=15;
-int gGpuArraySizeY=15;
-int gGpuArraySizeZ=15;
+int gGpuArraySizeX=45;
+int gGpuArraySizeY=55;
+int gGpuArraySizeZ=45;
//#include
//unsigned int fp_control_state = _controlfp(_EM_INEXACT, _MCW_EM);
-
void deleteDemo()
{
if (sCurrentDemo)
@@ -105,10 +163,13 @@
sCurrentDemo=0;
delete s_guiHelper;
s_guiHelper = 0;
+
+// CProfileManager::CleanupMemory();
}
}
const char* gPngFileName = 0;
+int gPngSkipFrames = 0;
@@ -121,9 +182,9 @@
//b3Printf("key=%d, state=%d", key, state);
bool handled = false;
- if (gui && !handled )
+ if (gui2 && !handled )
{
- handled = gui->keyboardCallback(key, state);
+ handled = gui2->keyboardCallback(key, state);
}
if (!handled && sCurrentDemo)
@@ -144,7 +205,6 @@
}
if (key=='c' && state)
{
- gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraints;
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawContactPoints;
}
if (key == 'd' && state)
@@ -152,6 +212,11 @@
gDebugDrawFlags ^= btIDebugDraw::DBG_NoDeactivation;
gDisableDeactivation = ((gDebugDrawFlags & btIDebugDraw::DBG_NoDeactivation) != 0);
}
+ if (key == 'k' && state)
+ {
+ gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraints;
+ }
+
if (key=='l' && state)
{
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraintLimits;
@@ -170,6 +235,7 @@
if (key=='g' && state)
{
renderGrid = !renderGrid;
+ renderGui = !renderGui;
}
@@ -177,6 +243,25 @@
{
pauseSimulation = !pauseSimulation;
}
+ if (key == 'o' && state)
+ {
+ singleStepSimulation = true;
+ }
+
+ if (key=='p')
+ {
+#ifndef BT_NO_PROFILE
+ if (state)
+ {
+ b3ChromeUtilsStartTimings();
+
+ } else
+ {
+ b3ChromeUtilsStopTimingsAndWriteJsonFile();
+ }
+#endif //BT_NO_PROFILE
+ }
+
#ifndef NO_OPENGL3
if (key=='s' && state)
{
@@ -220,11 +305,14 @@
b3MouseMoveCallback prevMouseMoveCallback = 0;
static void MyMouseMoveCallback( float x, float y)
{
- bool handled = false;
+ bool handled = false;
if (sCurrentDemo)
handled = sCurrentDemo->mouseMoveCallback(x,y);
- if (!handled && gui)
- handled = gui->mouseMoveCallback(x,y);
+ if (renderGui)
+ {
+ if (!handled && gui2)
+ handled = gui2->mouseMoveCallback(x,y);
+ }
if (!handled)
{
if (prevMouseMoveCallback)
@@ -241,9 +329,11 @@
if (sCurrentDemo)
handled = sCurrentDemo->mouseButtonCallback(button,state,x,y);
- if (!handled && gui)
- handled = gui->mouseButtonCallback(button,state,x,y);
-
+ if (renderGui)
+ {
+ if (!handled && gui2)
+ handled = gui2->mouseButtonCallback(button,state,x,y);
+ }
if (!handled)
{
if (prevMouseButtonCallback )
@@ -253,19 +343,26 @@
}
#include
+struct FileImporterByExtension
+{
+ std::string m_extension;
+ CommonExampleInterface::CreateFunc* m_createFunc;
+};
+
+static btAlignedObjectArray gFileImporterByExtension;
+
+void OpenGLExampleBrowser::registerFileImporter(const char* extension, CommonExampleInterface::CreateFunc* createFunc)
+{
+ FileImporterByExtension fi;
+ fi.m_extension = extension;
+ fi.m_createFunc = createFunc;
+ gFileImporterByExtension.push_back(fi);
+}
void openFileDemo(const char* filename)
{
- if (sCurrentDemo)
- {
- sCurrentDemo->exitPhysics();
- s_instancingRenderer->removeAllInstances();
- delete sCurrentDemo;
- sCurrentDemo=0;
- delete s_guiHelper;
- s_guiHelper = 0;
- }
+ deleteDemo();
s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
s_parameterInterface->removeAllParameters();
@@ -276,20 +373,15 @@
char fullPath[1024];
sprintf(fullPath, "%s", filename);
b3FileUtils::toLower(fullPath);
- if (strstr(fullPath, ".urdf"))
- {
- sCurrentDemo = ImportURDFCreateFunc(options);
- } else
- {
- if (strstr(fullPath, ".bullet"))
- {
- sCurrentDemo = SerializeBulletCreateFunc(options);
- }
- }
+
+ for (int i=0;isetFileName(filename);
-
if (sCurrentDemo)
{
@@ -316,23 +408,31 @@
demoIndex = 0;
}
deleteDemo();
+
CommonExampleInterface::CreateFunc* func = gAllExamples->getExampleCreateFunc(demoIndex);
if (func)
{
- s_parameterInterface->removeAllParameters();
+ if (s_parameterInterface)
+ {
+ s_parameterInterface->removeAllParameters();
+ }
int option = gAllExamples->getExampleOption(demoIndex);
s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
CommonExampleOptions options(s_guiHelper, option);
+ options.m_sharedMem = sSharedMem;
sCurrentDemo = (*func)(options);
if (sCurrentDemo)
{
- if (gui)
+ if (gui2)
{
- gui->setStatusBarMessage("Status: OK", false);
+ gui2->setStatusBarMessage("Status: OK", false);
}
b3Printf("Selected demo: %s",gAllExamples->getExampleName(demoIndex));
- gui->setExampleDescription(gAllExamples->getExampleDescription(demoIndex));
+ if (gui2)
+ {
+ gui2->setExampleDescription(gAllExamples->getExampleDescription(demoIndex));
+ }
sCurrentDemo->initPhysics();
if(resetCamera)
@@ -381,11 +481,10 @@
static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& args)
{
- int currentEntry= 0;
+ //int currentEntry= 0;
FILE* f = fopen(startFileName,"r");
if (f)
{
- int result;
char oneline[1024];
char* argv[] = {0,&oneline[0]};
@@ -420,14 +519,16 @@
}
+//in case of multi-threading, don't submit messages while the GUI is rendering (causing crashes)
+static bool gBlockGuiMessages = false;
void MyGuiPrintf(const char* msg)
{
printf("b3Printf: %s\n",msg);
- if (gui)
+ if (!gDisableDemoSelection && !gBlockGuiMessages)
{
- gui->textOutput(msg);
- gui->forceUpdateScrollBars();
+ gui2->textOutput(msg);
+ gui2->forceUpdateScrollBars();
}
}
@@ -436,10 +537,10 @@
void MyStatusBarPrintf(const char* msg)
{
printf("b3Printf: %s\n", msg);
- if (gui)
+ if (!gDisableDemoSelection && !gBlockGuiMessages)
{
bool isLeft = true;
- gui->setStatusBarMessage(msg,isLeft);
+ gui2->setStatusBarMessage(msg,isLeft);
}
}
@@ -447,13 +548,15 @@
void MyStatusBarError(const char* msg)
{
printf("Warning: %s\n", msg);
- if (gui)
+ if (!gDisableDemoSelection && !gBlockGuiMessages)
{
bool isLeft = false;
- gui->setStatusBarMessage(msg,isLeft);
- gui->textOutput(msg);
- gui->forceUpdateScrollBars();
+ gui2->setStatusBarMessage(msg,isLeft);
+ gui2->textOutput(msg);
+ gui2->forceUpdateScrollBars();
}
+ btAssert(0);
+
}
struct MyMenuItemHander :public Gwen::Event::Handler
@@ -488,9 +591,11 @@
Gwen::String laa = Gwen::Utility::UnicodeToString(la);
//const char* ha = laa.c_str();
-
- selectDemo(sCurrentHightlighted);
- saveCurrentSettings(sCurrentDemoIndex, startFileName);
+ if (!gDisableDemoSelection )
+ {
+ selectDemo(sCurrentHightlighted);
+ saveCurrentSettings(sCurrentDemoIndex, startFileName);
+ }
}
void onButtonC(Gwen::Controls::Base* pControl)
{
@@ -512,8 +617,11 @@
*/
// printf("onKeyReturn ! \n");
- selectDemo(sCurrentHightlighted);
- saveCurrentSettings(sCurrentDemoIndex, startFileName);
+ if (!gDisableDemoSelection )
+ {
+ selectDemo(sCurrentHightlighted);
+ saveCurrentSettings(sCurrentDemoIndex, startFileName);
+ }
}
@@ -521,7 +629,7 @@
{
// printf("select %d\n",m_buttonId);
sCurrentHightlighted = m_buttonId;
- gui->setExampleDescription(gAllExamples->getExampleDescription(sCurrentHightlighted));
+ gui2->setExampleDescription(gAllExamples->getExampleDescription(sCurrentHightlighted));
}
void onButtonF(Gwen::Controls::Base* pControl)
@@ -537,26 +645,6 @@
};
-#include "Bullet3Common/b3HashMap.h"
-
-struct GL3TexLoader : public MyTextureLoader
-{
- b3HashMap m_hashMap;
-
- virtual void LoadTexture( Gwen::Texture* pTexture )
- {
- Gwen::String namestr = pTexture->name.Get();
- const char* n = namestr.c_str();
- GLint* texIdPtr = m_hashMap[n];
- if (texIdPtr)
- {
- pTexture->m_intData = *texIdPtr;
- }
- }
- virtual void FreeTexture( Gwen::Texture* pTexture )
- {
- }
-};
void quitCallback()
{
@@ -586,10 +674,12 @@
MyGraphWindow* m_gw[MAX_GRAPH_WINDOWS];
GraphingTexture* m_gt[MAX_GRAPH_WINDOWS];
int m_curNumGraphWindows;
+ int m_curXpos;
QuickCanvas(GL3TexLoader* myTexLoader)
:m_myTexLoader(myTexLoader),
- m_curNumGraphWindows(0)
+ m_curNumGraphWindows(0),
+ m_curXpos(0)
{
for (int i=0;igetInternalData());
+ MyGraphInput input(gui2->getInternalData());
input.m_width=width;
input.m_height=height;
- input.m_xPos = 10000;//GUI will clamp it to the right//300;
+ input.m_xPos = m_curXpos;//GUI will clamp it to the right//300;
+ m_curXpos+=width+20;
input.m_yPos = 10000;//GUI will clamp it to bottom
input.m_name=canvasName;
input.m_texName = canvasName;
@@ -629,8 +720,12 @@
}
virtual void destroyCanvas(int canvasId)
{
+ m_curXpos = 0;
btAssert(canvasId>=0);
+ delete m_gt[canvasId];
+ m_gt[canvasId] = 0;
destroyTextureWindow(m_gw[canvasId]);
+ m_gw[canvasId] = 0;
m_curNumGraphWindows--;
}
virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)
@@ -656,15 +751,64 @@
OpenGLExampleBrowser::OpenGLExampleBrowser(class ExampleEntries* examples)
{
+ m_internalData = new OpenGLExampleBrowserInternalData;
+
gAllExamples = examples;
}
OpenGLExampleBrowser::~OpenGLExampleBrowser()
{
- deleteDemo();
+ deleteDemo();
+ for (int i = 0; i < m_internalData->m_nodes.size(); i++)
+ {
+ delete m_internalData->m_nodes[i];
+ }
+ delete m_internalData->m_handler2;
+ for (int i = 0; i < m_internalData->m_handlers.size(); i++)
+ {
+ delete m_internalData->m_handlers[i];
+ }
+ m_internalData->m_handlers.clear();
+ m_internalData->m_nodes.clear();
+ delete s_parameterInterface;
+ s_parameterInterface = 0;
+ delete s_app->m_2dCanvasInterface;
+ s_app->m_2dCanvasInterface = 0;
+
+#ifndef BT_NO_PROFILE
+ destroyProfileWindow(m_internalData->m_profWindow);
+#endif
+
+ m_internalData->m_gui->exit();
+
+
+
+
+ delete m_internalData->m_gui;
+ delete m_internalData->m_gwenRenderer;
+ delete m_internalData->m_myTexLoader;
+
+
+
+
+
+ delete m_internalData->m_app;
+ s_app = 0;
+
+
+
+
+
+ delete m_internalData;
+
+ gFileImporterByExtension.clear();
gAllExamples = 0;
+
+
}
+
+
#include "EmptyExample.h"
bool OpenGLExampleBrowser::init(int argc, char* argv[])
@@ -672,9 +816,17 @@
b3CommandLineArgs args(argc,argv);
loadCurrentSettings(startFileName, args);
-
+ if (args.CheckCmdLineFlag("nogui"))
+ {
+ renderGrid = false;
+ renderGui = false;
+ }
+ if (args.CheckCmdLineFlag("tracing"))
+ {
+ b3ChromeUtilsStartTimings();
+ }
args.GetCmdLineArgument("fixed_timestep",gFixedTimeStep);
-
+ args.GetCmdLineArgument("png_skip_frames", gPngSkipFrames);
///The OpenCL rigid body pipeline is experimental and
///most OpenCL drivers and OpenCL compilers have issues with our kernels.
///If you have a high-end desktop GPU such as AMD 7970 or better, or NVIDIA GTX 680 with up-to-date drivers
@@ -685,6 +837,7 @@
enable_experimental_opencl = true;
gAllExamples->initOpenCLExampleEntries();
}
+
if (args.CheckCmdLineFlag("disable_retina"))
{
gAllowRetina = false;
@@ -713,6 +866,7 @@
s_app = new SimpleOpenGL2App(title,width,height);
s_app->m_renderer = new SimpleOpenGL2Renderer(width,height);
}
+
#ifndef NO_OPENGL3
else
{
@@ -722,6 +876,7 @@
s_app = simpleApp;
}
#endif
+ m_internalData->m_app = s_app;
char* gVideoFileName = 0;
args.GetCmdLineArgument("mp4",gVideoFileName);
#ifndef NO_OPENGL3
@@ -730,7 +885,11 @@
#endif
s_instancingRenderer = s_app->m_renderer;
- s_window = s_app->m_window;
+ s_window = s_app->m_window;
+
+ width = s_window->getWidth();
+ height = s_window->getHeight();
+
prevMouseMoveCallback = s_window->getMouseMoveCallback();
s_window->setMouseMoveCallback(MyMouseMoveCallback);
@@ -770,59 +929,82 @@
b3SetCustomPrintfFunc(MyGuiPrintf);
b3SetCustomErrorMessageFunc(MyStatusBarError);
+
assert(glGetError()==GL_NO_ERROR);
+ {
+ GL3TexLoader* myTexLoader = new GL3TexLoader;
+ m_internalData->m_myTexLoader = myTexLoader;
- gui = new GwenUserInterface;
- GL3TexLoader* myTexLoader = new GL3TexLoader;
-
- Gwen::Renderer::Base* gwenRenderer = 0;
- if (sUseOpenGL2 )
- {
- gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont();
- }
+
+ if (sUseOpenGL2)
+ {
+ m_internalData->m_gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont();
+ }
#ifndef NO_OPENGL3
- else
- {
- sth_stash* fontstash=simpleApp->getFontStash();
- gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer,fontstash,width,height,s_window->getRetinaScale(),myTexLoader);
- }
+ else
+ {
+ sth_stash* fontstash = simpleApp->getFontStash();
+ m_internalData->m_gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer, fontstash, width, height, s_window->getRetinaScale(), myTexLoader);
+ }
#endif
- //
- gui->init(width,height,gwenRenderer,s_window->getRetinaScale());
-
-
-
-
-// gui->getInternalData()->m_explorerPage
- Gwen::Controls::TreeControl* tree = gui->getInternalData()->m_explorerTreeCtrl;
+ gui2 = new GwenUserInterface;
+
+ m_internalData->m_gui = gui2;
+
+ m_internalData->m_myTexLoader = myTexLoader;
-
- //gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
+
+ gui2->init(width, height, m_internalData->m_gwenRenderer, s_window->getRetinaScale());
+
+
+ }
+ //gui = 0;// new GwenUserInterface;
- s_profWindow= setupProfileWindow(gui->getInternalData());
- profileWindowSetVisible(s_profWindow,false);
- gui->setFocus();
+ GL3TexLoader* myTexLoader = m_internalData->m_myTexLoader;
+ // = myTexLoader;
+
+
+
+ //
- s_parameterInterface = s_app->m_parameterInterface = new GwenParameterInterface(gui->getInternalData());
- s_app->m_2dCanvasInterface = new QuickCanvas(myTexLoader);
+ if (gui2)
+ {
+
- ///add some demos to the gAllExamples
+
+ // gui->getInternalData()->m_explorerPage
+ Gwen::Controls::TreeControl* tree = gui2->getInternalData()->m_explorerTreeCtrl;
+
+
+ //gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
+
+#ifndef BT_NO_PROFILE
+ s_profWindow= setupProfileWindow(gui2->getInternalData());
+ m_internalData->m_profWindow = s_profWindow;
+ profileWindowSetVisible(s_profWindow,false);
+#endif //BT_NO_PROFILE
+ gui2->setFocus();
+
+ s_parameterInterface = s_app->m_parameterInterface = new GwenParameterInterface(gui2->getInternalData());
+ s_app->m_2dCanvasInterface = new QuickCanvas(myTexLoader);
-
+ ///add some demos to the gAllExamples
+
+
int numDemos = gAllExamples->getNumRegisteredExamples();
//char nodeText[1024];
//int curDemo = 0;
int selectedDemo = 0;
Gwen::Controls::TreeNode* curNode = tree;
- MyMenuItemHander* handler2 = new MyMenuItemHander(-1);
+ m_internalData->m_handler2 = new MyMenuItemHander(-1);
char* demoNameFromCommandOption = 0;
args.GetCmdLineArgument("start_demo_name", demoNameFromCommandOption);
@@ -830,7 +1012,7 @@
selectedDemo = -1;
}
- tree->onReturnKeyDown.Add(handler2, &MyMenuItemHander::onButtonD);
+ tree->onReturnKeyDown.Add(m_internalData->m_handler2, &MyMenuItemHander::onButtonD);
int firstAvailableDemoIndex=-1;
Gwen::Controls::TreeNode* firstNode=0;
@@ -877,13 +1059,18 @@
}
}
+#if 1
MyMenuItemHander* handler = new MyMenuItemHander(d);
+ m_internalData->m_handlers.push_back(handler);
+
pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonA);
pNode->GetButton()->onDoubleClick.Add(handler, &MyMenuItemHander::onButtonB);
pNode->GetButton()->onDown.Add(handler, &MyMenuItemHander::onButtonC);
pNode->onSelect.Add(handler, &MyMenuItemHander::onButtonE);
pNode->onReturnKeyDown.Add(handler, &MyMenuItemHander::onButtonG);
pNode->onSelectChange.Add(handler, &MyMenuItemHander::onButtonF);
+
+#endif
// pNode->onKeyReturn.Add(handler, &MyMenuItemHander::onButtonD);
// pNode->GetButton()->onKeyboardReturn.Add(handler, &MyMenuItemHander::onButtonD);
// pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonD);
@@ -893,6 +1080,7 @@
else
{
curNode = tree->AddNode(nodeUText);
+ m_internalData->m_nodes.push_back(curNode);
}
}
@@ -911,6 +1099,9 @@
}
}
+ free(demoNameFromCommandOption);
+ demoNameFromCommandOption = 0;
+
btAssert(sCurrentDemo!=0);
if (sCurrentDemo==0)
{
@@ -918,14 +1109,15 @@
exit(0);
}
- gui->registerFileOpenCallback(fileOpenCallback);
- gui->registerQuitCallback(quitCallback);
-
+ gui2->registerFileOpenCallback(fileOpenCallback);
+ gui2->registerQuitCallback(quitCallback);
+ }
+
+
return true;
}
-
CommonExampleInterface* OpenGLExampleBrowser::getCurrentExample()
{
btAssert(sCurrentDemo);
@@ -937,9 +1129,23 @@
return s_window->requestedExit();
}
-void OpenGLExampleBrowser::update(float deltaTime)
+void OpenGLExampleBrowser::updateGraphics()
{
+ if (sCurrentDemo)
+ {
+ if (!pauseSimulation || singleStepSimulation)
+ {
+ B3_PROFILE("sCurrentDemo->updateGraphics");
+ sCurrentDemo->updateGraphics();
+ }
+ }
+}
+void OpenGLExampleBrowser::update(float deltaTime)
+{
+ b3ChromeUtilsEnableProfiling();
+
+ B3_PROFILE("OpenGLExampleBrowser::update");
assert(glGetError()==GL_NO_ERROR);
s_instancingRenderer->init();
DrawGridData dg;
@@ -953,14 +1159,7 @@
s_instancingRenderer->updateCamera(dg.upAxis);
}
- if (renderGrid)
- {
- BT_PROFILE("Draw Grid");
- glPolygonOffset(3.0, 3);
- glEnable(GL_POLYGON_OFFSET_FILL);
- s_app->drawGrid(dg);
-
- }
+
static int frameCount = 0;
frameCount++;
@@ -972,35 +1171,37 @@
s_app->drawText(bla,10,10);
}
+ if (gPngFileName)
+ {
+
+ static int skip = 0;
+ skip--;
+ if (skip<0)
+ {
+ skip=gPngSkipFrames;
+ //printf("gPngFileName=%s\n",gPngFileName);
+ static int s_frameCount = 100;
+
+ sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
+ //b3Printf("Made screenshot %s",staticPngFileName);
+ s_app->dumpNextFrameToPng(staticPngFileName);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+ }
+ }
+
if (sCurrentDemo)
{
- if (!pauseSimulation)
+ if (!pauseSimulation || singleStepSimulation)
{
+
//printf("---------------------------------------------------\n");
//printf("Framecount = %d\n",frameCount);
-
- if (gPngFileName)
- {
-
- static int skip = 0;
- skip++;
- if (skip>4)
- {
- skip=0;
- //printf("gPngFileName=%s\n",gPngFileName);
- static int s_frameCount = 100;
-
- sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
- //b3Printf("Made screenshot %s",staticPngFileName);
- s_app->dumpNextFrameToPng(staticPngFileName);
- glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
- }
- }
-
+ B3_PROFILE("sCurrentDemo->stepSimulation");
if (gFixedTimeStep>0)
{
+
sCurrentDemo->stepSimulation(gFixedTimeStep);
} else
{
@@ -1008,6 +1209,14 @@
}
}
+ if (renderGrid)
+ {
+ BT_PROFILE("Draw Grid");
+ glPolygonOffset(3.0, 3);
+ glEnable(GL_POLYGON_OFFSET_FILL);
+ s_app->drawGrid(dg);
+
+ }
if (renderVisualGeometry && ((gDebugDrawFlags&btIDebugDraw::DBG_DrawWireframe)==0))
{
if (visualWireframe)
@@ -1017,17 +1226,21 @@
BT_PROFILE("Render Scene");
sCurrentDemo->renderScene();
}
+ //else
{
-
+ B3_PROFILE("physicsDebugDraw");
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
sCurrentDemo->physicsDebugDraw(gDebugDrawFlags);
}
}
+
+
{
- if (s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
+ if (gui2 && s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
{
+ B3_PROFILE("setStatusBarMessage");
char msg[1024];
float camDist = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraDistance();
float pitch = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPitch();
@@ -1035,24 +1248,42 @@
float camTarget[3];
s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
sprintf(msg,"dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
- gui->setStatusBarMessage(msg, true);
+ gui2->setStatusBarMessage(msg, true);
}
}
static int toggle = 1;
- if (1)
+ if (renderGui)
{
- if (!pauseSimulation)
- processProfileData(s_profWindow,false);
+ B3_PROFILE("renderGui");
+#ifndef BT_NO_PROFILE
- if (sUseOpenGL2)
+ if (!pauseSimulation || singleStepSimulation)
{
-
- saveOpenGLState(s_instancingRenderer->getScreenWidth(),s_instancingRenderer->getScreenHeight());
+ if (isProfileWindowVisible(s_profWindow))
+ {
+ processProfileData(s_profWindow,false);
+ }
}
- BT_PROFILE("Draw Gwen GUI");
- gui->draw(s_instancingRenderer->getScreenWidth(),s_instancingRenderer->getScreenHeight());
+#endif //#ifndef BT_NO_PROFILE
+
+
+ if (sUseOpenGL2)
+ {
+
+ saveOpenGLState(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
+ }
+
+ if (m_internalData->m_gui)
+ {
+ gBlockGuiMessages = true;
+ m_internalData->m_gui->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
+
+
+ gBlockGuiMessages = false;
+ }
+
if (sUseOpenGL2)
{
restoreOpenGLState();
@@ -1060,19 +1291,32 @@
}
-
+ singleStepSimulation = false;
toggle=1-toggle;
{
BT_PROFILE("Sync Parameters");
- s_parameterInterface->syncParameters();
+ if (s_parameterInterface)
+ {
+ s_parameterInterface->syncParameters();
+ }
}
{
BT_PROFILE("Swap Buffers");
s_app->swapBuffer();
}
- gui->forceUpdateScrollBars();
+ if (gui2)
+ {
+ B3_PROFILE("forceUpdateScrollBars");
+ gui2->forceUpdateScrollBars();
+ }
}
+
+void OpenGLExampleBrowser::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem)
+{
+ gDisableDemoSelection = true;
+ sSharedMem = sharedMem;
+}
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.h bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.h
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.h 2017-02-17 23:43:38.000000000 +0000
@@ -5,6 +5,9 @@
class OpenGLExampleBrowser : public ExampleBrowserInterface
{
+
+ struct OpenGLExampleBrowserInternalData* m_internalData;
+
public:
OpenGLExampleBrowser(class ExampleEntries* examples);
@@ -16,8 +19,13 @@
virtual void update(float deltaTime);
+ virtual void updateGraphics();
+
virtual bool requestedExit();
+
+ virtual void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
+ static void registerFileImporter(const char* extension, CommonExampleInterface::CreateFunc* createFunc);
};
#endif //OPENGL_BROWSER_GUI_H
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.cpp bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.cpp
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -5,9 +5,10 @@
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "Bullet3Common/b3Scalar.h"
+#include "CollisionShape2TriangleMesh.h"
-#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
+#include "../OpenGLWindow/SimpleCamera.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
//backwards compatibility
#include "GL_ShapeDrawer.h"
@@ -28,7 +29,8 @@
float y;
float z;
};
-class MyDebugDrawer : public btIDebugDraw
+
+ATTRIBUTE_ALIGNED16( class )MyDebugDrawer : public btIDebugDraw
{
CommonGraphicsApp* m_glApp;
int m_debugMode;
@@ -39,6 +41,7 @@
DefaultColors m_ourColors;
public:
+ BT_DECLARE_ALIGNED_ALLOCATOR();
MyDebugDrawer(CommonGraphicsApp* app)
: m_glApp(app)
@@ -83,7 +86,10 @@
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
- drawLine(PointOnB,PointOnB+normalOnB,color);
+ drawLine(PointOnB,PointOnB+normalOnB*distance,color);
+ btVector3 ncolor(0, 0, 0);
+ drawLine(PointOnB, PointOnB + normalOnB*0.01, ncolor);
+
}
@@ -142,8 +148,26 @@
struct CommonGraphicsApp* m_glApp;
class MyDebugDrawer* m_debugDraw;
GL_ShapeDrawer* m_gl2ShapeDrawer;
+ bool m_vrMode;
+ int m_vrSkipShadowPass;
+
+ btAlignedObjectArray m_rgbaPixelBuffer1;
+ btAlignedObjectArray m_depthBuffer1;
+
+ OpenGLGuiHelperInternalData()
+ :m_vrMode(false),
+ m_vrSkipShadowPass(0)
+ {
+ }
+
};
+void OpenGLGuiHelper::setVRMode(bool vrMode)
+{
+ m_data->m_vrMode = vrMode;
+ m_data->m_vrSkipShadowPass = 0;
+}
+
OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
@@ -163,6 +187,7 @@
OpenGLGuiHelper::~OpenGLGuiHelper()
{
+ delete m_data->m_debugDraw;
delete m_data->m_gl2ShapeDrawer;
delete m_data;
}
@@ -195,9 +220,16 @@
}
}
-int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+int OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int height)
{
- int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices);
+ int textureId = m_data->m_glApp->m_renderer->registerTexture(texels,width,height);
+ return textureId;
+}
+
+
+int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
+{
+ int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
return shapeId;
}
@@ -206,221 +238,9 @@
return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
}
-static void createCollisionShapeGraphicsObjectInternal(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut)
+void OpenGLGuiHelper::removeAllGraphicsInstances()
{
-//todo: support all collision shape types
- switch (collisionShape->getShapeType())
- {
- case SOFTBODY_SHAPE_PROXYTYPE:
- {
- //skip the soft body collision shape for now
- break;
- }
- case STATIC_PLANE_PROXYTYPE:
- {
- //draw a box, oriented along the plane normal
- const btStaticPlaneShape* staticPlaneShape = static_cast(collisionShape);
- btScalar planeConst = staticPlaneShape->getPlaneConstant();
- const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
- btVector3 planeOrigin = planeNormal * planeConst;
- btVector3 vec0,vec1;
- btPlaneSpace1(planeNormal,vec0,vec1);
- btScalar vecLen = 100.f;
- btVector3 verts[4];
-
- verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
- verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
- verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
- verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
-
- int startIndex = verticesOut.size();
- indicesOut.push_back(startIndex+0);
- indicesOut.push_back(startIndex+1);
- indicesOut.push_back(startIndex+2);
- indicesOut.push_back(startIndex+0);
- indicesOut.push_back(startIndex+2);
- indicesOut.push_back(startIndex+3);
-
- btVector3 triNormal = parentTransform.getBasis()*planeNormal;
-
-
- for (int i=0;i<4;i++)
- {
- GLInstanceVertex vtx;
- btVector3 pos =parentTransform*verts[i];
- vtx.xyzw[0] = pos.x();
- vtx.xyzw[1] = pos.y();
- vtx.xyzw[2] = pos.z();
- vtx.xyzw[3] = 0.f;
-
- vtx.normal[0] =triNormal.x();
- vtx.normal[1] =triNormal.y();
- vtx.normal[2] =triNormal.z();
-
- vtx.uv[0] = 0.5f;
- vtx.uv[1] = 0.5f;
- verticesOut.push_back(vtx);
- }
- break;
- }
- case TRIANGLE_MESH_SHAPE_PROXYTYPE:
- {
-
-
- btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) collisionShape;
- btVector3 trimeshScaling = trimesh->getLocalScaling();
- btStridingMeshInterface* meshInterface = trimesh->getMeshInterface();
- btAlignedObjectArray vertices;
- btAlignedObjectArray indices;
-
- for (int partId=0;partIdgetNumSubParts();partId++)
- {
-
- const unsigned char *vertexbase = 0;
- int numverts = 0;
- PHY_ScalarType type = PHY_INTEGER;
- int stride = 0;
- const unsigned char *indexbase = 0;
- int indexstride = 0;
- int numfaces = 0;
- PHY_ScalarType indicestype = PHY_INTEGER;
- //PHY_ScalarType indexType=0;
-
- btVector3 triangleVerts[3];
- meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
- btVector3 aabbMin,aabbMax;
-
- for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
- {
- unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
-
- for (int j=2;j>=0;j--)
- {
-
- int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
- if (type == PHY_FLOAT)
- {
- float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
- triangleVerts[j] = btVector3(
- graphicsbase[0]*trimeshScaling.getX(),
- graphicsbase[1]*trimeshScaling.getY(),
- graphicsbase[2]*trimeshScaling.getZ());
- }
- else
- {
- double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
- triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
- btScalar(graphicsbase[1]*trimeshScaling.getY()),
- btScalar(graphicsbase[2]*trimeshScaling.getZ()));
- }
- }
- indices.push_back(vertices.size());
- vertices.push_back(triangleVerts[0]);
- indices.push_back(vertices.size());
- vertices.push_back(triangleVerts[1]);
- indices.push_back(vertices.size());
- vertices.push_back(triangleVerts[2]);
-
- btVector3 triNormal = (triangleVerts[1]-triangleVerts[0]).cross(triangleVerts[2]-triangleVerts[0]);
- triNormal.normalize();
-
- for (int v=0;v<3;v++)
- {
- GLInstanceVertex vtx;
- btVector3 pos =parentTransform*triangleVerts[v];
- vtx.xyzw[0] = pos.x();
- vtx.xyzw[1] = pos.y();
- vtx.xyzw[2] = pos.z();
- vtx.xyzw[3] = 0.f;
-
-
- vtx.normal[0] =triNormal.x();
- vtx.normal[1] =triNormal.y();
- vtx.normal[2] =triNormal.z();
-
- vtx.uv[0] = 0.5f;
- vtx.uv[1] = 0.5f;
-
- indicesOut.push_back(verticesOut.size());
- verticesOut.push_back(vtx);
- }
-
-
- }
- }
-
- break;
- }
- default:
- {
- if (collisionShape->isConvex())
- {
- btConvexShape* convex = (btConvexShape*)collisionShape;
- {
- btShapeHull* hull = new btShapeHull(convex);
- hull->buildHull(0.0);
-
- {
- //int strideInBytes = 9*sizeof(float);
- //int numVertices = hull->numVertices();
- //int numIndices =hull->numIndices();
-
- for (int t=0;tnumTriangles();t++)
- {
-
- btVector3 triNormal;
-
- int index0 = hull->getIndexPointer()[t*3+0];
- int index1 = hull->getIndexPointer()[t*3+1];
- int index2 = hull->getIndexPointer()[t*3+2];
- btVector3 pos0 =parentTransform*hull->getVertexPointer()[index0];
- btVector3 pos1 =parentTransform*hull->getVertexPointer()[index1];
- btVector3 pos2 =parentTransform*hull->getVertexPointer()[index2];
- triNormal = (pos1-pos0).cross(pos2-pos0);
- triNormal.normalize();
-
- for (int v=0;v<3;v++)
- {
- int index = hull->getIndexPointer()[t*3+v];
- GLInstanceVertex vtx;
- btVector3 pos =parentTransform*hull->getVertexPointer()[index];
- vtx.xyzw[0] = pos.x();
- vtx.xyzw[1] = pos.y();
- vtx.xyzw[2] = pos.z();
- vtx.xyzw[3] = 0.f;
-
- vtx.normal[0] =triNormal.x();
- vtx.normal[1] =triNormal.y();
- vtx.normal[2] =triNormal.z();
-
- vtx.uv[0] = 0.5f;
- vtx.uv[1] = 0.5f;
-
- indicesOut.push_back(verticesOut.size());
- verticesOut.push_back(vtx);
- }
- }
- }
- }
- } else
- {
- if (collisionShape->isCompound())
- {
- btCompoundShape* compound = (btCompoundShape*) collisionShape;
- for (int i=0;igetNumChildShapes();i++)
- {
-
- btTransform childWorldTrans = parentTransform * compound->getChildTransform(i);
- createCollisionShapeGraphicsObjectInternal(compound->getChildShape(i),childWorldTrans,verticesOut,indicesOut);
- }
- } else
- {
- btAssert(0);
- }
-
- }
- }
- };
+ m_data->m_glApp->m_renderer->removeAllInstances();
}
void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
@@ -429,48 +249,98 @@
if (collisionShape->getUserIndex()>=0)
return;
- btAlignedObjectArray vertices;
+ btAlignedObjectArray gfxVertices;
+
btAlignedObjectArray indices;
btTransform startTrans;startTrans.setIdentity();
- createCollisionShapeGraphicsObjectInternal(collisionShape,startTrans,vertices,indices);
+ {
+ btAlignedObjectArray vertexPositions;
+ btAlignedObjectArray vertexNormals;
+ CollisionShape2TriangleMesh(collisionShape,startTrans,vertexPositions,vertexNormals,indices);
+ gfxVertices.resize(vertexPositions.size());
+ for (int i=0;im_glApp->m_renderer->registerShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size());
+ int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,-1);
collisionShape->setUserIndex(shapeId);
}
}
void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
+ //in VR mode, we skip the synchronization for the second eye
+ if (m_data->m_vrMode && m_data->m_vrSkipShadowPass==1)
+ return;
+
int numCollisionObjects = rbWorld->getNumCollisionObjects();
- for (int i = 0; igetCollisionObjectArray()[i];
- btVector3 pos = colObj->getWorldTransform().getOrigin();
- btQuaternion orn = colObj->getWorldTransform().getRotation();
- int index = colObj->getUserIndex();
- if (index >= 0)
+ B3_PROFILE("write all InstanceTransformToCPU");
+ for (int i = 0; im_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
+ B3_PROFILE("writeSingleInstanceTransformToCPU");
+ btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
+ btVector3 pos = colObj->getWorldTransform().getOrigin();
+ btQuaternion orn = colObj->getWorldTransform().getRotation();
+ int index = colObj->getUserIndex();
+ if (index >= 0)
+ {
+ m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
+ }
}
}
- m_data->m_glApp->m_renderer->writeTransforms();
+ {
+ B3_PROFILE("writeTransforms");
+ m_data->m_glApp->m_renderer->writeTransforms();
+ }
}
void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld)
{
-
- m_data->m_glApp->m_renderer->renderScene();
+ if (m_data->m_vrMode)
+ {
+ //in VR, we skip the shadow generation for the second eye
+
+ if (m_data->m_vrSkipShadowPass>=1)
+ {
+ m_data->m_glApp->m_renderer->renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
+ m_data->m_vrSkipShadowPass=0;
+
+ } else
+ {
+ m_data->m_glApp->m_renderer->renderScene();
+ m_data->m_vrSkipShadowPass++;
+ }
+ } else
+ {
+ m_data->m_glApp->m_renderer->renderScene();
+ }
+
//backwards compatible OpenGL2 rendering
if (m_data->m_gl2ShapeDrawer && rbWorld)
{
m_data->m_gl2ShapeDrawer->enableTexture(true);
- m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true);
+ m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true, m_data->m_glApp->getUpAxis());
}
}
void OpenGLGuiHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)
@@ -501,6 +371,7 @@
void OpenGLGuiHelper::setUpAxis(int axis)
{
m_data->m_glApp->setUpAxis(axis);
+
}
void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
@@ -515,6 +386,93 @@
}
+void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
+ unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
+ float* depthBuffer, int depthBufferSizeInPixels,
+ int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+ int startPixelIndex, int destinationWidth,
+ int destinationHeight, int* numPixelsCopied)
+{
+ int sourceWidth = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
+ int sourceHeight = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
+
+ if (numPixelsCopied)
+ *numPixelsCopied = 0;
+
+ int numTotalPixels = destinationWidth*destinationHeight;
+ int numRemainingPixels = numTotalPixels - startPixelIndex;
+ int numBytesPerPixel = 4;//RGBA
+ int numRequestedPixels = btMin(rgbaBufferSizeInPixels,numRemainingPixels);
+ if (numRequestedPixels)
+ {
+ if (startPixelIndex==0)
+ {
+ CommonCameraInterface* oldCam = getRenderInterface()->getActiveCamera();
+ SimpleCamera tempCam;
+ getRenderInterface()->setActiveCamera(&tempCam);
+ getRenderInterface()->getActiveCamera()->setVRCamera(viewMatrix,projectionMatrix);
+ getRenderInterface()->renderScene();
+ getRenderInterface()->setActiveCamera(oldCam);
+
+ {
+ btAlignedObjectArray sourceRgbaPixelBuffer;
+ btAlignedObjectArray sourceDepthBuffer;
+ //copy the image into our local cache
+ sourceRgbaPixelBuffer.resize(sourceWidth*sourceHeight*numBytesPerPixel);
+ sourceDepthBuffer.resize(sourceWidth*sourceHeight);
+ m_data->m_glApp->getScreenPixels(&(sourceRgbaPixelBuffer[0]),sourceRgbaPixelBuffer.size(), &sourceDepthBuffer[0],sizeof(float)*sourceDepthBuffer.size());
+
+ m_data->m_rgbaPixelBuffer1.resize(destinationWidth*destinationHeight*numBytesPerPixel);
+ m_data->m_depthBuffer1.resize(destinationWidth*destinationHeight);
+ //rescale and flip
+
+ for (int i=0;im_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
+ m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
+ m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
+ m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
+
+ m_data->m_depthBuffer1[i+j*destinationWidth] = sourceDepthBuffer[sourceDepthIndex];
+
+ }
+ }
+ }
+ }
+ if (pixelsRGBA)
+ {
+ for (int i=0;im_rgbaPixelBuffer1[i+startPixelIndex*numBytesPerPixel];
+ }
+ }
+ if (depthBuffer)
+ {
+ for (int i=0;im_depthBuffer1[i+startPixelIndex];
+ }
+ }
+ if (numPixelsCopied)
+ *numPixelsCopied = numRequestedPixels;
+
+
+ }
+
+
+}
+
struct MyConvertPointerSizeT
@@ -561,6 +519,8 @@
void OpenGLGuiHelper::drawText3D( const char* txt, float posX, float posY, float posZ, float size)
{
+ B3_PROFILE("OpenGLGuiHelper::drawText3D");
+
btAssert(m_data->m_glApp);
m_data->m_glApp->drawText3D(txt,posX,posY,posZ,size);
}
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.h bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.h
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.h 2017-02-17 23:43:38.000000000 +0000
@@ -20,12 +20,11 @@
virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
- virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices);
-
+ virtual int registerTexture(const unsigned char* texels, int width, int height);
+ virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
-
+ virtual void removeAllGraphicsInstances();
-
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
@@ -44,12 +43,44 @@
virtual void setUpAxis(int axis);
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
+
+ virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
+ unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
+ float* depthBuffer, int depthBufferSizeInPixels,
+ int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+ int startPixelIndex, int destinationWidth,
+ int destinationHeight, int* numPixelsCopied);
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);
+ virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
+ {
+ return -1;
+ }
+ virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )
+ {
+ return -1;
+ }
+ virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue)
+ {
+ return -1;
+ }
+
+ virtual void removeUserDebugItem( int debugItemUniqueId)
+ {
+ }
+ virtual void removeAllUserDebugItems( )
+ {
+ }
+
+
void renderInternalGl2(int pass, const btDiscreteDynamicsWorld* dynamicsWorld);
+
+ void setVRMode(bool vrMode);
+
+
};
#endif //OPENGL_GUI_HELPER_H
diff -Nru bullet-2.83.6+dfsg/examples/ExampleBrowser/premake4.lua bullet-2.86.1+dfsg/examples/ExampleBrowser/premake4.lua
--- bullet-2.83.6+dfsg/examples/ExampleBrowser/premake4.lua 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExampleBrowser/premake4.lua 2017-02-17 23:43:38.000000000 +0000
@@ -1,70 +1,112 @@
-
- project "App_ExampleBrowser"
+project "App_BulletExampleBrowser"
- hasCL = findOpenCL("clew")
-
- if (hasCL) then
+ language "C++"
- -- project ("App_Bullet3_OpenCL_Demos_" .. vendor)
+ kind "ConsoleApp"
- initOpenCL("clew")
+ hasCL = findOpenCL("clew")
- end
+ if (hasCL) then
+ initOpenCL("clew")
+ end
- language "C++"
-
- kind "ConsoleApp"
+ links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
+ initOpenGL()
+ initGlew()
- includedirs {
+ includedirs {
".",
"../../src",
"../ThirdPartyLibs",
}
- if _OPTIONS["lua"] then
- includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
- links {"lua-5.2.3"}
- defines {"ENABLE_LUA"}
- files {"../LuaDemo/LuaPhysicsSetup.cpp"}
- end
-
-
- links{"gwen", "OpenGL_Window","BulletSoftBody", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
- initOpenGL()
- initGlew()
-
- if (hasCL) then
- links {
- "Bullet3OpenCL_clew",
- "Bullet3Dynamics",
- "Bullet3Collision",
- "Bullet3Geometry",
- "Bullet3Common",
- }
- end
-
- defines {"INCLUDE_CLOTH_DEMOS"}
-
-
- files {
- "*.cpp",
- "*.h",
- "GwenGUISupport/*.cpp",
- "GwenGUISupport/*.h",
+ if os.is("MacOSX") then
+ links{"Cocoa.framework"}
+ end
+
+ if (hasCL) then
+ links {
+ "Bullet3OpenCL_clew",
+ "Bullet3Dynamics",
+ "Bullet3Collision",
+ "Bullet3Geometry",
+ "Bullet3Common",
+ }
+ end
+
+ if _OPTIONS["lua"] then
+ includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
+ links {"lua-5.2.3"}
+ defines {"ENABLE_LUA"}
+ files {"../LuaDemo/LuaPhysicsSetup.cpp"}
+ end
+
+ defines {"INCLUDE_CLOTH_DEMOS"}
+
+ files {
+
+ "main.cpp",
+ "ExampleEntries.cpp",
+ "../InverseKinematics/*",
+ "../TinyRenderer/geometry.cpp",
+ "../TinyRenderer/model.cpp",
+ "../TinyRenderer/tgaimage.cpp",
+ "../TinyRenderer/our_gl.cpp",
+ "../TinyRenderer/TinyRenderer.cpp",
+ "../SharedMemory/IKTrajectoryHelper.cpp",
+ "../SharedMemory/IKTrajectoryHelper.h",
"../SharedMemory/PhysicsClientC_API.cpp",
"../SharedMemory/PhysicsClientC_API.h",
"../SharedMemory/PhysicsServerExample.cpp",
"../SharedMemory/PhysicsClientExample.cpp",
- "../SharedMemory/RobotControlExample.cpp",
"../SharedMemory/PhysicsServer.cpp",
+ "../SharedMemory/PhysicsServerSharedMemory.cpp",
+ "../SharedMemory/PhysicsClientSharedMemory.cpp",
+ "../SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
+ "../SharedMemory/PhysicsClientSharedMemory_C_API.h",
+ "../SharedMemory/PhysicsClientSharedMemory2.cpp",
+ "../SharedMemory/PhysicsClientSharedMemory2.h",
+ "../SharedMemory/PhysicsClientSharedMemory2_C_API.cpp",
+ "../SharedMemory/PhysicsClientSharedMemory2_C_API.h",
+ "../SharedMemory/SharedMemoryCommandProcessor.cpp",
+ "../SharedMemory/SharedMemoryCommandProcessor.h",
+ "../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
"../SharedMemory/PhysicsClient.cpp",
"../SharedMemory/PosixSharedMemory.cpp",
"../SharedMemory/Win32SharedMemory.cpp",
+ "../SharedMemory/InProcessMemory.cpp",
+ "../SharedMemory/PhysicsDirect.cpp",
+ "../SharedMemory/PhysicsDirect.h",
+ "../SharedMemory/PhysicsDirectC_API.cpp",
+ "../SharedMemory/PhysicsDirectC_API.h",
+ "../SharedMemory/PhysicsLoopBack.cpp",
+ "../SharedMemory/PhysicsLoopBack.h",
+ "../SharedMemory/PhysicsLoopBackC_API.cpp",
+ "../SharedMemory/PhysicsLoopBackC_API.h",
+ "../SharedMemory/PhysicsServerCommandProcessor.cpp",
+ "../SharedMemory/PhysicsServerCommandProcessor.h",
+ "../SharedMemory/TinyRendererVisualShapeConverter.cpp",
+ "../SharedMemory/TinyRendererVisualShapeConverter.h",
+ "../MultiThreading/MultiThreadingExample.cpp",
+ "../MultiThreading/b3PosixThreadSupport.cpp",
+ "../MultiThreading/b3Win32ThreadSupport.cpp",
+ "../MultiThreading/b3ThreadSupportInterface.cpp",
+ "../InverseDynamics/InverseDynamicsExample.cpp",
+ "../InverseDynamics/InverseDynamicsExample.h",
"../BasicDemo/BasicExample.*",
"../Tutorial/*",
+ "../ExtendedTutorials/*",
+ "../Utils/RobotLoggingUtil.cpp",
+ "../Utils/RobotLoggingUtil.h",
+ "../Evolution/NN3DWalkers.cpp",
+ "../Evolution/NN3DWalkers.h",
+ "../Collision/*",
+ "../RoboticsLearning/*",
+ "../Collision/Internal/*",
"../Benchmarks/*",
- "../CommonInterfaces/*",
+ "../MultiThreadedDemo/*",
+ "../CommonInterfaces/*.h",
"../ForkLift/ForkLiftDemo.*",
"../Importers/**",
"../../Extras/Serialize/BulletWorldImporter/*",
@@ -81,39 +123,23 @@
"../Raycast/*",
"../MultiBody/MultiDofDemo.cpp",
"../MultiBody/TestJointTorqueSetup.cpp",
+ "../MultiBody/Pendulum.cpp",
+ "../MultiBody/MultiBodySoftContact.cpp",
"../MultiBody/MultiBodyConstraintFeedback.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
+ "../RigidBody/RigidBodySoftContact.cpp",
"../ThirdPartyLibs/stb_image/*",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
"../ThirdPartyLibs/tinyxml/*",
- "../Utils/b3Clock.*",
- "../Utils/b3ResourcePath.*",
+ "../ThirdPartyLibs/BussIK/*",
"../GyroscopicDemo/GyroscopicSetup.cpp",
"../GyroscopicDemo/GyroscopicSetup.h",
- "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp",
- "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp",
- "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp",
- "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp",
- "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h",
- "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h",
- "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h",
- "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h",
- "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h",
- "../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h",
- "../ThirdPartyLibs/tinyxml/tinystr.cpp",
- "../ThirdPartyLibs/tinyxml/tinyxml.cpp",
- "../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
- "../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
- "../ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h",
- "../ThirdPartyLibs/urdf/boost_replacement/shared_ptr.h",
- "../ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp",
- "../ThirdPartyLibs/urdf/boost_replacement/printf_console.h",
- "../ThirdPartyLibs/urdf/boost_replacement/string_split.cpp",
- "../ThirdPartyLibs/urdf/boost_replacement/string_split.h",
-
- }
-
- if (hasCL and findOpenGL3()) then
+ "../ThirdPartyLibs/tinyxml/tinystr.cpp",
+ "../ThirdPartyLibs/tinyxml/tinyxml.cpp",
+ "../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
+ "../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
+ }
+if (hasCL and findOpenGL3()) then
files {
"../OpenCL/broadphase/*",
"../OpenCL/CommonOpenCL/*",
@@ -121,13 +147,75 @@
"../OpenCL/rigidbody/GpuRigidBodyDemo.cpp",
}
end
+if os.is("Linux") then
+ initX11()
+end
+
+
+
+project "BulletExampleBrowserLib"
+
+ hasCL = findOpenCL("clew")
+
+ if (hasCL) then
+
+ -- project ("App_Bullet3_OpenCL_Demos_" .. vendor)
+
+ initOpenCL("clew")
+
+ end
+
+ language "C++"
+
+ kind "StaticLib"
+
+ includedirs {
+ ".",
+ "../../src",
+ "../ThirdPartyLibs",
+ }
+
+ if _OPTIONS["lua"] then
+ includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
+ links {"lua-5.2.3"}
+ defines {"ENABLE_LUA"}
+ files {"../LuaDemo/LuaPhysicsSetup.cpp"}
+ end
+
+
+ initOpenGL()
+ initGlew()
+
+ defines {"INCLUDE_CLOTH_DEMOS"}
+
+
+
+ files {
+ "OpenGLExampleBrowser.cpp",
+ "OpenGLGuiHelper.cpp",
+ "OpenGLExampleBrowser.cpp",
+ "../Utils/b3Clock.cpp",
+ "../Utils/b3Clock.h",
+ "../Utils/ChromeTraceUtil.cpp",
+ "../Utils/ChromeTraceUtil.h",
+ "*.h",
+ "GwenGUISupport/*.cpp",
+ "GwenGUISupport/*.h",
+ "CollisionShape2TriangleMesh.cpp",
+ "CollisionShape2TriangleMesh.h",
+ "../Utils/b3ResourcePath.*",
+ "GL_ShapeDrawer.cpp",
+ "InProcessExampleBrowser.cpp",
+
+
+
+ }
+
+
if os.is("Linux") then
initX11()
end
-if os.is("MacOSX") then
- links{"Cocoa.framework"}
-end
-
+
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/Bridge.cpp bullet-2.86.1+dfsg/examples/ExtendedTutorials/Bridge.cpp
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/Bridge.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/Bridge.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,150 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "Bridge.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+const int TOTAL_PLANKS = 10;
+struct BridgeExample : public CommonRigidBodyBase
+{
+ BridgeExample(struct GUIHelperInterface* helper)
+ :CommonRigidBodyBase(helper)
+ {
+ }
+ virtual ~BridgeExample(){}
+ virtual void initPhysics();
+ virtual void renderScene();
+ void resetCamera()
+ {
+ float dist = 41;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3]={0,0.46,0};
+ m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+ }
+};
+
+void BridgeExample::initPhysics()
+{
+ m_guiHelper->setUpAxis(1);
+
+ createEmptyDynamicsWorld();
+
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+ if (m_dynamicsWorld->getDebugDrawer())
+ m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+ ///create a few basic rigid bodies
+ btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+ m_collisionShapes.push_back(groundShape);
+
+ btTransform groundTransform;
+ groundTransform.setIdentity();
+ groundTransform.setOrigin(btVector3(0,-50,0));
+ {
+ btScalar mass(0.);
+ createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+ }
+
+ //create two fixed boxes to hold the planks
+
+
+
+ {
+ //create a few dynamic rigidbodies
+ // Re-using the same collision is better for memory usage and performance
+ btScalar plankWidth = 0.4;
+ btScalar plankHeight = 0.2;
+ btScalar plankBreadth = 1;
+ btScalar plankOffset = plankWidth; //distance between two planks
+ btScalar bridgeWidth = plankWidth*TOTAL_PLANKS + plankOffset*(TOTAL_PLANKS-1);
+ btScalar bridgeHeight = 5;
+ btScalar halfBridgeWidth = bridgeWidth*0.5f;
+
+ btBoxShape* colShape = createBoxShape(btVector3(plankWidth,plankHeight,plankBreadth));
+
+ m_collisionShapes.push_back(colShape);
+
+ /// Create Dynamic Objects
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ btScalar mass(1.f);
+
+ //rigidbody is dynamic if and only if mass is non zero, otherwise static
+ bool isDynamic = (mass != 0.f);
+
+ btVector3 localInertia(0,0,0);
+ if (isDynamic)
+ colShape->calculateLocalInertia(mass,localInertia);
+
+ //create a set of boxes to represent bridge
+ btAlignedObjectArray boxes;
+ int lastBoxIndex = TOTAL_PLANKS-1;
+ for(int i=0;iaddConstraint(leftSpring);
+
+ btPoint2PointConstraint* rightSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(-0.5,0,0.5), btVector3(0.5,0,0.5));
+ m_dynamicsWorld->addConstraint(rightSpring);
+ }
+ }
+
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void BridgeExample::renderScene()
+{
+ CommonRigidBodyBase::renderScene();
+}
+
+
+
+
+
+
+
+CommonExampleInterface* ET_BridgeCreateFunc(CommonExampleOptions& options)
+{
+ return new BridgeExample(options.m_guiHelper);
+}
+
+
+
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/Bridge.h bullet-2.86.1+dfsg/examples/ExtendedTutorials/Bridge.h
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/Bridge.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/Bridge.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_BRIDGE_EXAMPLE_H
+#define ET_BRIDGE_EXAMPLE_H
+
+class CommonExampleInterface* ET_BridgeCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_BRIDGE_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/Chain.cpp bullet-2.86.1+dfsg/examples/ExtendedTutorials/Chain.cpp
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/Chain.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/Chain.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,137 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "Chain.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+const int TOTAL_BOXES = 10;
+struct ChainExample : public CommonRigidBodyBase
+{
+ ChainExample(struct GUIHelperInterface* helper)
+ :CommonRigidBodyBase(helper)
+ {
+ }
+ virtual ~ChainExample(){}
+ virtual void initPhysics();
+ virtual void renderScene();
+ void resetCamera()
+ {
+ float dist = 41;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3]={0,0.46,0};
+ m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+ }
+};
+
+void ChainExample::initPhysics()
+{
+ m_guiHelper->setUpAxis(1);
+
+ createEmptyDynamicsWorld();
+
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+ if (m_dynamicsWorld->getDebugDrawer())
+ m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+ ///create a few basic rigid bodies
+ btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+ m_collisionShapes.push_back(groundShape);
+
+ btTransform groundTransform;
+ groundTransform.setIdentity();
+ groundTransform.setOrigin(btVector3(0,-50,0));
+ {
+ btScalar mass(0.);
+ createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+ }
+
+
+ {
+ //create a few dynamic rigidbodies
+ // Re-using the same collision is better for memory usage and performance
+ btBoxShape* colShape = createBoxShape(btVector3(1,1,0.25));
+
+ m_collisionShapes.push_back(colShape);
+
+ /// Create Dynamic Objects
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ btScalar mass(1.f);
+
+ //rigidbody is dynamic if and only if mass is non zero, otherwise static
+ bool isDynamic = (mass != 0.f);
+
+ btVector3 localInertia(0,0,0);
+ if (isDynamic)
+ colShape->calculateLocalInertia(mass,localInertia);
+
+ btAlignedObjectArray boxes;
+ int lastBoxIndex = TOTAL_BOXES-1;
+ for(int i=0;iaddConstraint(leftSpring);
+
+ btPoint2PointConstraint* rightSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(0.5,1,0), btVector3(0.5,-1,0));
+
+ m_dynamicsWorld->addConstraint(rightSpring);
+ }
+ }
+
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void ChainExample::renderScene()
+{
+ CommonRigidBodyBase::renderScene();
+}
+
+
+
+
+
+
+
+CommonExampleInterface* ET_ChainCreateFunc(CommonExampleOptions& options)
+{
+ return new ChainExample(options.m_guiHelper);
+}
+
+
+
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/Chain.h bullet-2.86.1+dfsg/examples/ExtendedTutorials/Chain.h
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/Chain.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/Chain.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_CHAIN_EXAMPLE_H
+#define ET_CHAIN_EXAMPLE_H
+
+class CommonExampleInterface* ET_ChainCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_CHAIN_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/InclinedPlane.cpp bullet-2.86.1+dfsg/examples/ExtendedTutorials/InclinedPlane.cpp
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/InclinedPlane.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/InclinedPlane.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,372 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "InclinedPlane.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+static btScalar gTilt = 20.0f/180.0f*SIMD_PI; // tilt the ramp 20 degrees
+
+static btScalar gRampFriction = 1; // set ramp friction to 1
+
+static btScalar gRampRestitution = 0; // set ramp restitution to 0 (no restitution)
+
+static btScalar gBoxFriction = 1; // set box friction to 1
+
+static btScalar gBoxRestitution = 0; // set box restitution to 0
+
+static btScalar gSphereFriction = 1; // set sphere friction to 1
+
+static btScalar gSphereRollingFriction = 1; // set sphere rolling friction to 1
+
+static btScalar gSphereRestitution = 0; // set sphere restitution to 0
+
+// handles for changes
+static btRigidBody* ramp = NULL;
+static btRigidBody* gBox = NULL;
+static btRigidBody* gSphere = NULL;
+
+struct InclinedPlaneExample : public CommonRigidBodyBase
+{
+ InclinedPlaneExample(struct GUIHelperInterface* helper)
+ :CommonRigidBodyBase(helper)
+ {
+ }
+ virtual ~InclinedPlaneExample(){}
+ virtual void initPhysics();
+ virtual void resetScene();
+ virtual void renderScene();
+ virtual void stepSimulation(float deltaTime);
+ virtual bool keyboardCallback(int key, int state);
+ void resetCamera()
+ {
+ float dist = 41;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3]={0,0.46,0};
+ m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+ }
+
+
+
+};
+
+void onBoxFrictionChanged(float friction, void* userPtr);
+
+void onBoxRestitutionChanged(float restitution, void* userPtr);
+
+void onSphereFrictionChanged(float friction, void* userPtr);
+
+void onSphereRestitutionChanged(float restitution, void* userPtr);
+
+void onRampInclinationChanged(float inclination, void* userPtr);
+
+void onRampFrictionChanged(float friction, void* userPtr);
+
+void onRampRestitutionChanged(float restitution, void* userPtr);
+
+void InclinedPlaneExample::initPhysics()
+{
+
+ { // create slider to change the ramp tilt
+ SliderParams slider("Ramp Tilt",&gTilt);
+ slider.m_minVal=0;
+ slider.m_maxVal=SIMD_PI/2.0f;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onRampInclinationChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+ }
+
+ { // create slider to change the ramp friction
+ SliderParams slider("Ramp Friction",&gRampFriction);
+ slider.m_minVal=0;
+ slider.m_maxVal=10;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onRampFrictionChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+ }
+
+ { // create slider to change the ramp restitution
+ SliderParams slider("Ramp Restitution",&gRampRestitution);
+ slider.m_minVal=0;
+ slider.m_maxVal=1;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onRampRestitutionChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+ }
+
+ { // create slider to change the box friction
+ SliderParams slider("Box Friction",&gBoxFriction);
+ slider.m_minVal=0;
+ slider.m_maxVal=10;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onBoxFrictionChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+ }
+
+ { // create slider to change the box restitution
+ SliderParams slider("Box Restitution",&gBoxRestitution);
+ slider.m_minVal=0;
+ slider.m_maxVal=1;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onBoxRestitutionChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+ }
+
+ { // create slider to change the sphere friction
+ SliderParams slider("Sphere Friction",&gSphereFriction);
+ slider.m_minVal=0;
+ slider.m_maxVal=10;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onSphereFrictionChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+ }
+
+ { // create slider to change the sphere rolling friction
+ SliderParams slider("Sphere Rolling Friction",&gSphereRollingFriction);
+ slider.m_minVal=0;
+ slider.m_maxVal=10;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onSphereRestitutionChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+ }
+
+ { // create slider to change the sphere restitution
+ SliderParams slider("Sphere Restitution",&gSphereRestitution);
+ slider.m_minVal=0;
+ slider.m_maxVal=1;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+ }
+
+ m_guiHelper->setUpAxis(1); // set Y axis as up axis
+
+ createEmptyDynamicsWorld();
+
+ // create debug drawer
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+ if (m_dynamicsWorld->getDebugDrawer())
+ m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+
+ { // create a static ground
+ btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+ m_collisionShapes.push_back(groundShape);
+
+ btTransform groundTransform;
+ groundTransform.setIdentity();
+ groundTransform.setOrigin(btVector3(0,-50,0));
+
+ btScalar mass(0.);
+ createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+ }
+
+ { //create a static inclined plane
+ btBoxShape* inclinedPlaneShape = createBoxShape(btVector3(btScalar(20.),btScalar(1.),btScalar(10.)));
+ m_collisionShapes.push_back(inclinedPlaneShape);
+
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ // position the inclined plane above ground
+ startTransform.setOrigin(btVector3(
+ btScalar(0),
+ btScalar(15),
+ btScalar(0)));
+
+ btQuaternion incline;
+ incline.setRotation(btVector3(0,0,1),gTilt);
+ startTransform.setRotation(incline);
+
+ btScalar mass(0.);
+ ramp = createRigidBody(mass,startTransform,inclinedPlaneShape);
+ ramp->setFriction(gRampFriction);
+ ramp->setRestitution(gRampRestitution);
+ }
+
+
+ { //create a cube above the inclined plane
+ btBoxShape* boxShape = createBoxShape(btVector3(1,1,1));
+
+ m_collisionShapes.push_back(boxShape);
+
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ btScalar boxMass(1.f);
+
+ startTransform.setOrigin(
+ btVector3(btScalar(0), btScalar(20), btScalar(2)));
+
+ gBox = createRigidBody(boxMass, startTransform, boxShape);
+ gBox->forceActivationState(DISABLE_DEACTIVATION); // to prevent the box on the ramp from disabling
+ gBox->setFriction(gBoxFriction);
+ gBox->setRestitution(gBoxRestitution);
+ }
+
+ { //create a sphere above the inclined plane
+ btSphereShape* sphereShape = new btSphereShape(btScalar(1));
+
+ m_collisionShapes.push_back(sphereShape);
+
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ btScalar sphereMass(1.f);
+
+ startTransform.setOrigin(
+ btVector3(btScalar(0), btScalar(20), btScalar(4)));
+
+ gSphere = createRigidBody(sphereMass, startTransform, sphereShape);
+ gSphere->forceActivationState(DISABLE_DEACTIVATION); // to prevent the sphere on the ramp from disabling
+ gSphere->setFriction(gSphereFriction);
+ gSphere->setRestitution(gSphereRestitution);
+ gSphere->setRollingFriction(gSphereRollingFriction);
+ }
+
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void InclinedPlaneExample::resetScene() {
+ { //reset a cube above the inclined plane
+
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ startTransform.setOrigin(
+ btVector3(btScalar(0), btScalar(20), btScalar(2)));
+
+ gBox->setWorldTransform(startTransform);
+ btVector3 zero(0, 0, 0);
+ gBox->setAngularVelocity(zero);
+ gBox->setLinearVelocity(zero);
+ gBox->clearForces();
+ }
+
+ { //reset a sphere above the inclined plane
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ startTransform.setOrigin(
+ btVector3(btScalar(0), btScalar(20), btScalar(4)));
+
+ gSphere->setWorldTransform(startTransform);
+ btVector3 zero(0, 0, 0);
+ gSphere->setAngularVelocity(zero);
+ gSphere->setLinearVelocity(zero);
+ gSphere->clearForces();
+ }
+}
+
+void InclinedPlaneExample::stepSimulation(float deltaTime)
+{
+ if (m_dynamicsWorld)
+ {
+ m_dynamicsWorld->stepSimulation(deltaTime);
+ }
+
+}
+
+
+void InclinedPlaneExample::renderScene()
+{
+ CommonRigidBodyBase::renderScene();
+}
+
+bool InclinedPlaneExample::keyboardCallback(int key, int state) {
+// b3Printf("Key pressed: %d in state %d \n",key,state);
+
+ switch (key) {
+ case 32 /*ASCII for space*/: {
+ resetScene();
+ break;
+ }
+ }
+
+ return false;
+}
+
+
+// GUI parameter modifiers
+void onBoxFrictionChanged(float friction, void*){
+ if(gBox){
+ gBox->setFriction(friction);
+// b3Printf("Friction of box changed to %f",friction );
+ }
+}
+
+void onBoxRestitutionChanged(float restitution, void*){
+ if(gBox){
+ gBox->setRestitution(restitution);
+ //b3Printf("Restitution of box changed to %f",restitution);
+ }
+}
+
+void onSphereFrictionChanged(float friction, void*){
+ if(gSphere){
+ gSphere->setFriction(friction);
+ //b3Printf("Friction of sphere changed to %f",friction );
+ }
+}
+
+void onSphereRestitutionChanged(float restitution, void*){
+ if(gSphere){
+ gSphere->setRestitution(restitution);
+ //b3Printf("Restitution of sphere changed to %f",restitution);
+ }
+}
+
+void onRampInclinationChanged(float inclination, void*){
+ if(ramp){
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ // position the inclined plane above ground
+ startTransform.setOrigin(
+ btVector3(btScalar(0), btScalar(15), btScalar(0)));
+
+ btQuaternion incline;
+ incline.setRotation(btVector3(0,0,1),gTilt);
+ startTransform.setRotation(incline);
+ ramp->setWorldTransform(startTransform);
+ //b3Printf("Inclination of ramp changed to %f",inclination );
+ }
+}
+
+void onRampFrictionChanged(float friction, void*){
+ if(ramp){
+ ramp->setFriction(friction);
+ //b3Printf("Friction of ramp changed to %f \n",friction );
+ }
+}
+
+void onRampRestitutionChanged(float restitution, void*){
+ if(ramp){
+ ramp->setRestitution(restitution);
+ //b3Printf("Restitution of ramp changed to %f \n",restitution);
+ }
+}
+
+
+CommonExampleInterface* ET_InclinedPlaneCreateFunc(CommonExampleOptions& options)
+{
+ return new InclinedPlaneExample(options.m_guiHelper);
+}
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/InclinedPlane.h bullet-2.86.1+dfsg/examples/ExtendedTutorials/InclinedPlane.h
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/InclinedPlane.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/InclinedPlane.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_INCLINED_PLANE_EXAMPLE_H
+#define ET_INCLINED_PLANE_EXAMPLE_H
+
+class CommonExampleInterface* ET_InclinedPlaneCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_INCLINED_PLANE_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/MultiPendulum.cpp bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultiPendulum.cpp
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/MultiPendulum.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultiPendulum.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,426 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "MultiPendulum.h"
+
+#include // TODO: Should I use another data structure?
+#include
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+static btScalar gPendulaQty = 2; //TODO: This would actually be an Integer, but the Slider does not like integers, so I floor it when changed
+
+static btScalar gDisplacedPendula = 1; //TODO: This is an int as well
+
+static btScalar gPendulaRestitution = 1; // Default pendulum restitution is 1 to restore all force
+
+static btScalar gSphereRadius = 1; // The sphere radius
+
+static btScalar gCurrentPendulumLength = 8;
+
+static btScalar gInitialPendulumLength = 8; // Default pendulum length (distance between two spheres)
+
+static btScalar gDisplacementForce = 30; // The default force with which we move the pendulum
+
+static btScalar gForceScalar = 0; // default force scalar to apply a displacement
+
+struct MultiPendulumExample: public CommonRigidBodyBase {
+ MultiPendulumExample(struct GUIHelperInterface* helper) :
+ CommonRigidBodyBase(helper) {
+ }
+
+ virtual ~MultiPendulumExample() {
+ }
+
+ virtual void initPhysics(); // build a multi pendulum
+ virtual void renderScene(); // render the scene to screen
+ virtual void createMultiPendulum(btSphereShape* colShape, btScalar pendulaQty, const btVector3& position, btScalar length, btScalar mass); // create a multi pendulum at the indicated x and y position, the specified number of pendula formed into a chain, each with indicated length and mass
+ virtual void changePendulaLength(btScalar length); // change the pendulum length
+ virtual void changePendulaRestitution(btScalar restitution); // change the pendula restitution
+ virtual void stepSimulation(float deltaTime); // step the simulation
+ virtual bool keyboardCallback(int key, int state); // handle keyboard callbacks
+ virtual void applyPendulumForce(btScalar pendulumForce);
+ void resetCamera() {
+ float dist = 41;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3] = { 0, 0.46, 0 };
+ m_guiHelper->resetCamera(dist, pitch, yaw, targetPos[0], targetPos[1],
+ targetPos[2]);
+ }
+
+ std::vector constraints; // keep a handle to the slider constraints
+ std::vector pendula; // keep a handle to the pendula
+};
+
+static MultiPendulumExample* mex = NULL; // Handle to the example to access it via functions. Do not use this in your simulation!
+
+void onMultiPendulaLengthChanged(float pendulaLength, void*); // Change the pendula length
+
+void onMultiPendulaRestitutionChanged(float pendulaRestitution, void*); // change the pendula restitution
+
+void applyMForceWithForceScalar(float forceScalar);
+
+void MultiPendulumExample::initPhysics() { // Setup your physics scene
+
+ { // create a slider to change the number of pendula
+ SliderParams slider("Number of Pendula", &gPendulaQty);
+ slider.m_minVal = 1;
+ slider.m_maxVal = 50;
+ slider.m_clampToIntegers = true;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the number of displaced pendula
+ SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 49;
+ slider.m_clampToIntegers = true;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the pendula restitution
+ SliderParams slider("Pendula Restitution", &gPendulaRestitution);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 1;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onMultiPendulaRestitutionChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the pendulum length
+ SliderParams slider("Pendula Length", &gCurrentPendulumLength);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 49;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onMultiPendulaLengthChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the force to displace the lowest pendulum
+ SliderParams slider("Displacement force", &gDisplacementForce);
+ slider.m_minVal = 0.1;
+ slider.m_maxVal = 200;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to apply the force by slider
+ SliderParams slider("Apply displacement force", &gForceScalar);
+ slider.m_minVal = -1;
+ slider.m_maxVal = 1;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ m_guiHelper->setUpAxis(1);
+
+ createEmptyDynamicsWorld();
+
+ // create a debug drawer
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+ if (m_dynamicsWorld->getDebugDrawer())
+ m_dynamicsWorld->getDebugDrawer()->setDebugMode(
+ btIDebugDraw::DBG_DrawWireframe
+ + btIDebugDraw::DBG_DrawContactPoints
+ + btIDebugDraw::DBG_DrawConstraints
+ + btIDebugDraw::DBG_DrawConstraintLimits);
+
+ { // create the multipendulum starting at the indicated position below and where each pendulum has the following mass
+ btScalar pendulumMass(1.f);
+
+ btVector3 position(0.0f,15.0f,0.0f); // initial top-most pendulum position
+
+ // Re-using the same collision is better for memory usage and performance
+ btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
+ m_collisionShapes.push_back(pendulumShape);
+
+ // create multi-pendulum
+ createMultiPendulum(pendulumShape, floor(gPendulaQty), position,
+ gInitialPendulumLength, pendulumMass);
+ }
+
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void MultiPendulumExample::stepSimulation(float deltaTime) {
+
+ applyMForceWithForceScalar(gForceScalar); // apply force defined by apply force slider
+
+ if (m_dynamicsWorld) {
+ m_dynamicsWorld->stepSimulation(deltaTime);
+ }
+}
+
+void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
+ btScalar pendulaQty, const btVector3& position,
+ btScalar length, btScalar mass) {
+
+ // The multi-pendulum looks like this (names when built):
+ //..........0......./.......1...../.......2......./..etc...:pendulum build iterations
+ // O parentSphere
+ // |
+ // O childSphere / parentSphere
+ // |
+ // O ............./ childSphere / parentSphere
+ // |
+ // O .........................../ childSphere
+ // etc.
+
+ //create the top element of the pendulum
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ // position the top sphere
+ startTransform.setOrigin(position);
+
+ startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
+
+ btRigidBody* topSphere = createRigidBody(mass, startTransform, colShape);
+
+ // disable the deactivation when object does not move anymore
+ topSphere->setActivationState(DISABLE_DEACTIVATION);
+
+ //make top sphere position "fixed" in the world by attaching it to a the world with a point to point constraint
+ // The pivot is defined in the reference frame of topSphere, so the attachment should be exactly at the center of topSphere
+ btVector3 constraintPivot(0.0f, 0.0f, 0.0f);
+ btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint(
+ *topSphere, constraintPivot);
+
+ p2pconst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
+
+ // add the constraint to the world
+ m_dynamicsWorld->addConstraint(p2pconst, true);
+
+ btRigidBody* parentSphere = topSphere; // set the top sphere as the parent sphere for the next sphere to be created
+
+ for (int i = 0; i < pendulaQty; i++) { // produce the number of pendula
+
+ // create joint element to make the pendulum rotate it
+
+ // position the joint sphere at the same position as the top sphere
+ startTransform.setOrigin(position - btVector3(0,length*(i),0));
+
+ startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
+
+ btRigidBody* jointSphere = createRigidBody(mass, startTransform,
+ colShape);
+ jointSphere->setFriction(0); // we do not need friction here
+
+ // disable the deactivation when object does not move anymore
+ jointSphere->setActivationState(DISABLE_DEACTIVATION);
+
+ //create constraint between parentSphere and jointSphere
+ // this is represented by the constraint pivot in the local frames of reference of both constrained spheres
+ btTransform constraintPivotInParentSphereRF, constraintPivotInJointSphereRF;
+
+ constraintPivotInParentSphereRF.setIdentity();
+ constraintPivotInJointSphereRF.setIdentity();
+
+ // the orientation of a point-to-point constraint does not matter, as is has no rotational limits
+
+ //Obtain the position of parentSphere in local reference frame of the jointSphere (the pivot is therefore in the center of parentSphere)
+ btVector3 parentSphereInJointSphereRF =
+ (jointSphere->getWorldTransform().inverse()(
+ parentSphere->getWorldTransform().getOrigin()));
+ constraintPivotInJointSphereRF.setOrigin(parentSphereInJointSphereRF);
+
+ btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint(
+ *parentSphere,*jointSphere,constraintPivotInParentSphereRF.getOrigin(), constraintPivotInJointSphereRF.getOrigin());
+
+ p2pconst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
+
+ // add the constraint to the world
+ m_dynamicsWorld->addConstraint(p2pconst, true);
+
+ // create a slider constraint to change the length of the pendula while it swings
+
+ startTransform.setIdentity(); // reset start transform
+
+ // position the child sphere below the joint sphere
+ startTransform.setOrigin(position - btVector3(0,length*(i+1),0));
+
+ startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
+
+ btRigidBody* childSphere = createRigidBody(mass, startTransform,
+ colShape);
+ childSphere->setFriction(0); // we do not need friction here
+ pendula.push_back(childSphere);
+
+ // disable the deactivation when object does not move anymore
+ childSphere->setActivationState(DISABLE_DEACTIVATION);
+
+ //create slider constraint between jointSphere and childSphere
+ // this is represented by the constraint pivot in the local frames of reference of both constrained spheres
+ // furthermore we need to rotate the constraint appropriately to orient it correctly in space
+ btTransform constraintPivotInChildSphereRF;
+
+ constraintPivotInJointSphereRF.setIdentity();
+ constraintPivotInChildSphereRF.setIdentity();
+
+ // the orientation of a point-to-point constraint does not matter, as is has no rotational limits
+
+ //Obtain the position of jointSphere in local reference frame of the childSphere (the pivot is therefore in the center of jointSphere)
+ btVector3 jointSphereInChildSphereRF =
+ (childSphere->getWorldTransform().inverse()(
+ jointSphere->getWorldTransform().getOrigin()));
+ constraintPivotInChildSphereRF.setOrigin(jointSphereInChildSphereRF);
+
+ // the slider constraint is x aligned per default, but we want it to be y aligned, therefore we rotate it
+ btQuaternion qt;
+ qt.setEuler(0, 0, -SIMD_HALF_PI);
+ constraintPivotInJointSphereRF.setRotation(qt); //we use Y like up Axis
+ constraintPivotInChildSphereRF.setRotation(qt); //we use Y like up Axis
+
+ btSliderConstraint* sliderConst = new btSliderConstraint(*jointSphere,
+ *childSphere, constraintPivotInJointSphereRF, constraintPivotInChildSphereRF, true);
+
+ sliderConst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
+
+ // set limits
+ // the initial setup of the constraint defines the origins of the limit dimensions,
+ // therefore we set both limits directly to the current position of the parentSphere
+ sliderConst->setLowerLinLimit(btScalar(0));
+ sliderConst->setUpperLinLimit(btScalar(0));
+ sliderConst->setLowerAngLimit(btScalar(0));
+ sliderConst->setUpperAngLimit(btScalar(0));
+ constraints.push_back(sliderConst);
+
+ // add the constraint to the world
+ m_dynamicsWorld->addConstraint(sliderConst, true);
+ parentSphere = childSphere;
+ }
+}
+
+void MultiPendulumExample::changePendulaLength(btScalar length) {
+ btScalar lowerLimit = -gInitialPendulumLength;
+ for (std::vector::iterator sit = constraints.begin();
+ sit != constraints.end(); sit++) {
+ btAssert((*sit) && "Null constraint");
+
+ // if the pendulum is being shortened beyond it's own length, we don't let the lower sphere to go past the upper one
+ if (lowerLimit <= length) {
+ (*sit)->setLowerLinLimit(length + lowerLimit);
+ (*sit)->setUpperLinLimit(length + lowerLimit);
+ }
+ }
+}
+
+void MultiPendulumExample::changePendulaRestitution(btScalar restitution) {
+ for (std::vector::iterator rit = pendula.begin();
+ rit != pendula.end(); rit++) {
+ btAssert((*rit) && "Null constraint");
+
+ (*rit)->setRestitution(restitution);
+ }
+}
+
+void MultiPendulumExample::renderScene() {
+ CommonRigidBodyBase::renderScene();
+}
+
+bool MultiPendulumExample::keyboardCallback(int key, int state) {
+
+ //b3Printf("Key pressed: %d in state %d \n",key,state);
+
+ //key 1, key 2, key 3
+ switch (key) {
+ case '1' /*ASCII for 1*/: {
+
+ //assumption: Sphere are aligned in Z axis
+ btScalar newLimit = btScalar(gCurrentPendulumLength + 0.1);
+
+ changePendulaLength(newLimit);
+ gCurrentPendulumLength = newLimit;
+
+ b3Printf("Increase pendulum length to %f", gCurrentPendulumLength);
+ return true;
+ }
+ case '2' /*ASCII for 2*/: {
+
+ //assumption: Sphere are aligned in Z axis
+ btScalar newLimit = btScalar(gCurrentPendulumLength - 0.1);
+
+ //is being shortened beyond it's own length, we don't let the lower sphere to go over the upper one
+ if (0 <= newLimit) {
+ changePendulaLength(newLimit);
+ gCurrentPendulumLength = newLimit;
+ }
+
+ b3Printf("Decrease pendulum length to %f", gCurrentPendulumLength);
+ return true;
+ }
+ case '3' /*ASCII for 3*/: {
+ applyPendulumForce(gDisplacementForce);
+ return true;
+ }
+ }
+
+ return false;
+}
+
+void MultiPendulumExample::applyPendulumForce(btScalar pendulumForce){
+ if(pendulumForce != 0){
+ b3Printf("Apply %f to pendulum",pendulumForce);
+ for (int i = 0; i < gDisplacedPendula; i++) {
+ if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty)
+ pendula[i]->applyCentralForce(btVector3(pendulumForce, 0, 0));
+ }
+ }
+}
+
+// GUI parameter modifiers
+
+void onMultiPendulaLengthChanged(float pendulaLength, void*) { // Change the pendula length
+ if (mex){
+ mex->changePendulaLength(pendulaLength);
+ }
+ //b3Printf("Pendula length changed to %f \n",sliderValue );
+
+}
+
+void onMultiPendulaRestitutionChanged(float pendulaRestitution, void*) { // change the pendula restitution
+ if (mex){
+ mex->changePendulaRestitution(pendulaRestitution);
+ }
+
+}
+
+void applyMForceWithForceScalar(float forceScalar) {
+ if(mex){
+ btScalar appliedForce = forceScalar * gDisplacementForce;
+
+ if(fabs(gForceScalar) < 0.2f)
+ gForceScalar = 0;
+
+ mex->applyPendulumForce(appliedForce);
+ }
+}
+
+CommonExampleInterface* ET_MultiPendulumCreateFunc(
+ CommonExampleOptions& options) {
+ mex = new MultiPendulumExample(options.m_guiHelper);
+ return mex;
+}
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/MultiPendulum.h bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultiPendulum.h
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/MultiPendulum.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultiPendulum.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_MULTI_PENDULUM_EXAMPLE_H
+#define ET_MULTI_PENDULUM_EXAMPLE_H
+
+class CommonExampleInterface* ET_MultiPendulumCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_MULTI_PENDULUM_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/MultipleBoxes.cpp bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultipleBoxes.cpp
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/MultipleBoxes.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultipleBoxes.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,120 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "MultipleBoxes.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+const int TOTAL_BOXES = 10;
+struct MultipleBoxesExample : public CommonRigidBodyBase
+{
+ MultipleBoxesExample(struct GUIHelperInterface* helper)
+ :CommonRigidBodyBase(helper)
+ {
+ }
+ virtual ~MultipleBoxesExample(){}
+ virtual void initPhysics();
+ virtual void renderScene();
+ void resetCamera()
+ {
+ float dist = 41;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3]={0,0.46,0};
+ m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+ }
+};
+
+void MultipleBoxesExample::initPhysics()
+{
+ m_guiHelper->setUpAxis(1);
+
+ createEmptyDynamicsWorld();
+
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+ if (m_dynamicsWorld->getDebugDrawer())
+ m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+ ///create a few basic rigid bodies
+ btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+ m_collisionShapes.push_back(groundShape);
+
+ btTransform groundTransform;
+ groundTransform.setIdentity();
+ groundTransform.setOrigin(btVector3(0,-50,0));
+ {
+ btScalar mass(0.);
+ createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+ }
+
+
+ {
+ //create a few dynamic rigidbodies
+ // Re-using the same collision is better for memory usage and performance
+ btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+
+ m_collisionShapes.push_back(colShape);
+
+ /// Create Dynamic Objects
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ btScalar mass(1.f);
+
+ //rigidbody is dynamic if and only if mass is non zero, otherwise static
+ bool isDynamic = (mass != 0.f);
+
+ btVector3 localInertia(0,0,0);
+ if (isDynamic)
+ colShape->calculateLocalInertia(mass,localInertia);
+
+
+ for(int i=0;iautogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void MultipleBoxesExample::renderScene()
+{
+ CommonRigidBodyBase::renderScene();
+}
+
+
+
+
+
+
+
+CommonExampleInterface* ET_MultipleBoxesCreateFunc(CommonExampleOptions& options)
+{
+ return new MultipleBoxesExample(options.m_guiHelper);
+}
+
+
+
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/MultipleBoxes.h bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultipleBoxes.h
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/MultipleBoxes.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultipleBoxes.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_MULTIPLE_BOXES_EXAMPLE_H
+#define ET_MULTIPLE_BOXES_EXAMPLE_H
+
+class CommonExampleInterface* ET_MultipleBoxesCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_MULTIPLE_BOXES_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/NewtonsCradle.cpp bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsCradle.cpp
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/NewtonsCradle.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsCradle.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,370 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "NewtonsCradle.h"
+
+#include // TODO: Should I use another data structure?
+#include
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+static btScalar gPendulaQty = 5; // Number of pendula in newton's cradle
+//TODO: This would actually be an Integer, but the Slider does not like integers, so I floor it when changed
+
+static btScalar gDisplacedPendula = 1; // number of displaced pendula
+//TODO: This is an int as well
+
+static btScalar gPendulaRestitution = 1; // pendula restitution when hitting against each other
+
+static btScalar gSphereRadius = 1; // pendula radius
+
+static btScalar gCurrentPendulumLength = 8; // current pendula length
+
+static btScalar gInitialPendulumLength = 8; // default pendula length
+
+static btScalar gDisplacementForce = 30; // default force to displace the pendula
+
+static btScalar gForceScalar = 0; // default force scalar to apply a displacement
+
+struct NewtonsCradleExample: public CommonRigidBodyBase {
+ NewtonsCradleExample(struct GUIHelperInterface* helper) :
+ CommonRigidBodyBase(helper) {
+ }
+ virtual ~NewtonsCradleExample() {
+ }
+ virtual void initPhysics();
+ virtual void renderScene();
+ virtual void createPendulum(btSphereShape* colShape, const btVector3& position, btScalar length, btScalar mass);
+ virtual void changePendulaLength(btScalar length);
+ virtual void changePendulaRestitution(btScalar restitution);
+ virtual void stepSimulation(float deltaTime);
+ virtual bool keyboardCallback(int key, int state);
+ virtual void applyPendulumForce(btScalar pendulumForce);
+ void resetCamera() {
+ float dist = 41;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3] = { 0, 0.46, 0 };
+ m_guiHelper->resetCamera(dist, pitch, yaw, targetPos[0], targetPos[1],
+ targetPos[2]);
+ }
+
+ std::vector constraints; // keep a handle to the slider constraints
+ std::vector pendula; // keep a handle to the pendula
+};
+
+static NewtonsCradleExample* nex = NULL;
+
+void onPendulaLengthChanged(float pendulaLength, void* userPtr); // Change the pendula length
+
+void onPendulaRestitutionChanged(float pendulaRestitution, void* userPtr); // change the pendula restitution
+
+void applyForceWithForceScalar(float forceScalar);
+
+void NewtonsCradleExample::initPhysics() {
+
+ { // create a slider to change the number of pendula
+ SliderParams slider("Number of Pendula", &gPendulaQty);
+ slider.m_minVal = 1;
+ slider.m_maxVal = 50;
+ slider.m_clampToIntegers = true;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the number of displaced pendula
+ SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 49;
+ slider.m_clampToIntegers = true;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the pendula restitution
+ SliderParams slider("Pendula Restitution", &gPendulaRestitution);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 1;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onPendulaRestitutionChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the pendulum length
+ SliderParams slider("Pendula Length", &gCurrentPendulumLength);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 49;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onPendulaLengthChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the force to displace the lowest pendulum
+ SliderParams slider("Displacement force", &gDisplacementForce);
+ slider.m_minVal = 0.1;
+ slider.m_maxVal = 200;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to apply the force by slider
+ SliderParams slider("Apply displacement force", &gForceScalar);
+ slider.m_minVal = -1;
+ slider.m_maxVal = 1;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ m_guiHelper->setUpAxis(1);
+
+ createEmptyDynamicsWorld();
+
+ // create a debug drawer
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+ if (m_dynamicsWorld->getDebugDrawer())
+ m_dynamicsWorld->getDebugDrawer()->setDebugMode(
+ btIDebugDraw::DBG_DrawWireframe
+ + btIDebugDraw::DBG_DrawContactPoints
+ + btIDebugDraw::DBG_DrawConstraints
+ + btIDebugDraw::DBG_DrawConstraintLimits);
+
+ { // create the pendula starting at the indicated position below and where each pendulum has the following mass
+ btScalar pendulumMass(1.f);
+
+ btVector3 position(0.0f,15.0f,0.0f); // initial left-most pendulum position
+ btQuaternion orientation(0,0,0,1); // orientation of the pendula
+
+ // Re-using the same collision is better for memory usage and performance
+ btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
+ m_collisionShapes.push_back(pendulumShape);
+
+ for (int i = 0; i < floor(gPendulaQty); i++) {
+
+ // create pendulum
+ createPendulum(pendulumShape, position, gInitialPendulumLength, pendulumMass);
+
+ // displace the pendula 1.05 sphere size, so that they all nearly touch (small spacings in between
+ position.setX(position.x()-2.1f * gSphereRadius);
+ }
+ }
+
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void NewtonsCradleExample::stepSimulation(float deltaTime) {
+
+ applyForceWithForceScalar(gForceScalar); // apply force defined by apply force slider
+
+ if (m_dynamicsWorld) {
+ m_dynamicsWorld->stepSimulation(deltaTime);
+ }
+}
+
+void NewtonsCradleExample::createPendulum(btSphereShape* colShape, const btVector3& position, btScalar length, btScalar mass) {
+
+ // The pendulum looks like this (names when built):
+ // O topSphere
+ // |
+ // O bottomSphere
+
+ //create a dynamic pendulum
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ // position the top sphere above ground with a moving x position
+ startTransform.setOrigin(position);
+ startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
+ btRigidBody* topSphere = createRigidBody(mass, startTransform, colShape);
+
+ // position the bottom sphere below the top sphere
+ startTransform.setOrigin(
+ btVector3(position.x(), btScalar(position.y() - length),
+ position.z()));
+
+ startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
+ btRigidBody* bottomSphere = createRigidBody(mass, startTransform, colShape);
+ bottomSphere->setFriction(0); // we do not need friction here
+ pendula.push_back(bottomSphere);
+
+ // disable the deactivation when objects do not move anymore
+ topSphere->setActivationState(DISABLE_DEACTIVATION);
+ bottomSphere->setActivationState(DISABLE_DEACTIVATION);
+
+ bottomSphere->setRestitution(gPendulaRestitution); // set pendula restitution
+
+ //make the top sphere position "fixed" to the world by attaching with a point to point constraint
+ // The pivot is defined in the reference frame of topSphere, so the attachment is exactly at the center of the topSphere
+ btVector3 constraintPivot(btVector3(0.0f, 0.0f, 0.0f));
+ btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint(*topSphere,
+ constraintPivot);
+
+ p2pconst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
+
+ // add the constraint to the world
+ m_dynamicsWorld->addConstraint(p2pconst, true);
+
+ //create constraint between spheres
+ // this is represented by the constraint pivot in the local frames of reference of both constrained spheres
+ // furthermore we need to rotate the constraint appropriately to orient it correctly in space
+ btTransform constraintPivotInTopSphereRF, constraintPivotInBottomSphereRF;
+
+ constraintPivotInTopSphereRF.setIdentity();
+ constraintPivotInBottomSphereRF.setIdentity();
+
+ // the slider constraint is x aligned per default, but we want it to be y aligned, therefore we rotate it
+ btQuaternion qt;
+ qt.setEuler(0, 0, -SIMD_HALF_PI);
+ constraintPivotInTopSphereRF.setRotation(qt); //we use Y like up Axis
+ constraintPivotInBottomSphereRF.setRotation(qt); //we use Y like up Axis
+
+ //Obtain the position of topSphere in local reference frame of bottomSphere (the pivot is therefore in the center of topSphere)
+ btVector3 topSphereInBottomSphereRF =
+ (bottomSphere->getWorldTransform().inverse()(
+ topSphere->getWorldTransform().getOrigin()));
+ constraintPivotInBottomSphereRF.setOrigin(topSphereInBottomSphereRF);
+
+ btSliderConstraint* sliderConst = new btSliderConstraint(*topSphere,
+ *bottomSphere, constraintPivotInTopSphereRF, constraintPivotInBottomSphereRF, true);
+
+ sliderConst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
+
+ // set limits
+ // the initial setup of the constraint defines the origins of the limit dimensions,
+ // therefore we set both limits directly to the current position of the topSphere
+ sliderConst->setLowerLinLimit(btScalar(0));
+ sliderConst->setUpperLinLimit(btScalar(0));
+ sliderConst->setLowerAngLimit(btScalar(0));
+ sliderConst->setUpperAngLimit(btScalar(0));
+ constraints.push_back(sliderConst);
+
+ // add the constraint to the world
+ m_dynamicsWorld->addConstraint(sliderConst, true);
+}
+
+void NewtonsCradleExample::changePendulaLength(btScalar length) {
+ btScalar lowerLimit = -gInitialPendulumLength;
+ for (std::vector::iterator sit = constraints.begin();
+ sit != constraints.end(); sit++) {
+ btAssert((*sit) && "Null constraint");
+
+ //if the pendulum is being shortened beyond it's own length, we don't let the lower sphere to go past the upper one
+ if (lowerLimit <= length) {
+ (*sit)->setLowerLinLimit(length + lowerLimit);
+ (*sit)->setUpperLinLimit(length + lowerLimit);
+ }
+ }
+}
+
+void NewtonsCradleExample::changePendulaRestitution(btScalar restitution) {
+ for (std::vector::iterator rit = pendula.begin();
+ rit != pendula.end(); rit++) {
+ btAssert((*rit) && "Null constraint");
+
+ (*rit)->setRestitution(restitution);
+ }
+}
+
+void NewtonsCradleExample::renderScene() {
+ CommonRigidBodyBase::renderScene();
+}
+
+bool NewtonsCradleExample::keyboardCallback(int key, int state) {
+ //b3Printf("Key pressed: %d in state %d \n",key,state);
+
+ //key 1, key 2, key 3
+ switch (key) {
+ case '1' /*ASCII for 1*/: {
+
+ //assumption: Sphere are aligned in Z axis
+ btScalar newLimit = btScalar(gCurrentPendulumLength + 0.1);
+
+ changePendulaLength(newLimit);
+ gCurrentPendulumLength = newLimit;
+
+ b3Printf("Increase pendulum length to %f", gCurrentPendulumLength);
+ return true;
+ }
+ case '2' /*ASCII for 2*/: {
+
+ //assumption: Sphere are aligned in Z axis
+ btScalar newLimit = btScalar(gCurrentPendulumLength - 0.1);
+
+ //is being shortened beyond it's own length, we don't let the lower sphere to go over the upper one
+ if (0 <= newLimit) {
+ changePendulaLength(newLimit);
+ gCurrentPendulumLength = newLimit;
+ }
+
+ b3Printf("Decrease pendulum length to %f", gCurrentPendulumLength);
+ return true;
+ }
+ case '3' /*ASCII for 3*/: {
+ applyPendulumForce(gDisplacementForce);
+ return true;
+ }
+ }
+
+ return false;
+}
+
+void NewtonsCradleExample::applyPendulumForce(btScalar pendulumForce){
+ if(pendulumForce != 0){
+ b3Printf("Apply %f to pendulum",pendulumForce);
+ for (int i = 0; i < gDisplacedPendula; i++) {
+ if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty)
+ pendula[i]->applyCentralForce(btVector3(pendulumForce, 0, 0));
+ }
+ }
+}
+
+// GUI parameter modifiers
+
+void onPendulaLengthChanged(float pendulaLength, void*) {
+ if (nex){
+ nex->changePendulaLength(pendulaLength);
+ //b3Printf("Pendula length changed to %f \n",sliderValue );
+ }
+}
+
+void onPendulaRestitutionChanged(float pendulaRestitution, void*) {
+ if (nex){
+ nex->changePendulaRestitution(pendulaRestitution);
+ }
+}
+
+void applyForceWithForceScalar(float forceScalar) {
+ if(nex){
+ btScalar appliedForce = forceScalar * gDisplacementForce;
+
+ if(fabs(gForceScalar) < 0.2f)
+ gForceScalar = 0;
+
+ nex->applyPendulumForce(appliedForce);
+ }
+}
+
+CommonExampleInterface* ET_NewtonsCradleCreateFunc(
+ CommonExampleOptions& options) {
+ nex = new NewtonsCradleExample(options.m_guiHelper);
+ return nex;
+}
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/NewtonsCradle.h bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsCradle.h
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/NewtonsCradle.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsCradle.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_NEWTONS_CRADLE_EXAMPLE_H
+#define ET_NEWTONS_CRADLE_EXAMPLE_H
+
+class CommonExampleInterface* ET_NewtonsCradleCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_NEWTONS_CRADLE_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.cpp bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.cpp
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,376 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "NewtonsRopeCradle.h"
+
+#include // TODO: Should I use another data structure?
+#include
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+static btScalar gPendulaQty = 5; // Number of pendula in newton's cradle
+//TODO: This would actually be an Integer, but the Slider does not like integers, so I floor it when changed
+
+static btScalar gDisplacedPendula = 1; // number of displaced pendula
+//TODO: This is an int as well
+
+static btScalar gPendulaRestitution = 1; // pendula restition when hitting against each other
+
+static btScalar gSphereRadius = 1; // pendula radius
+
+static btScalar gInitialPendulumWidth = 4; // default pendula width
+
+static btScalar gInitialPendulumHeight = 8; // default pendula height
+
+static btScalar gRopeResolution = 1; // default rope resolution (number of links as in a chain)
+
+static btScalar gDisplacementForce = 30; // default force to displace the pendula
+
+static btScalar gForceScalar = 0; // default force scalar to apply a displacement
+
+struct NewtonsRopeCradleExample : public CommonRigidBodyBase {
+ NewtonsRopeCradleExample(struct GUIHelperInterface* helper) :
+ CommonRigidBodyBase(helper) {
+ }
+ virtual ~NewtonsRopeCradleExample(){}
+ virtual void initPhysics();
+ virtual void stepSimulation(float deltaTime);
+ virtual void renderScene();
+ virtual void applyPendulumForce(btScalar pendulumForce);
+ void createEmptyDynamicsWorld()
+ {
+ m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+ m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+ m_broadphase = new btDbvtBroadphase();
+
+ m_solver = new btSequentialImpulseConstraintSolver;
+
+ m_dynamicsWorld = new btSoftRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
+ m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
+
+ softBodyWorldInfo.m_broadphase = m_broadphase;
+ softBodyWorldInfo.m_dispatcher = m_dispatcher;
+ softBodyWorldInfo.m_gravity = m_dynamicsWorld->getGravity();
+ softBodyWorldInfo.m_sparsesdf.Initialize();
+ }
+
+ virtual void createRopePendulum(btSphereShape* colShape,
+ const btVector3& position, const btQuaternion& pendulumOrientation, btScalar width, btScalar height, btScalar mass);
+ virtual void changePendulaRestitution(btScalar restitution);
+ virtual void connectWithRope(btRigidBody* body1, btRigidBody* body2);
+ virtual bool keyboardCallback(int key, int state);
+
+ virtual btSoftRigidDynamicsWorld* getSoftDynamicsWorld()
+ {
+ ///just make it a btSoftRigidDynamicsWorld please
+ ///or we will add type checking
+ return (btSoftRigidDynamicsWorld*) m_dynamicsWorld;
+ }
+ void resetCamera()
+ {
+ float dist = 41;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3]={0,0.46,0};
+ m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+ }
+
+ std::vector constraints;
+ std::vector pendula;
+
+ btSoftBodyWorldInfo softBodyWorldInfo;
+
+};
+
+static NewtonsRopeCradleExample* nex = NULL;
+
+void onRopePendulaRestitutionChanged(float pendulaRestitution, void*);
+
+void applyRForceWithForceScalar(float forceScalar);
+
+void NewtonsRopeCradleExample::initPhysics()
+{
+
+ { // create a slider to change the number of pendula
+ SliderParams slider("Number of Pendula", &gPendulaQty);
+ slider.m_minVal = 1;
+ slider.m_maxVal = 50;
+ slider.m_clampToIntegers = true;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the number of displaced pendula
+ SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 49;
+ slider.m_clampToIntegers = true;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the pendula restitution
+ SliderParams slider("Pendula Restitution", &gPendulaRestitution);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 1;
+ slider.m_clampToNotches = false;
+ slider.m_callback = onRopePendulaRestitutionChanged;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the rope resolution
+ SliderParams slider("Rope Resolution", &gRopeResolution);
+ slider.m_minVal = 1;
+ slider.m_maxVal = 20;
+ slider.m_clampToIntegers = true;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the pendulum width
+ SliderParams slider("Pendulum Width", &gInitialPendulumWidth);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 40;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the pendulum height
+ SliderParams slider("Pendulum Height", &gInitialPendulumHeight);
+ slider.m_minVal = 0;
+ slider.m_maxVal = 40;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to change the force to displace the lowest pendulum
+ SliderParams slider("Displacement force", &gDisplacementForce);
+ slider.m_minVal = 0.1;
+ slider.m_maxVal = 200;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ { // create a slider to apply the force by slider
+ SliderParams slider("Apply displacement force", &gForceScalar);
+ slider.m_minVal = -1;
+ slider.m_maxVal = 1;
+ slider.m_clampToNotches = false;
+ m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+ slider);
+ }
+
+ m_guiHelper->setUpAxis(1);
+
+ createEmptyDynamicsWorld();
+
+ // create a debug drawer
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+ if (m_dynamicsWorld->getDebugDrawer())
+ m_dynamicsWorld->getDebugDrawer()->setDebugMode(
+ btIDebugDraw::DBG_DrawWireframe
+ + btIDebugDraw::DBG_DrawContactPoints
+ + btIDebugDraw::DBG_DrawConstraints
+ + btIDebugDraw::DBG_DrawConstraintLimits);
+
+ { // create the pendula starting at the indicated position below and where each pendulum has the following mass
+ btScalar pendulumMass(1.0f);
+
+ btVector3 position(0.0f,15.0f,0.0f); // initial left-most pendulum position
+ btQuaternion orientation(0,0,0,1); // orientation of the pendula
+
+ // Re-using the same collision is better for memory usage and performance
+ btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
+ m_collisionShapes.push_back(pendulumShape);
+
+ for (int i = 0; i < floor(gPendulaQty); i++) {
+
+ // create pendulum
+ createRopePendulum(pendulumShape, position, orientation,gInitialPendulumWidth,
+ gInitialPendulumHeight, pendulumMass);
+
+ // displace the pendula 1.05 sphere size, so that they all nearly touch (small spacings in between)
+ position.setX(position.x()-2.1f * gSphereRadius);
+ }
+ }
+
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void NewtonsRopeCradleExample::connectWithRope(btRigidBody* body1, btRigidBody* body2)
+{
+ btSoftBody* softBodyRope0 = btSoftBodyHelpers::CreateRope(softBodyWorldInfo,body1->getWorldTransform().getOrigin(),body2->getWorldTransform().getOrigin(),gRopeResolution,0);
+ softBodyRope0->setTotalMass(0.1f);
+
+ softBodyRope0->appendAnchor(0,body1);
+ softBodyRope0->appendAnchor(softBodyRope0->m_nodes.size()-1,body2);
+
+ softBodyRope0->m_cfg.piterations = 5;
+ softBodyRope0->m_cfg.kDP = 0.005f;
+ softBodyRope0->m_cfg.kSHR = 1;
+ softBodyRope0->m_cfg.kCHR = 1;
+ softBodyRope0->m_cfg.kKHR = 1;
+
+ getSoftDynamicsWorld()->addSoftBody(softBodyRope0);
+}
+
+void NewtonsRopeCradleExample::stepSimulation(float deltaTime) {
+
+ applyRForceWithForceScalar(gForceScalar); // apply force defined by apply force slider
+
+ if (m_dynamicsWorld) {
+ m_dynamicsWorld->stepSimulation(deltaTime);
+ }
+}
+
+void NewtonsRopeCradleExample::createRopePendulum(btSphereShape* colShape,
+ const btVector3& position, const btQuaternion& pendulumOrientation, btScalar width, btScalar height, btScalar mass) {
+
+ // The pendulum looks like this (names when built):
+ // O O topSphere1 topSphere2
+ // \ /
+ // O bottomSphere
+
+ //create a dynamic pendulum
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ // calculate sphere positions
+ btVector3 topSphere1RelPosition(0,0,width);
+ btVector3 topSphere2RelPosition(0,0,-width);
+ btVector3 bottomSphereRelPosition(0,-height,0);
+
+
+ // position the top sphere above ground with appropriate orientation
+ startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially
+ startTransform.setRotation(pendulumOrientation); // pendulum rotation
+ startTransform.setOrigin(startTransform * topSphere1RelPosition); // rotate this position
+ startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
+ btRigidBody* topSphere1 = createRigidBody(0, startTransform, colShape); // make top sphere static
+
+ // position the top sphere above ground with appropriate orientation
+ startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially
+ startTransform.setRotation(pendulumOrientation); // pendulum rotation
+ startTransform.setOrigin(startTransform * topSphere2RelPosition); // rotate this position
+ startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
+ btRigidBody* topSphere2 = createRigidBody(0, startTransform, colShape); // make top sphere static
+
+ // position the bottom sphere below the top sphere
+ startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially
+ startTransform.setRotation(pendulumOrientation); // pendulum rotation
+ startTransform.setOrigin(startTransform * bottomSphereRelPosition); // rotate this position
+ startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
+ btRigidBody* bottomSphere = createRigidBody(mass, startTransform, colShape);
+ bottomSphere->setFriction(0); // we do not need friction here
+ pendula.push_back(bottomSphere);
+
+ // disable the deactivation when objects do not move anymore
+ topSphere1->setActivationState(DISABLE_DEACTIVATION);
+ topSphere2->setActivationState(DISABLE_DEACTIVATION);
+ bottomSphere->setActivationState(DISABLE_DEACTIVATION);
+
+ bottomSphere->setRestitution(gPendulaRestitution); // set pendula restitution
+
+ // add ropes between spheres
+ connectWithRope(topSphere1, bottomSphere);
+ connectWithRope(topSphere2, bottomSphere);
+}
+
+void NewtonsRopeCradleExample::renderScene()
+{
+ CommonRigidBodyBase::renderScene();
+ btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld();
+
+ for ( int i=0;igetSoftBodyArray().size();i++)
+ {
+ btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
+ //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+ {
+ btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
+ btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
+ }
+ }
+}
+
+void NewtonsRopeCradleExample::changePendulaRestitution(btScalar restitution) {
+ for (std::vector::iterator rit = pendula.begin();
+ rit != pendula.end(); rit++) {
+ btAssert((*rit) && "Null constraint");
+
+ (*rit)->setRestitution(restitution);
+ }
+}
+
+bool NewtonsRopeCradleExample::keyboardCallback(int key, int state) {
+ //b3Printf("Key pressed: %d in state %d \n",key,state);
+
+ // key 3
+ switch (key) {
+ case '3' /*ASCII for 3*/: {
+ applyPendulumForce(gDisplacementForce);
+ return true;
+ }
+ }
+
+ return false;
+}
+
+void NewtonsRopeCradleExample::applyPendulumForce(btScalar pendulumForce){
+ if(pendulumForce != 0){
+ b3Printf("Apply %f to pendulum",pendulumForce);
+ for (int i = 0; i < gDisplacedPendula; i++) {
+ if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty)
+ pendula[i]->applyCentralForce(btVector3(pendulumForce, 0, 0));
+ }
+ }
+}
+
+// GUI parameter modifiers
+
+void onRopePendulaRestitutionChanged(float pendulaRestitution, void*) {
+ if (nex){
+ nex->changePendulaRestitution(pendulaRestitution);
+ }
+}
+
+void applyRForceWithForceScalar(float forceScalar) {
+ if(nex){
+ btScalar appliedForce = forceScalar * gDisplacementForce;
+
+ if(fabs(gForceScalar) < 0.2f)
+ gForceScalar = 0;
+
+ nex->applyPendulumForce(appliedForce);
+ }
+}
+
+CommonExampleInterface* ET_NewtonsRopeCradleCreateFunc(
+ CommonExampleOptions& options) {
+ nex = new NewtonsRopeCradleExample(options.m_guiHelper);
+ return nex;
+}
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.h bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.h
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_NEWTONS_ROPE_CRADLE_EXAMPLE_H
+#define ET_NEWTONS_ROPE_CRADLE_EXAMPLE_H
+
+class CommonExampleInterface* ET_NewtonsRopeCradleCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_NEWTONS_ROPE_CRADLE_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/premake4.lua bullet-2.86.1+dfsg/examples/ExtendedTutorials/premake4.lua
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/premake4.lua 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/premake4.lua 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,228 @@
+
+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",
+ "../CommonInterfaces/*",
+ "**.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",
+ "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+ "../ThirdPartyLibs/stb_image/stb_image.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",
+ "../CommonInterfaces/*",
+ "../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",
+ "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+ "../ThirdPartyLibs/stb_image/stb_image.cpp",
+ "../Utils/b3Clock.cpp",
+ "../Utils/b3Clock.h",
+}
+
+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",
+ "../CommonInterfaces/*",
+ "../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",
+ "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+ "../ThirdPartyLibs/stb_image/stb_image.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",
+ "../CommonInterfaces/*",
+ "../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",
+ "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+ "../ThirdPartyLibs/stb_image/stb_image.cpp",
+}
+
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.cpp bullet-2.86.1+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.cpp
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,165 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "RigidBodyFromObj.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+#include "../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3FileUtils.h"
+#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+
+
+struct RigidBodyFromObjExample : public CommonRigidBodyBase
+{
+ int m_options;
+
+ RigidBodyFromObjExample(struct GUIHelperInterface* helper, int options)
+ :CommonRigidBodyBase(helper),
+ m_options(options)
+ {
+ }
+ virtual ~RigidBodyFromObjExample(){}
+ virtual void initPhysics();
+ virtual void renderScene();
+ void resetCamera()
+ {
+ float dist = 11;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3]={0,0.46,0};
+ m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+ }
+};
+
+void RigidBodyFromObjExample::initPhysics()
+{
+ m_guiHelper->setUpAxis(1);
+
+ createEmptyDynamicsWorld();
+
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+ //if (m_dynamicsWorld->getDebugDrawer())
+ // m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+ ///create a few basic rigid bodies
+ btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+ m_collisionShapes.push_back(groundShape);
+
+ btTransform groundTransform;
+ groundTransform.setIdentity();
+ groundTransform.setOrigin(btVector3(0,-50,0));
+ {
+ btScalar mass(0.);
+ createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+ }
+
+ //load our obj mesh
+ const char* fileName = "teddy.obj";//sphere8.obj";//sponza_closed.obj";//sphere8.obj";
+ char relativeFileName[1024];
+ if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
+ {
+ char pathPrefix[1024];
+ b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
+ }
+
+ GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, "");
+ printf("[INFO] Obj loaded: Extracted %d verticed from obj file [%s]\n", glmesh->m_numvertices, fileName);
+
+ const GLInstanceVertex& v = glmesh->m_vertices->at(0);
+ btConvexHullShape* shape = new btConvexHullShape((const btScalar*)(&(v.xyzw[0])), glmesh->m_numvertices, sizeof(GLInstanceVertex));
+
+ float scaling[4] = {0.1,0.1,0.1,1};
+
+ btVector3 localScaling(scaling[0],scaling[1],scaling[2]);
+ shape->setLocalScaling(localScaling);
+
+ if (m_options & OptimizeConvexObj)
+ {
+ shape->optimizeConvexHull();
+ }
+
+ if (m_options & ComputePolyhedralFeatures)
+ {
+ shape->initializePolyhedralFeatures();
+ }
+
+
+
+ //shape->setMargin(0.001);
+ m_collisionShapes.push_back(shape);
+
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ btScalar mass(1.f);
+ bool isDynamic = (mass != 0.f);
+ btVector3 localInertia(0,0,0);
+ if (isDynamic)
+ shape->calculateLocalInertia(mass,localInertia);
+
+ float color[4] = {1,1,1,1};
+ float orn[4] = {0,0,0,1};
+ float pos[4] = {0,3,0,0};
+ btVector3 position(pos[0],pos[1],pos[2]);
+ startTransform.setOrigin(position);
+ btRigidBody* body = createRigidBody(mass,startTransform,shape);
+
+
+
+ bool useConvexHullForRendering = ((m_options & ObjUseConvexHullForRendering)!=0);
+
+
+ if (!useConvexHullForRendering)
+ {
+ int shapeId = m_guiHelper->registerGraphicsShape(&glmesh->m_vertices->at(0).xyzw[0],
+ glmesh->m_numvertices,
+ &glmesh->m_indices->at(0),
+ glmesh->m_numIndices,
+ B3_GL_TRIANGLES, -1);
+ shape->setUserIndex(shapeId);
+ int renderInstance = m_guiHelper->registerGraphicsInstance(shapeId,pos,orn,color,scaling);
+ body->setUserIndex(renderInstance);
+ }
+
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void RigidBodyFromObjExample::renderScene()
+{
+ CommonRigidBodyBase::renderScene();
+}
+
+
+
+
+
+
+
+CommonExampleInterface* ET_RigidBodyFromObjCreateFunc(CommonExampleOptions& options)
+{
+ return new RigidBodyFromObjExample(options.m_guiHelper,options.m_option);
+}
+
+B3_STANDALONE_EXAMPLE(ET_RigidBodyFromObjCreateFunc)
+
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.h bullet-2.86.1+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.h
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,28 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_RIGIDBODYFROMOBJ_EXAMPLE_H
+#define ET_RIGIDBODYFROMOBJ_EXAMPLE_H
+
+enum ObjToRigidBodyOptionsEnum
+{
+ ObjUseConvexHullForRendering=1,
+ OptimizeConvexObj=2,
+ ComputePolyhedralFeatures=4,
+};
+class CommonExampleInterface* ET_RigidBodyFromObjCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_RIGIDBODYFROMOBJ_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleBox.cpp bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleBox.cpp
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleBox.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleBox.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,118 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "SimpleBox.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+
+struct SimpleBoxExample : public CommonRigidBodyBase
+{
+ SimpleBoxExample(struct GUIHelperInterface* helper)
+ :CommonRigidBodyBase(helper)
+ {
+ }
+ virtual ~SimpleBoxExample(){}
+ virtual void initPhysics();
+ virtual void renderScene();
+ void resetCamera()
+ {
+ float dist = 41;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3]={0,0.46,0};
+ m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+ }
+};
+
+void SimpleBoxExample::initPhysics()
+{
+ m_guiHelper->setUpAxis(1);
+
+ createEmptyDynamicsWorld();
+
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+ if (m_dynamicsWorld->getDebugDrawer())
+ m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+ ///create a few basic rigid bodies
+ btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+ m_collisionShapes.push_back(groundShape);
+
+ btTransform groundTransform;
+ groundTransform.setIdentity();
+ groundTransform.setOrigin(btVector3(0,-50,0));
+ {
+ btScalar mass(0.);
+ createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+ }
+
+
+ {
+ //create a few dynamic rigidbodies
+ // Re-using the same collision is better for memory usage and performance
+ btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+
+ m_collisionShapes.push_back(colShape);
+
+ /// Create Dynamic Objects
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ btScalar mass(1.f);
+
+ //rigidbody is dynamic if and only if mass is non zero, otherwise static
+ bool isDynamic = (mass != 0.f);
+
+ btVector3 localInertia(0,0,0);
+ if (isDynamic)
+ colShape->calculateLocalInertia(mass,localInertia);
+
+
+ startTransform.setOrigin(btVector3(
+ btScalar(0),
+ btScalar(20),
+ btScalar(0)));
+ createRigidBody(mass,startTransform,colShape);
+ }
+
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void SimpleBoxExample::renderScene()
+{
+ CommonRigidBodyBase::renderScene();
+}
+
+
+
+
+
+
+
+CommonExampleInterface* ET_SimpleBoxCreateFunc(CommonExampleOptions& options)
+{
+ return new SimpleBoxExample(options.m_guiHelper);
+}
+
+
+
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleBox.h bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleBox.h
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleBox.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleBox.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_SIMPLE_BOX_EXAMPLE_H
+#define ET_SIMPLE_BOX_EXAMPLE_H
+
+class CommonExampleInterface* ET_SimpleBoxCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_SIMPLE_BOX_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleCloth.cpp bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleCloth.cpp
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleCloth.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleCloth.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,162 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "SimpleCloth.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+
+struct SimpleClothExample : public CommonRigidBodyBase
+{
+ SimpleClothExample(struct GUIHelperInterface* helper)
+ :CommonRigidBodyBase(helper)
+ {
+ }
+ virtual ~SimpleClothExample(){}
+ virtual void initPhysics();
+ virtual void renderScene();
+ void createEmptyDynamicsWorld()
+ {
+ m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+ m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+ m_broadphase = new btDbvtBroadphase();
+
+ m_solver = new btSequentialImpulseConstraintSolver;
+
+ m_dynamicsWorld = new btSoftRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
+ m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
+
+ softBodyWorldInfo.m_broadphase = m_broadphase;
+ softBodyWorldInfo.m_dispatcher = m_dispatcher;
+ softBodyWorldInfo.m_gravity = m_dynamicsWorld->getGravity();
+ softBodyWorldInfo.m_sparsesdf.Initialize();
+ }
+ virtual btSoftRigidDynamicsWorld* getSoftDynamicsWorld()
+ {
+ ///just make it a btSoftRigidDynamicsWorld please
+ ///or we will add type checking
+ return (btSoftRigidDynamicsWorld*) m_dynamicsWorld;
+ }
+ void resetCamera()
+ {
+ float dist = 41;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3]={0,0.46,0};
+ m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+ }
+
+ void createSoftBody(const btScalar size, const int num_x, const int num_z, const int fixed=1+2);
+ btSoftBodyWorldInfo softBodyWorldInfo;
+};
+
+void SimpleClothExample::initPhysics()
+{
+ m_guiHelper->setUpAxis(1);
+
+ createEmptyDynamicsWorld();
+
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+ if (m_dynamicsWorld->getDebugDrawer())
+ m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+ ///create a few basic rigid bodies
+ btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+ m_collisionShapes.push_back(groundShape);
+
+ btTransform groundTransform;
+ groundTransform.setIdentity();
+ groundTransform.setOrigin(btVector3(0,-50,0));
+ {
+ btScalar mass(0.);
+ createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+ }
+
+
+ {
+ const btScalar s=4; //size of cloth patch
+ const int NUM_X=31; //vertices on X axis
+ const int NUM_Z=31; //vertices on Z axis
+ createSoftBody(s,NUM_X, NUM_Z);
+ }
+
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void SimpleClothExample::createSoftBody(const btScalar s,
+ const int numX,
+ const int numY,
+ const int fixed) {
+
+
+
+ btSoftBody* cloth=btSoftBodyHelpers::CreatePatch(softBodyWorldInfo,
+ btVector3(-s/2,s+1,0),
+ btVector3(+s/2,s+1,0),
+ btVector3(-s/2,s+1,+s),
+ btVector3(+s/2,s+1,+s),
+ numX,numY,
+ fixed,true);
+
+ cloth->getCollisionShape()->setMargin(0.001f);
+ cloth->generateBendingConstraints(2,cloth->appendMaterial());
+ cloth->setTotalMass(10);
+ //cloth->m_cfg.citerations = 10;
+// cloth->m_cfg.diterations = 10;
+ cloth->m_cfg.piterations = 5;
+ cloth->m_cfg.kDP = 0.005f;
+ getSoftDynamicsWorld()->addSoftBody(cloth);
+
+}
+
+void SimpleClothExample::renderScene()
+{
+ CommonRigidBodyBase::renderScene();
+ btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld();
+
+ for ( int i=0;igetSoftBodyArray().size();i++)
+ {
+ btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
+ //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+ {
+ btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
+ btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
+ }
+ }
+}
+
+
+
+
+
+
+
+CommonExampleInterface* ET_SimpleClothCreateFunc(CommonExampleOptions& options)
+{
+ return new SimpleClothExample(options.m_guiHelper);
+}
+
+
+
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleCloth.h bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleCloth.h
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleCloth.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleCloth.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_SIMPLE_CLOTH_EXAMPLE_H
+#define ET_SIMPLE_CLOTH_EXAMPLE_H
+
+class CommonExampleInterface* ET_SimpleClothCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_SIMPLE_CLOTH_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleJoint.cpp bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleJoint.cpp
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleJoint.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleJoint.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,133 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "SimpleJoint.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+
+struct SimpleJointExample : public CommonRigidBodyBase
+{
+ SimpleJointExample(struct GUIHelperInterface* helper)
+ :CommonRigidBodyBase(helper)
+ {
+ }
+ virtual ~SimpleJointExample(){}
+ virtual void initPhysics();
+ virtual void renderScene();
+ void resetCamera()
+ {
+ float dist = 41;
+ float pitch = 52;
+ float yaw = 35;
+ float targetPos[3]={0,0.46,0};
+ m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+ }
+};
+
+void SimpleJointExample::initPhysics()
+{
+ m_guiHelper->setUpAxis(1);
+
+ createEmptyDynamicsWorld();
+
+ m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+ if (m_dynamicsWorld->getDebugDrawer())
+ m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+ ///create a few basic rigid bodies
+ btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+ m_collisionShapes.push_back(groundShape);
+
+ btTransform groundTransform;
+ groundTransform.setIdentity();
+ groundTransform.setOrigin(btVector3(0,-50,0));
+ {
+ btScalar mass(0.);
+ createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+ }
+
+
+ {
+ //create a few dynamic rigidbodies
+ // Re-using the same collision is better for memory usage and performance
+ btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+
+ m_collisionShapes.push_back(colShape);
+
+ /// Create Dynamic Objects
+ btTransform startTransform;
+ startTransform.setIdentity();
+
+ btScalar mass(1.f);
+
+ //rigidbody is dynamic if and only if mass is non zero, otherwise static
+ bool isDynamic = (mass != 0.f);
+
+ btVector3 localInertia(0,0,0);
+ if (isDynamic)
+ colShape->calculateLocalInertia(mass,localInertia);
+
+
+ startTransform.setOrigin(btVector3(
+ btScalar(0),
+ btScalar(10),
+ btScalar(0)));
+ btRigidBody* dynamicBox = createRigidBody(mass,startTransform,colShape);
+
+ //create a static rigid body
+ mass = 0;
+ startTransform.setOrigin(btVector3(
+ btScalar(0),
+ btScalar(20),
+ btScalar(0)));
+
+ btRigidBody* staticBox = createRigidBody(mass,startTransform,colShape);
+
+ //create a simple p2pjoint constraint
+ btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*dynamicBox, *staticBox, btVector3(0,3,0), btVector3(0,0,0));
+ p2p->m_setting.m_damping = 0.0625;
+ p2p->m_setting.m_impulseClamp = 0.95;
+ m_dynamicsWorld->addConstraint(p2p);
+ }
+
+ m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void SimpleJointExample::renderScene()
+{
+ CommonRigidBodyBase::renderScene();
+}
+
+
+
+
+
+
+
+CommonExampleInterface* ET_SimpleJointCreateFunc(CommonExampleOptions& options)
+{
+ return new SimpleJointExample(options.m_guiHelper);
+}
+
+
+
diff -Nru bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleJoint.h bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleJoint.h
--- bullet-2.83.6+dfsg/examples/ExtendedTutorials/SimpleJoint.h 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleJoint.h 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_SIMPLE_JOINT_EXAMPLE_H
+#define ET_SIMPLE_JOINT_EXAMPLE_H
+
+class CommonExampleInterface* ET_SimpleJointCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_SIMPLE_JOINT_EXAMPLE_H
diff -Nru bullet-2.83.6+dfsg/examples/ForkLift/ForkLiftDemo.cpp bullet-2.86.1+dfsg/examples/ForkLift/ForkLiftDemo.cpp
--- bullet-2.83.6+dfsg/examples/ForkLift/ForkLiftDemo.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/ForkLift/ForkLiftDemo.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -46,6 +46,7 @@
class ForkLiftDemo : public CommonExampleInterface
{
public:
+ GUIHelperInterface* m_guiHelper;
/* extra stuff*/
btVector3 m_cameraPosition;
@@ -57,7 +58,6 @@
btRigidBody* m_carChassis;
btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape);
- GUIHelperInterface* m_guiHelper;
int m_wheelInstances[4];
//----------------------------
@@ -195,8 +195,6 @@
#include "ForkLiftDemo.h"
-const int maxProxies = 32766;
-const int maxOverlap = 65535;
///btRaycastVehicle is the interface for the constraint that implements the raycast vehicle
///notice that for higher-quality slow-moving vehicles, another approach might be better
@@ -365,6 +363,7 @@
{
m_dynamicsWorld ->getSolverInfo().m_minimumSolverBatchSize = 128;//for direct solver, it is better to solve multiple objects together, small batches have high overhead
}
+ m_dynamicsWorld->getSolverInfo().m_globalCfm = 0.00001;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
diff -Nru bullet-2.83.6+dfsg/examples/FractureDemo/btFractureDynamicsWorld.cpp bullet-2.86.1+dfsg/examples/FractureDemo/btFractureDynamicsWorld.cpp
--- bullet-2.83.6+dfsg/examples/FractureDemo/btFractureDynamicsWorld.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/FractureDemo/btFractureDynamicsWorld.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -529,7 +529,7 @@
{
int j=f0;
- btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
+ // btCollisionObject* colOb = (btCollisionObject*)manifold->getBody1();
// btRigidBody* otherOb = btRigidBody::upcast(colOb);
// if (!otherOb->getInvMass())
// continue;
@@ -562,8 +562,8 @@
{
int j=f1;
{
- btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
- btRigidBody* otherOb = btRigidBody::upcast(colOb);
+ //btCollisionObject* colOb = (btCollisionObject*)manifold->getBody0();
+ //btRigidBody* otherOb = btRigidBody::upcast(colOb);
// if (!otherOb->getInvMass())
// continue;
diff -Nru bullet-2.83.6+dfsg/examples/HelloWorld/CMakeLists.txt bullet-2.86.1+dfsg/examples/HelloWorld/CMakeLists.txt
--- bullet-2.83.6+dfsg/examples/HelloWorld/CMakeLists.txt 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/HelloWorld/CMakeLists.txt 2017-02-17 23:43:38.000000000 +0000
@@ -1,21 +1,21 @@
# HelloWorld is a minimal sample creating, stepping and deleting a Bullet dynamics world
INCLUDE_DIRECTORIES(
-${BULLET_PHYSICS_SOURCE_DIR}/src
+${BULLET_PHYSICS_SOURCE_DIR}/src
)
LINK_LIBRARIES(
- BulletDynamics BulletCollision LinearMath
+ BulletDynamics BulletCollision LinearMath
)
IF (WIN32)
ADD_EXECUTABLE(App_HelloWorld
- HelloWorld.cpp
+ HelloWorld.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(App_HelloWorld
- HelloWorld.cpp
+ HelloWorld.cpp
)
ENDIF()
@@ -26,4 +26,4 @@
SET_TARGET_PROPERTIES(App_HelloWorld PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(App_HelloWorld PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(App_HelloWorld PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
-ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
\ No newline at end of file
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
diff -Nru bullet-2.83.6+dfsg/examples/HelloWorld/HelloWorld.cpp bullet-2.86.1+dfsg/examples/HelloWorld/HelloWorld.cpp
--- bullet-2.83.6+dfsg/examples/HelloWorld/HelloWorld.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/HelloWorld/HelloWorld.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -44,20 +44,24 @@
///-----initialization_end-----
- ///create a few basic rigid bodies
- btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
-
//keep track of the shapes, we release memory at exit.
//make sure to re-use collision shapes among rigid bodies whenever possible!
btAlignedObjectArray collisionShapes;
- collisionShapes.push_back(groundShape);
- btTransform groundTransform;
- groundTransform.setIdentity();
- groundTransform.setOrigin(btVector3(0,-56,0));
+ ///create a few basic rigid bodies
+ //the ground is a cube of side 100 at position y = -56.
+ //the sphere will hit it at y = -6, with center at -5
{
+ btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+
+ collisionShapes.push_back(groundShape);
+
+ btTransform groundTransform;
+ groundTransform.setIdentity();
+ groundTransform.setOrigin(btVector3(0,-56,0));
+
btScalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
@@ -113,7 +117,7 @@
///-----stepsimulation_start-----
- for (i=0;i<100;i++)
+ for (i=0;i<150;i++)
{
dynamicsWorld->stepSimulation(1.f/60.f,10);
@@ -178,9 +182,5 @@
//next line is optional: it will be cleared by the destructor when the array goes out of scope
collisionShapes.clear();
-
- ///-----cleanup_end-----
- printf("Press a key to exit\n");
- getchar();
}
diff -Nru bullet-2.83.6+dfsg/examples/Importers/ImportBsp/ImportBspExample.cpp bullet-2.86.1+dfsg/examples/Importers/ImportBsp/ImportBspExample.cpp
--- bullet-2.83.6+dfsg/examples/Importers/ImportBsp/ImportBspExample.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Importers/ImportBsp/ImportBspExample.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -285,7 +285,7 @@
}
-struct CommonExampleInterface* ImportBspCreateFunc(struct CommonExampleOptions& options)
+CommonExampleInterface* ImportBspCreateFunc(struct CommonExampleOptions& options)
{
BspDemo* demo = new BspDemo(options.m_guiHelper);
diff -Nru bullet-2.83.6+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
--- bullet-2.83.6+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -20,7 +20,7 @@
#include //fopen
#include "Bullet3Common/b3AlignedObjectArray.h"
#include
-#include "tinyxml/tinyxml.h"
+#include "../../ThirdPartyLibs/tinyxml/tinyxml.h"
#include "Bullet3Common/b3FileUtils.h"
#include "LinearMath/btHashMap.h"
@@ -28,6 +28,7 @@
#include "btMatrix4x4.h"
+#define MAX_VISUAL_SHAPES 512
struct VertexSource
@@ -288,51 +289,54 @@
}//for each mesh
int shapeIndex = visualShapes.size();
- GLInstanceGraphicsShape& visualShape = visualShapes.expand();
- {
- visualShape.m_vertices = new b3AlignedObjectArray;
- visualShape.m_indices = new b3AlignedObjectArray;
- int indexBase = 0;
-
- btAssert(vertexNormals.size()==vertexPositions.size());
- for (int v=0;vpush_back(vtx);
- }
-
- for (int index=0;indexpush_back(indices[index]+indexBase);
- }
-
-
- printf(" index_count =%dand vertexPositions.size=%d\n",indices.size(), vertexPositions.size());
- indexBase=visualShape.m_vertices->size();
- visualShape.m_numIndices = visualShape.m_indices->size();
- visualShape.m_numvertices = visualShape.m_vertices->size();
- }
- printf("geometry name=%s\n",geometryName);
- name2Shape.insert(geometryName,shapeIndex);
-
+ if (shapeIndex;
+ visualShape.m_indices = new b3AlignedObjectArray;
+ int indexBase = 0;
+
+ btAssert(vertexNormals.size()==vertexPositions.size());
+ for (int v=0;vpush_back(vtx);
+ }
+
+ for (int index=0;indexpush_back(indices[index]+indexBase);
+ }
+
+
+ //b3Printf(" index_count =%dand vertexPositions.size=%d\n",indices.size(), vertexPositions.size());
+ indexBase=visualShape.m_vertices->size();
+ visualShape.m_numIndices = visualShape.m_indices->size();
+ visualShape.m_numvertices = visualShape.m_vertices->size();
+ }
+ //b3Printf("geometry name=%s\n",geometryName);
+ name2Shape.insert(geometryName,shapeIndex);
+ } else
+ {
+ b3Warning("DAE exceeds number of visual shapes (%d/%d)",shapeIndex, MAX_VISUAL_SHAPES);
+ }
}//for each geometry
}
void readNodeHierarchy(TiXmlElement* node,btHashMap& name2Shape, btAlignedObjectArray& visualShapeInstances, const btMatrix4x4& parentTransMat)
{
- const char* nodeName = node->Attribute("id");
- printf("processing node %s\n", nodeName);
-
+
btMatrix4x4 nodeTrans;
nodeTrans.setIdentity();
@@ -356,7 +360,7 @@
nodeTrans = nodeTrans*t;
} else
{
- printf("Error: expected 16 elements in a element, skipping\n");
+ b3Warning("Error: expected 16 elements in a element, skipping\n");
}
}
}
@@ -412,19 +416,19 @@
instanceGeom=instanceGeom->NextSiblingElement("instance_geometry"))
{
const char* geomUrl = instanceGeom->Attribute("url");
- printf("node referring to geom %s\n", geomUrl);
+ //printf("node referring to geom %s\n", geomUrl);
geomUrl++;
int* shapeIndexPtr = name2Shape[geomUrl];
if (shapeIndexPtr)
{
// int index = *shapeIndexPtr;
- printf("found geom with index %d\n", *shapeIndexPtr);
+ //printf("found geom with index %d\n", *shapeIndexPtr);
ColladaGraphicsInstance& instance = visualShapeInstances.expand();
instance.m_shapeIndex = *shapeIndexPtr;
instance.m_worldTransform = nodeTrans;
} else
{
- printf("geom not found\n");
+ b3Warning("geom not found\n");
}
}
@@ -492,7 +496,7 @@
if (unitMeter)
{
const char* meterText = unitMeter->Attribute("meter");
- printf("meterText=%s\n", meterText);
+ //printf("meterText=%s\n", meterText);
unitMeterScaling = atof(meterText);
}
@@ -557,7 +561,7 @@
// GLInstanceGraphicsShape* instance = 0;
//usually COLLADA files don't have that many visual geometries/shapes
- visualShapes.reserve(32);
+ visualShapes.reserve(MAX_VISUAL_SHAPES);
float extraScaling = 1;//0.01;
btHashMap name2ShapeIndex;
@@ -565,7 +569,7 @@
char filename[1024];
if (!f.findFile(relativeFileName,filename,1024))
{
- printf("File not found: %s\n", filename);
+ b3Warning("File not found: %s\n", filename);
return;
}
@@ -703,12 +707,12 @@
int size=0;
if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET))
{
- printf("Error: Cannot access file to determine size of %s\n", relativeFileName);
+ b3Warning("Error: Cannot access file to determine size of %s\n", relativeFileName);
} else
{
if (size)
{
- printf("Open DAE file of %d bytes\n",size);
+ //printf("Open DAE file of %d bytes\n",size);
Assimp::Importer importer;
//importer.SetPropertyInteger(AI_CONFIG_PP_RVC_FLAGS, aiComponent_NORMALS | aiComponent_COLORS);
diff -Nru bullet-2.83.6+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h
--- bullet-2.83.6+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h 2015-08-11 16:17:42.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h 2017-02-17 23:43:38.000000000 +0000
@@ -21,7 +21,7 @@
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
-#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+#include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "ColladaGraphicsInstance.h"
diff -Nru bullet-2.83.6+dfsg/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp bullet-2.86.1+dfsg/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
--- bullet-2.83.6+dfsg/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,87 @@
+#include "b3ImportMeshUtility.h"
+
+#include
+#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
+#include "LinearMath/btVector3.h"
+#include "../ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h"
+#include "../../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3FileUtils.h"
+#include "../../ThirdPartyLibs/stb_image/stb_image.h"
+
+bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
+{
+
+ meshData.m_gfxShape = 0;
+ meshData.m_textureImage = 0;
+ meshData.m_textureHeight = 0;
+ meshData.m_textureWidth = 0;
+
+
+ char relativeFileName[1024];
+ if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
+ {
+ char pathPrefix[1024];
+
+ b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
+ btVector3 shift(0,0,0);
+
+ std::vector shapes;
+ std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
+
+ GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
+
+ //int textureIndex = -1;
+ //try to load some texture
+ for (int i=0;i0)
+ {
+
+ int width,height,n;
+ const char* filename = shape.material.diffuse_texname.c_str();
+ unsigned char* image=0;
+
+ const char* prefix[]={ pathPrefix,"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
+ int numprefix = sizeof(prefix)/sizeof(const char*);
+
+ for (int i=0;!image && i
+
+struct b3ImportMeshData
+{
+ struct GLInstanceGraphicsShape* m_gfxShape;
+
+ unsigned char* m_textureImage;//in 3 component 8-bit RGB data
+ int m_textureWidth;
+ int m_textureHeight;
+};
+
+class b3ImportMeshUtility
+{
+public:
+
+static bool loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData);
+
+};
+
+
+#endif //B3_IMPORT_MESH_UTILITY_H
+
diff -Nru bullet-2.83.6+dfsg/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp bullet-2.86.1+dfsg/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
--- bullet-2.83.6+dfsg/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp 1970-01-01 00:00:00.000000000 +0000
+++ bullet-2.86.1+dfsg/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp 2017-02-17 23:43:38.000000000 +0000
@@ -0,0 +1,1687 @@
+#include "BulletMJCFImporter.h"
+#include "../../ThirdPartyLibs/tinyxml/tinyxml.h"
+#include "Bullet3Common/b3FileUtils.h"
+#include
+#include "../../Utils/b3ResourcePath.h"
+#include
+#include
+#include "../ImportURDFDemo/UrdfParser.h"
+#include "../ImportURDFDemo/urdfStringSplit.h"
+#include "../ImportURDFDemo/urdfLexicalCast.h"
+#include "../ImportObjDemo/LoadMeshFromObj.h"
+#include "../ImportSTLDemo/LoadMeshFromSTL.h"
+#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
+#include "../ImportMeshUtility/b3ImportMeshUtility.h"
+
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include "BulletCollision/CollisionShapes/btCylinderShape.h"
+#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
+#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleMesh.h"
+
+
+
+
+
+#include
+
+enum eMJCF_FILE_TYPE_ENUMS
+{
+ MJCF_FILE_STL = 1,
+ MJCF_FILE_OBJ = 2
+};
+
+enum ePARENT_LINK_ENUMS
+{
+ BASE_LINK_INDEX=-1,
+
+ INVALID_LINK_INDEX=-2
+};
+
+static int gUid=0;
+
+static bool parseVector4(btVector4& vec4, const std::string& vector_str)
+{
+ vec4.setZero();
+ btArray pieces;
+ btArray rgba;
+ btAlignedObjectArray strArray;
+ urdfIsAnyOf(" ", strArray);
+ urdfStringSplit(pieces, vector_str, strArray);
+ for (int i = 0; i < pieces.size(); ++i)
+ {
+ if (!pieces[i].empty())
+ {
+ rgba.push_back(urdfLexicalCast(pieces[i].c_str()));
+ }
+ }
+ if (rgba.size() != 4)
+ {
+ return false;
+ }
+ vec4.setValue(rgba[0],rgba[1],rgba[2],rgba[3]);
+ return true;
+}
+
+static bool parseVector3(btVector3& vec3, const std::string& vector_str, MJCFErrorLogger* logger, bool lastThree = false)
+{
+ vec3.setZero();
+ btArray pieces;
+ btArray rgba;
+ btAlignedObjectArray strArray;
+ urdfIsAnyOf(" ", strArray);
+ urdfStringSplit(pieces, vector_str, strArray);
+ for (int i = 0; i < pieces.size(); ++i)
+ {
+ if (!pieces[i].empty())
+ {
+ rgba.push_back(urdfLexicalCast(pieces[i].c_str()));
+ }
+ }
+ if (rgba.size() < 3)
+ {
+ logger->reportWarning("Couldn't parse vector3");
+ return false;
+ }
+ if (lastThree) {
+ vec3.setValue(rgba[rgba.size()-3], rgba[rgba.size()-2], rgba[rgba.size()-1]);
+ }
+ else
+ {
+ vec3.setValue(rgba[0],rgba[1],rgba[2]);
+
+ }
+ return true;
+}
+
+
+static bool parseVector6(btVector3& v0, btVector3& v1, const std::string& vector_str, MJCFErrorLogger* logger)
+{
+ v0.setZero();
+ v1.setZero();
+
+ btArray pieces;
+ btArray values;
+ btAlignedObjectArray strArray;
+ urdfIsAnyOf(" ", strArray);
+ urdfStringSplit(pieces, vector_str, strArray);
+ for (int i = 0; i < pieces.size(); ++i)
+ {
+ if (!pieces[i].empty())
+ {
+ values.push_back(urdfLexicalCast(pieces[i].c_str()));
+ }
+ }
+ if (values.size() < 6)
+ {
+ logger->reportWarning("Couldn't parse 6 floats");
+ return false;
+ }
+ v0.setValue(values[0],values[1],values[2]);
+ v1.setValue(values[3],values[4],values[5]);
+
+ return true;
+}
+
+
+struct MyMJCFAsset
+{
+ std::string m_fileName;
+};
+
+struct BulletMJCFImporterInternalData
+{
+ GUIHelperInterface* m_guiHelper;
+ char m_pathPrefix[1024];
+
+ std::string m_fileModelName;
+ btHashMap m_assets;
+
+ btAlignedObjectArray m_models;
+
+ //
+ std::string m_meshDir;
+ std::string m_textureDir;
+
+
+ int m_activeModel;
+ //todo: for full MJCF compatibility, we would need a stack of default values
+ int m_defaultCollisionGroup;
+ int m_defaultCollisionMask;
+ btScalar m_defaultCollisionMargin;
+
+ //those collision shapes are deleted by caller (todo: make sure this happens!)
+ btAlignedObjectArray m_allocatedCollisionShapes;
+
+ BulletMJCFImporterInternalData()
+ :m_activeModel(-1),
+ m_defaultCollisionGroup(1),
+ m_defaultCollisionMask(1),
+ m_defaultCollisionMargin(0.001)//assume unit meters, margin is 1mm
+ {
+ m_pathPrefix[0] = 0;
+ }
+
+ const UrdfLink* getLink(int modelIndex, int linkIndex) const
+ {
+ if (modelIndex>=0 && modelIndexm_links.getAtIndex(linkIndex);
+ if (linkPtrPtr && *linkPtrPtr)
+ {
+ UrdfLink* linkPtr = *linkPtrPtr;
+ return linkPtr;
+ }
+ }
+ return 0;
+ }
+
+ void parseCompiler(TiXmlElement* root_xml, MJCFErrorLogger* logger)
+ {
+
+ const char* meshDirStr = root_xml->Attribute("meshdir");
+ if (meshDirStr)
+ {
+ m_meshDir = meshDirStr;
+ }
+ const char* textureDirStr = root_xml->Attribute("texturedir");
+ if (textureDirStr)
+ {
+ m_textureDir = textureDirStr;
+ }
+#if 0
+ for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
+ {
+ std::string n = child_xml->Value();
+ }
+#endif
+ }
+
+ void parseAssets(TiXmlElement* root_xml, MJCFErrorLogger* logger)
+ {
+ //
+ for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
+ {
+ std::string n = child_xml->Value();
+ if (n=="mesh")
+ {
+ const char* assetNameStr = child_xml->Attribute("name");
+ const char* fileNameStr = child_xml->Attribute("file");
+ if (assetNameStr && fileNameStr)
+ {
+ btHashString assetName = assetNameStr;
+ MyMJCFAsset asset;
+ asset.m_fileName = m_meshDir + fileNameStr;
+ m_assets.insert(assetName,asset);
+ }
+ }
+
+ }
+ }
+ bool parseDefaults(TiXmlElement* root_xml, MJCFErrorLogger* logger)
+ {
+ bool handled= false;
+ //rudimentary 'default' support, would need more work for better feature coverage
+ for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
+ {
+ std::string n = child_xml->Value();
+
+ if (n=="inertial")
+ {
+ }
+ if (n=="asset")
+ {
+ parseAssets(child_xml,logger);
+ }
+ if (n=="geom")
+ {
+ //contype, conaffinity
+ const char* conTypeStr = child_xml->Attribute("contype");
+ if (conTypeStr)
+ {
+ m_defaultCollisionGroup = urdfLexicalCast(conTypeStr);
+ }
+ const char* conAffinityStr = child_xml->Attribute("conaffinity");
+ if (conAffinityStr)
+ {
+ m_defaultCollisionMask = urdfLexicalCast(conAffinityStr);
+ }
+ }
+ }
+ handled=true;
+ return handled;
+ }
+ bool parseRootLevel(TiXmlElement* root_xml,MJCFErrorLogger* logger)
+ {
+ for (TiXmlElement* rootxml = root_xml->FirstChildElement() ; rootxml ; rootxml = rootxml->NextSiblingElement())
+ {
+ bool handled = false;
+ std::string n = rootxml->Value();
+
+
+ if (n=="body")
+ {
+ int modelIndex = m_models.size();
+ UrdfModel* model = new UrdfModel();
+ m_models.push_back(model);
+ parseBody(rootxml,modelIndex, INVALID_LINK_INDEX,logger);
+ initTreeAndRoot(*model,logger);
+ handled = true;
+ }
+
+ if (n=="geom")
+ {
+ int modelIndex = m_models.size();
+ UrdfModel* modelPtr = new UrdfModel();
+ m_models.push_back(modelPtr);
+
+ UrdfLink* linkPtr = new UrdfLink();
+ linkPtr->m_name = "anonymous";
+ const char* namePtr = rootxml->Attribute("name");
+ if (namePtr)
+ {
+ linkPtr->m_name = namePtr;
+ }
+ int linkIndex = modelPtr->m_links.size();
+ linkPtr->m_linkIndex = linkIndex;
+ modelPtr->m_links.insert(linkPtr->m_name.c_str(),linkPtr);
+
+ //don't parse geom transform here, it will be inside 'parseGeom'
+ linkPtr->m_linkTransformInWorld.setIdentity();
+
+// modelPtr->m_rootLinks.push_back(linkPtr);
+
+ btVector3 inertialShift(0,0,0);
+ parseGeom(rootxml,modelIndex, linkIndex,logger,inertialShift);
+ initTreeAndRoot(*modelPtr,logger);
+
+ handled = true;
+ }
+
+
+ if (n=="site")
+ {
+ handled = true;
+ }
+ if (!handled)
+ {
+ logger->reportWarning("Unhandled root element");
+ logger->reportWarning(n.c_str());
+ }
+ }
+ return true;
+ }
+
+ bool parseJoint(TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, const btTransform& parentToLinkTrans, btTransform& jointTransOut)
+ {
+ const char* jType = link_xml->Attribute("type");
+ const char* limitedStr = link_xml->Attribute("limited");
+ const char* axisStr = link_xml->Attribute("axis");
+ const char* posStr = link_xml->Attribute("pos");
+ const char* ornStr = link_xml->Attribute("quat");
+ const char* nameStr = link_xml->Attribute("name");
+ const char* rangeStr = link_xml->Attribute("range");
+
+ btTransform jointTrans;
+ jointTrans.setIdentity();
+ if (posStr)
+ {
+ btVector3 pos;
+ std::string p=posStr;
+ if (parseVector3(pos,p,logger))
+ {
+ jointTrans.setOrigin(pos);
+ }
+ }
+ if (ornStr)
+ {
+ std::string o = ornStr;
+ btVector4 o4;
+ if (parseVector4(o4,o))
+ {
+ btQuaternion orn(o4[3],o4[0],o4[1],o4[2]);
+ jointTrans.setRotation(orn);
+ }
+ }
+ btVector3 jointAxis(1,0,0);
+
+ if (axisStr)
+ {
+ std::string ax = axisStr;
+ parseVector3(jointAxis,ax,logger);
+ } else
+ {
+ logger->reportWarning("joint without axis attribute");
+ }
+ bool isLimited = false;
+ double range[2] = {1,0};
+
+ if (limitedStr)
+ {
+ std::string lim = limitedStr;
+ if (lim=="true")
+ {
+ isLimited = true;
+ //parse the 'range' field
+ btArray pieces;
+ btArray sizes;
+ btAlignedObjectArray strArray;
+ urdfIsAnyOf(" ", strArray);
+ urdfStringSplit(pieces, rangeStr, strArray);
+ for (int i = 0; i < pieces.size(); ++i)
+ {
+ if (!pieces[i].empty())
+ {
+ sizes.push_back(urdfLexicalCast(pieces[i].c_str()));
+ }
+ }
+ if (sizes.size()==2)
+ {
+ range[0] = sizes[0];
+ range[1] = sizes[1];
+ } else
+ {
+ logger->reportWarning("Expected range[2] in joint with limits");
+ }
+
+ }
+ } else
+ {
+// logger->reportWarning("joint without limited field");
+ }
+
+ bool jointHandled = false;
+ const UrdfLink* linkPtr = getLink(modelIndex,linkIndex);
+
+ btTransform parentLinkToJointTransform;
+ parentLinkToJointTransform.setIdentity();
+ parentLinkToJointTransform = parentToLinkTrans*jointTrans;
+
+ jointTransOut = jointTrans;
+ UrdfJointTypes ejtype;
+ if (jType)
+ {
+ std::string jointType = jType;
+ if (jointType == "fixed")
+ {
+ ejtype = URDFFixedJoint;
+ jointHandled = true;
+ }
+ if (jointType == "slide")
+ {
+ ejtype = URDFPrismaticJoint;
+ jointHandled = true;
+ }
+ if (jointType == "hinge")
+ {
+ if (isLimited)
+ {
+ ejtype = URDFRevoluteJoint;
+ } else
+ {
+ ejtype = URDFContinuousJoint;
+ }
+ jointHandled = true;
+ }
+ } else
+ {
+ logger->reportWarning("Expected 'type' attribute for joint");
+ }
+
+ if (jointHandled)
+ {
+ UrdfJoint* jointPtr = new UrdfJoint();
+ jointPtr->m_childLinkName=linkPtr->m_name;
+ const UrdfLink* parentLink = getLink(modelIndex,parentLinkIndex);
+ jointPtr->m_parentLinkName =parentLink->m_name;
+ jointPtr->m_localJointAxis=jointAxis;
+ jointPtr->m_parentLinkToJointTransform = parentLinkToJointTransform;
+ jointPtr->m_type = ejtype;
+ int numJoints = m_models[modelIndex]->m_joints.size();
+
+ //range
+ jointPtr->m_lowerLimit = range[0];
+ jointPtr->m_upperLimit = range[1];
+
+ if (nameStr)
+ {
+ jointPtr->m_name =nameStr;
+ } else
+ {
+ char jointName[1024];
+ sprintf(jointName,"joint%d_%d_%d",gUid++,linkIndex,numJoints);
+ jointPtr->m_name =jointName;
+ }
+ m_models[modelIndex]->m_joints.insert(jointPtr->m_name.c_str(),jointPtr);
+ return true;
+ }
+ /*
+ URDFRevoluteJoint=1,
+ URDFPrismaticJoint,
+ URDFContinuousJoint,
+ URDFFloatingJoint,
+ URDFPlanarJoint,
+ URDFFixedJoint,
+ */
+ return false;
+ }
+ bool parseGeom(TiXmlElement* link_xml, int modelIndex, int linkIndex, MJCFErrorLogger* logger, btVector3& inertialShift)
+ {
+ UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
+ if (linkPtrPtr==0)
+ {
+ logger->reportWarning("Invalide linkindex");
+ return false;
+ }
+ UrdfLink* linkPtr = *linkPtrPtr;
+
+ btTransform linkLocalFrame;
+ linkLocalFrame.setIdentity();
+
+
+ bool handledGeomType = false;
+ UrdfGeometry geom;
+
+
+
+// const char* rgba = link_xml->Attribute("rgba");
+ const char* gType = link_xml->Attribute("type");
+ const char* sz = link_xml->Attribute("size");
+ const char* posS = link_xml->Attribute("pos");
+ if (posS)
+ {
+ btVector3 pos(0,0,0);
+ std::string p = posS;
+ if (parseVector3(pos,p,logger))
+ {
+ linkLocalFrame.setOrigin(pos);
+ }
+ }
+ const char* ornS = link_xml->Attribute("quat");
+ if (ornS)
+ {
+ std::string ornStr = ornS;
+ btQuaternion orn(0,0,0,1);
+ btVector4 o4;
+ if (parseVector4(o4,ornStr))
+ {
+ orn.setValue(o4[1],o4[2],o4[3],o4[0]);
+ linkLocalFrame.setRotation(orn);
+ }
+ }
+ if (gType)
+ {
+ std::string geomType = gType;
+
+
+ if (geomType == "plane")
+ {
+ geom.m_type = URDF_GEOM_PLANE;
+ geom.m_planeNormal.setValue(0,0,1);
+ btVector3 size(1,1,1);
+ if (sz)
+ {
+ std::string sizeStr = sz;
+ bool lastThree = false;
+ parseVector3(size,sizeStr,logger,lastThree);
+ }
+ geom.m_boxSize = size;
+ handledGeomType = true;
+ }
+ if (geomType == "box")
+ {
+ btVector3 size(1,1,1);
+ if (sz)
+ {
+ std::string sizeStr = sz;
+ bool lastThree = false;
+ parseVector3(size,sizeStr,logger,lastThree);
+ }
+ geom.m_type = URDF_GEOM_BOX;
+ geom.m_boxSize = size;
+ handledGeomType = true;
+ }
+
+ if (geomType == "sphere")
+ {
+ geom.m_type = URDF_GEOM_SPHERE;
+ if (sz)
+ {
+ geom.m_sphereRadius = urdfLexicalCast(sz);
+ } else
+ {
+ logger->reportWarning("Expected size field (scalar) in sphere geom");
+ }
+ handledGeomType = true;
+ }
+
+ //todo: capsule, cylinder, meshes or heightfields etc
+ if (geomType == "capsule")
+ {
+ geom.m_type = URDF_GEOM_CAPSULE;
+
+ btArray pieces;
+ btArray sizes;
+ btAlignedObjectArray strArray;
+ urdfIsAnyOf(" ", strArray);
+ urdfStringSplit(pieces, sz, strArray);
+ for (int i = 0; i < pieces.size(); ++i)
+ {
+ if (!pieces[i].empty())
+ {
+ sizes.push_back(urdfLexicalCast(pieces[i].c_str()));
+ }
+ }
+
+ geom.m_capsuleRadius = 0;
+ geom.m_capsuleHalfHeight = 0.f;
+
+ if (sizes.size()>0)
+ {
+ geom.m_capsuleRadius = sizes[0];
+ if (sizes.size()>1)
+ {
+ geom.m_capsuleHalfHeight = sizes[1];
+ }
+ } else
+ {
+ logger->reportWarning("couldn't convert 'size' attribute of capsule geom");
+ }
+ const char* fromtoStr = link_xml->Attribute("fromto");
+ geom.m_hasFromTo = false;
+
+ if (fromtoStr)
+ {
+ geom.m_hasFromTo = true;
+ std::string fromto = fromtoStr;
+ parseVector6(geom.m_capsuleFrom,geom.m_capsuleTo,fromto,logger);
+ inertialShift=0.5*(geom.m_capsuleFrom+geom.m_capsuleTo);
+ handledGeomType = true;
+ } else
+ {
+ if (sizes.size()<2)
+ {
+ logger->reportWarning("capsule without fromto attribute requires 2 sizes (radius and halfheight)");
+ } else
+ {
+ handledGeomType = true;
+ }
+ }
+ }
+ if (geomType=="mesh")
+ {
+ const char* meshStr = link_xml->Attribute("mesh");
+ if (meshStr)
+ {
+ MyMJCFAsset* assetPtr = m_assets[meshStr];
+ if (assetPtr)
+ {
+ handledGeomType = true;
+ geom.m_type = URDF_GEOM_MESH;
+ geom.m_meshFileName = assetPtr->m_fileName;
+ geom.m_meshScale.setValue(1,1,1);
+ //todo: parse mesh scale
+ if (sz)
+ {
+ }
+ }
+ }
+ }
+ #if 0
+ if (geomType == "cylinder")
+ {
+ geom.m_type = URDF_GEOM_CYLINDER;
+ handledGeomType = true;
+ }
+#endif
+ if (handledGeomType)
+ {
+
+ UrdfCollision col;
+ col.m_flags |= URDF_HAS_COLLISION_GROUP;
+ col.m_collisionGroup = m_defaultCollisionGroup;
+
+ col.m_flags |= URDF_HAS_COLLISION_MASK;
+ col.m_collisionMask = m_defaultCollisionMask;
+
+ //contype, conaffinity
+ const char* conTypeStr = link_xml->Attribute("contype");
+ if (conTypeStr)
+ {
+ col.m_flags |= URDF_HAS_COLLISION_GROUP;
+ col.m_collisionGroup = urdfLexicalCast(conTypeStr);
+ }
+ const char* conAffinityStr = link_xml->Attribute("conaffinity");
+ if (conAffinityStr)
+ {
+ col.m_flags |= URDF_HAS_COLLISION_MASK;
+ col.m_collisionMask = urdfLexicalCast(conAffinityStr);
+ }
+
+ col.m_geometry = geom;
+ col.m_linkLocalFrame = linkLocalFrame;
+ linkPtr->m_collisionArray.push_back(col);
+
+ } else
+ {
+ char warn[1024];
+ sprintf(warn,"Unknown/unhandled geom type: %s", geomType.c_str());
+ logger->reportWarning(warn);
+ }
+ } else
+ {
+ logger->reportWarning("geom requires type");
+ }
+
+ return handledGeomType;
+ }
+
+ btTransform parseTransform(TiXmlElement* link_xml, MJCFErrorLogger* logger)
+ {
+ btTransform tr;
+ tr.setIdentity();
+
+ const char* p = link_xml->Attribute("pos");
+ if (p)
+ {
+ btVector3 pos(0,0,0);
+ std::string pstr = p;
+ if (parseVector3(pos,pstr,logger))
+ {
+ tr.setOrigin(pos);
+ }
+
+ } else
+ {
+// logger->reportWarning("body should have pos attribute");
+ }
+ const char* o = link_xml->Attribute("quat");
+ if (o)
+ {
+ std::string ornstr = o;
+ btVector4 o4;
+ btQuaternion orn(0,0,0,1);
+ if (parseVector4(o4,ornstr))
+ {
+ orn.setValue(o4[1],o4[2],o4[3],o4[0]);//MuJoCo quats are [w,x,y,z], Bullet uses [x,y,z,w]
+ tr.setRotation(orn);
+ }
+ } else
+ {
+// logger->reportWarning("body doesn't have quat (orientation) attribute");
+ }
+ return tr;
+ }
+
+ double computeVolume(const UrdfLink* linkPtr,MJCFErrorLogger* logger) const
+ {
+ double totalVolume = 0;
+
+ for (int i=0;im_collisionArray.size();i++)
+ {
+ const UrdfCollision* col = &linkPtr->m_collisionArray[i];
+ switch (col->m_geometry.m_type)
+ {
+ case URDF_GEOM_SPHERE:
+ {
+ double r = col->m_geometry.m_sphereRadius;
+ totalVolume += 4./3.*SIMD_PI*r*r*r;
+ break;
+ }
+ case URDF_GEOM_BOX:
+ {
+ totalVolume += 8. * col->m_geometry.m_boxSize[0]*
+ col->m_geometry.m_boxSize[1]*
+ col->m_geometry.m_boxSize[2];
+ break;
+ }
+
+ case URDF_GEOM_CYLINDER:
+ {
+ //todo
+ break;
+ }
+ case URDF_GEOM_MESH:
+ {
+ //todo (based on mesh bounding box?)
+ break;
+ }
+ case URDF_GEOM_PLANE:
+ {
+ //todo
+ break;
+ }
+ case URDF_GEOM_CAPSULE:
+ {
+ //one sphere
+ double r = col->m_geometry.m_capsuleRadius;
+ totalVolume += 4./3.*SIMD_PI*r*r*r;
+ //and one cylinder of 'height'
+ btScalar h = (col->m_geometry.m_capsuleFrom-col->m_geometry.m_capsuleTo).length();
+ totalVolume += SIMD_PI*r*r*h;
+
+ break;
+ }
+ default:
+ {
+ }
+ }
+ }
+
+ return totalVolume;
+ }
+ UrdfLink* getLink(int modelIndex, int linkIndex)
+ {
+ UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
+ if (linkPtrPtr && *linkPtrPtr)
+ {
+ return *linkPtrPtr;
+ }
+ btAssert(0);
+ return 0;
+ }
+
+ int createBody(int modelIndex, const char* namePtr)
+ {
+ UrdfModel* modelPtr = m_models[modelIndex];
+ int orgChildLinkIndex = modelPtr->m_links.size();
+ UrdfLink* linkPtr = new UrdfLink();
+ char uniqueLinkName[1024];
+ sprintf(uniqueLinkName,"link%d",orgChildLinkIndex );
+ linkPtr->m_name = uniqueLinkName;
+ if (namePtr)
+ {
+ linkPtr->m_name = namePtr;
+ }
+ linkPtr->m_linkIndex = orgChildLinkIndex ;
+ modelPtr->m_links.insert(linkPtr->m_name.c_str(),linkPtr);
+
+ return orgChildLinkIndex;
+ }
+ bool parseBody(TiXmlElement* link_xml, int modelIndex, int orgParentLinkIndex, MJCFErrorLogger* logger)
+ {
+ int newParentLinkIndex = orgParentLinkIndex;
+
+ const char* bodyName = link_xml->Attribute("name");
+ int orgChildLinkIndex = createBody(modelIndex,bodyName);
+ btTransform localInertialFrame;
+ localInertialFrame.setIdentity();
+
+// int curChildLinkIndex = orgChildLinkIndex;
+ std::string bodyN;
+
+ if (bodyName)
+ {
+ bodyN = bodyName;
+ } else
+ {
+ char anon[1024];
+ sprintf(anon,"anon%d",gUid++);
+ bodyN = anon;
+ }
+
+
+// btTransform orgLinkTransform = parseTransform(link_xml,logger);
+
+ btTransform linkTransform = parseTransform(link_xml,logger);
+ UrdfLink* linkPtr = getLink(modelIndex,orgChildLinkIndex);
+
+
+
+ bool massDefined = false;
+
+
+ btScalar mass = 0.f;
+ btVector3 localInertiaDiag(0,0,0);
+ // int thisLinkIndex = -2;
+ bool hasJoint = false;
+ btTransform jointTrans;
+ jointTrans.setIdentity();
+ bool skipFixedJoint = false;
+
+ for (TiXmlElement* xml = link_xml->FirstChildElement() ; xml ; xml = xml->NextSiblingElement())
+ {
+ bool handled = false;
+ std::string n = xml->Value();
+ if (n=="inertial")
+ {
+ //
+
+ const char* p = xml->Attribute("pos");
+ if (p)
+ {
+ std::string posStr = p;
+ btVector3 inertialPos(0,0,0);
+ if (parseVector3(inertialPos,posStr,logger))
+ {
+ localInertialFrame.setOrigin(inertialPos);
+ }
+ }
+ const char* o = xml->Attribute("quat");
+ {
+ std::string ornStr = o;
+ btQuaternion orn(0,0,0,1);
+ btVector4 o4;
+ if (parseVector4(o4,ornStr))
+ {
+ orn.setValue(o4[1],o4[2],o4[3],o4[0]);
+ localInertialFrame.setRotation(orn);
+ }
+ }
+ const char* m = xml->Attribute("mass");
+ if (m)
+ {
+ mass = urdfLexicalCast(m);
+ }
+ const char* i = xml->Attribute("diaginertia");
+ if (i)
+ {
+ std::string istr = i;
+ parseVector3(localInertiaDiag,istr,logger);
+ }
+
+ massDefined = true;
+
+ handled = true;
+ }
+
+ if (n=="joint")
+ {
+ if (!hasJoint)
+ {
+ const char* jType = xml->Attribute("type");
+ std::string jointType = jType? jType:"";
+
+ if (newParentLinkIndex!=INVALID_LINK_INDEX || jointType!="free")
+ {
+ if (newParentLinkIndex==INVALID_LINK_INDEX)
+ {
+ int newRootLinkIndex = createBody(modelIndex,0);
+ UrdfLink* rootLink = getLink(modelIndex,newRootLinkIndex);
+ rootLink->m_inertia.m_mass = 0;
+ rootLink->m_linkTransformInWorld.setIdentity();
+ newParentLinkIndex = newRootLinkIndex;
+ }
+
+ int newLinkIndex = createBody(modelIndex,0);
+ parseJoint(xml,modelIndex,newParentLinkIndex, newLinkIndex,logger,linkTransform,jointTrans);
+
+ //getLink(modelIndex,newLinkIndex)->m_linkTransformInWorld = jointTrans*linkTransform;
+
+ linkTransform = jointTrans.inverse();
+ newParentLinkIndex = newLinkIndex;
+ //newParentLinkIndex, curChildLinkIndex
+ hasJoint = true;
+ handled = true;
+ }
+ } else
+ {
+ int newLinkIndex = createBody(modelIndex,0);
+ btTransform joint2nextjoint = jointTrans.inverse();
+ btTransform unused;
+ parseJoint(xml,modelIndex,newParentLinkIndex, newLinkIndex,logger,joint2nextjoint,unused);
+ newParentLinkIndex = newLinkIndex;
+ //todo: compute relative joint transforms (if any) and append to linkTransform
+ hasJoint = true;
+ handled = true;
+ }
+
+ }
+ if (n == "geom")
+ {
+ btVector3 inertialShift(0,0,0);
+ parseGeom(xml,modelIndex, orgChildLinkIndex , logger,inertialShift);
+ if (!massDefined)
+ {
+ localInertialFrame.setOrigin(inertialShift);
+ }
+ handled = true;
+ }
+
+ //recursive
+ if (n=="body")
+ {
+ parseBody(xml,modelIndex,orgChildLinkIndex,logger);
+ handled = true;
+ }
+
+ if (n=="light")
+ {
+ handled = true;
+ }
+ if (!handled)
+ {
+ char warn[1024];
+ std::string n = xml->Value();
+ sprintf(warn,"Unknown/unhandled field: %s", n.c_str());
+ logger->reportWarning(warn);
+ }
+ }
+
+ linkPtr->m_linkTransformInWorld = linkTransform;
+ if (bodyN == "cart1")//front_left_leg")
+ {
+ printf("found!\n");
+ }
+ if ((newParentLinkIndex != INVALID_LINK_INDEX) && !skipFixedJoint)
+ {
+ //linkPtr->m_linkTransformInWorld.setIdentity();
+ //default to 'fixed' joint
+ UrdfJoint* jointPtr = new UrdfJoint();
+ jointPtr->m_childLinkName=linkPtr->m_name;
+ const UrdfLink* parentLink = getLink(modelIndex,newParentLinkIndex);
+ jointPtr->m_parentLinkName =parentLink->m_name;
+ jointPtr->m_localJointAxis.setValue(1,0,0);
+ jointPtr->m_parentLinkToJointTransform = linkTransform;
+ jointPtr->m_type = URDFFixedJoint;
+ char jointName[1024];
+ sprintf(jointName,"jointfix_%d_%d",gUid++,newParentLinkIndex);
+ jointPtr->m_name =jointName;
+ m_models[modelIndex]->m_joints.insert(jointPtr->m_name.c_str(),jointPtr);
+ }
+
+ //check mass/inertia
+ if (!massDefined)
+ {
+ double density = 1000;
+ double volume = computeVolume(linkPtr,logger);
+ mass = density * volume;
+ }
+ linkPtr->m_inertia.m_linkLocalFrame = localInertialFrame;// = jointTrans.inverse();
+ linkPtr->m_inertia.m_mass = mass;
+ return true;
+ }
+
+ void recurseAddChildLinks(UrdfModel* model, UrdfLink* link)
+ {
+ for (int i=0;im_childLinks.size();i++)
+ {
+ int linkIndex = model->m_links.size();
+ link->m_childLinks[i]->m_linkIndex = linkIndex;
+ const char* linkName = link->m_childLinks[i]->m_name.c_str();
+ model->m_links.insert(linkName,link->m_childLinks[i]);
+ }
+ for (int i=0;im_childLinks.size();i++)
+ {
+ recurseAddChildLinks(model,link->m_childLinks[i]);
+ }
+ }
+
+ bool initTreeAndRoot(UrdfModel& model, MJCFErrorLogger* logger)
+ {
+ // every link has children links and joints, but no parents, so we create a
+ // local convenience data structure for keeping child->parent relations
+ btHashMap parentLinkTree;
+
+ // loop through all joints, for every link, assign children links and children joints
+ for (int i=0;im_parentLinkName;
+ std::string child_link_name = joint->m_childLinkName;
+ if (parent_link_name.empty() || child_link_name.empty())
+ {
+ logger->reportError("parent link or child link is empty for joint");
+ logger->reportError(joint->m_name.c_str());
+ return false;
+ }
+
+ UrdfLink** childLinkPtr = model.m_links.find(joint->m_childLinkName.c_str());
+ if (!childLinkPtr)
+ {
+ logger->reportError("Cannot find child link for joint ");
+ logger->reportError(joint->m_name.c_str());
+
+ return false;
+ }
+ UrdfLink* childLink = *childLinkPtr;
+
+ UrdfLink** parentLinkPtr = model.m_links.find(joint->m_parentLinkName.c_str());
+ if (!parentLinkPtr)
+ {
+ logger->reportError("Cannot find parent link for a joint");
+ logger->reportError(joint->m_name.c_str());
+ return false;
+ }
+ UrdfLink* parentLink = *parentLinkPtr;
+
+ childLink->m_parentLink = parentLink;
+
+ childLink->m_parentJoint = joint;
+ parentLink->m_childJoints.push_back(joint);
+ parentLink->m_childLinks.push_back(childLink);
+ parentLinkTree.insert(childLink->m_name.c_str(),parentLink->m_name.c_str());
+ }
+ }
+
+ //search for children that have no parent, those are 'root'
+ for (int i=0;im_linkIndex = i;
+
+ if (!link->m_parentLink)
+ {
+ model.m_rootLinks.push_back(link);
+ }
+ }
+
+ }
+
+ if (model.m_rootLinks.size()>1)
+ {
+ logger->reportWarning("URDF file with multiple root links found");
+ }
+
+ if (model.m_rootLinks.size()==0)
+ {
+ logger->reportError("URDF without root link found");
+ return false;
+ }
+
+ //re-index the link indices so parent indices are always smaller than child indices
+ btAlignedObjectArray links;
+ links.resize(model.m_links.size());
+ for (int i=0;im_linkIndex = linkIndex;
+ model.m_links.insert(rootLink->m_name.c_str(),rootLink);
+ recurseAddChildLinks(&model, rootLink);
+ }
+ return true;
+
+ }
+
+};
+
+BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper)
+{
+ m_data = new BulletMJCFImporterInternalData();
+ m_data->m_guiHelper = helper;
+}
+
+BulletMJCFImporter::~BulletMJCFImporter()
+{
+ delete m_data;
+}
+
+bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase)
+{
+ if (strlen(fileName)==0)
+ return false;
+
+//int argc=0;
+ char relativeFileName[1024];
+
+ b3FileUtils fu;
+
+ //bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
+ bool fileFound = (b3ResourcePath::findResourcePath(fileName,relativeFileName,1024)>0);
+
+ std::string xml_string;
+ m_data->m_pathPrefix[0] = 0;
+
+ if (!fileFound){
+ std::cerr << "MJCF file not found" << std::endl;
+ return false;
+ } else
+ {
+
+ int maxPathLen = 1024;
+ fu.extractPath(relativeFileName,m_data->m_pathPrefix,maxPathLen);
+
+
+ std::fstream xml_file(relativeFileName, std::fstream::in);
+ while ( xml_file.good())
+ {
+ std::string line;
+ std::getline( xml_file, line);
+ xml_string += (line + "\n");
+ }
+ xml_file.close();
+
+ if (parseMJCFString(xml_string.c_str(), logger))
+ {
+ return true;
+ }
+ }
+
+
+
+ return false;
+}
+
+bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* logger)
+{
+ TiXmlDocument xml_doc;
+ xml_doc.Parse(xmlText);
+ if (xml_doc.Error())
+ {
+ logger->reportError(xml_doc.ErrorDesc());
+ xml_doc.ClearError();
+ return false;
+ }
+
+ TiXmlElement *mujoco_xml = xml_doc.FirstChildElement("mujoco");
+ if (!mujoco_xml)
+ {
+ logger->reportWarning("Cannot find root element");
+ return false;
+ }
+
+ const char* modelName = mujoco_xml->Attribute("model");
+ if (modelName)
+ {
+ m_data->m_fileModelName = modelName;
+ }
+
+ //,