diff -Nru bullet-2.86.1+dfsg/AUTHORS.txt bullet-2.87+dfsg/AUTHORS.txt --- bullet-2.86.1+dfsg/AUTHORS.txt 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/AUTHORS.txt 2017-09-29 23:20:39.000000000 +0000 @@ -2,17 +2,21 @@ AMD Apple +Yunfei Bai Steve Baker Gino van den Bergen +Jeff Bingham Nicola Candussi Erin Catto Lawrence Chai Erwin Coumans -Christer Ericson Disney Animation +Benjamin Ellenberger +Christer Ericson Google Dirk Gregorius Marcus Hennix +Jasmine Hsu MBSim Development Team Takahiro Harada Simon Hobbs @@ -20,6 +24,7 @@ Ole Kniemeyer Jay Lee Francisco Leon +lunkhound Vsevolod Klementjev Phil Knight John McCutchan @@ -32,9 +37,9 @@ Sony Jakub Stephien Marten Svanfeldt +Jie Tan 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-2.86.1+dfsg/build_and_run_cmake_pybullet_double.sh bullet-2.87+dfsg/build_and_run_cmake_pybullet_double.sh --- bullet-2.86.1+dfsg/build_and_run_cmake_pybullet_double.sh 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/build_and_run_cmake_pybullet_double.sh 1970-01-01 00:00:00.000000000 +0000 @@ -1,10 +0,0 @@ -#!/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-2.86.1+dfsg/build_and_run_cmake.sh bullet-2.87+dfsg/build_and_run_cmake.sh --- bullet-2.86.1+dfsg/build_and_run_cmake.sh 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/build_and_run_cmake.sh 1970-01-01 00:00:00.000000000 +0000 @@ -1,7 +0,0 @@ -#!/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-2.86.1+dfsg/build_and_run_premake.sh bullet-2.87+dfsg/build_and_run_premake.sh --- bullet-2.86.1+dfsg/build_and_run_premake.sh 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/build_and_run_premake.sh 1970-01-01 00:00:00.000000000 +0000 @@ -1,7 +0,0 @@ -#!/bin/sh -cd build3 -./premake4_linux64 gmake -./premake4_osx gmake -cd gmake -make -j12 -../../bin/App_BulletExampleBrowser_gmake_x64_release diff -Nru bullet-2.86.1+dfsg/build_cmake_pybullet_double.sh bullet-2.87+dfsg/build_cmake_pybullet_double.sh --- bullet-2.86.1+dfsg/build_cmake_pybullet_double.sh 1970-01-01 00:00:00.000000000 +0000 +++ bullet-2.87+dfsg/build_cmake_pybullet_double.sh 2017-09-29 23:20:39.000000000 +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-2.86.1+dfsg/build_cmake_pybullet_win32.bat bullet-2.87+dfsg/build_cmake_pybullet_win32.bat --- bullet-2.86.1+dfsg/build_cmake_pybullet_win32.bat 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/build_cmake_pybullet_win32.bat 1970-01-01 00:00:00.000000000 +0000 @@ -1,4 +0,0 @@ -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-2.86.1+dfsg/build_visual_studio.bat bullet-2.87+dfsg/build_visual_studio.bat --- bullet-2.86.1+dfsg/build_visual_studio.bat 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/build_visual_studio.bat 1970-01-01 00:00:00.000000000 +0000 @@ -1,5 +0,0 @@ - - -cd build3 -premake4 --targetdir="../bin" vs2010 -start vs2010 diff -Nru bullet-2.86.1+dfsg/build_visual_studio_vr_pybullet_double.bat bullet-2.87+dfsg/build_visual_studio_vr_pybullet_double.bat --- bullet-2.86.1+dfsg/build_visual_studio_vr_pybullet_double.bat 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/build_visual_studio_vr_pybullet_double.bat 2017-09-29 23:20:39.000000000 +0000 @@ -1,8 +1,9 @@ IF NOT EXIST bin mkdir bin IF NOT EXIST bin\openvr_api.dll copy examples\ThirdPartyLibs\openvr\bin\win32\openvr_api.dll bin +IF NOT EXIST bin\openvr64pi.dll copy examples\ThirdPartyLibs\openvr\bin\win64\openvr_api.dll bin\openvr64pi.dll + +#aargh, see https://github.com/ValveSoftware/openvr/issues/412 -#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 @@ -16,6 +17,9 @@ cd build3 -premake4 --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 +premake4 --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 + +#premake4 --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 + start vs2010 diff -Nru bullet-2.86.1+dfsg/build_visual_studio_vr_pybullet_double_cmake.bat bullet-2.87+dfsg/build_visual_studio_vr_pybullet_double_cmake.bat --- bullet-2.86.1+dfsg/build_visual_studio_vr_pybullet_double_cmake.bat 1970-01-01 00:00:00.000000000 +0000 +++ bullet-2.87+dfsg/build_visual_studio_vr_pybullet_double_cmake.bat 2017-09-29 23:20:39.000000000 +0000 @@ -0,0 +1,4 @@ +mkdir build_cmake +cd build_cmake +cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.3.amd64\include -DPYTHON_LIBRARY=c:\python-3.5.3.amd64\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.3.amd64\libs\python35_d.lib -G "Visual Studio 14 2015 Win64" .. +start . \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/build_visual_studio_without_pybullet_vr.bat bullet-2.87+dfsg/build_visual_studio_without_pybullet_vr.bat --- bullet-2.86.1+dfsg/build_visual_studio_without_pybullet_vr.bat 1970-01-01 00:00:00.000000000 +0000 +++ bullet-2.87+dfsg/build_visual_studio_without_pybullet_vr.bat 2017-09-29 23:20:39.000000000 +0000 @@ -0,0 +1,3 @@ +cd build3 +premake5 --targetdir="../bin" vs2010 +start vs2010 diff -Nru bullet-2.86.1+dfsg/_clang-format bullet-2.87+dfsg/_clang-format --- bullet-2.86.1+dfsg/_clang-format 1970-01-01 00:00:00.000000000 +0000 +++ bullet-2.87+dfsg/_clang-format 2017-09-29 23:20:39.000000000 +0000 @@ -0,0 +1,91 @@ +--- +Language: Cpp +# BasedOnStyle: Google +AccessModifierOffset: -1 +AlignAfterOpenBracket: Align +AlignConsecutiveAssignments: false +AlignConsecutiveDeclarations: false +AlignEscapedNewlinesLeft: true +AlignOperands: true +AlignTrailingComments: true +AllowAllParametersOfDeclarationOnNextLine: true +AllowShortBlocksOnASingleLine: false +AllowShortCaseLabelsOnASingleLine: false +AllowShortFunctionsOnASingleLine: All +AllowShortIfStatementsOnASingleLine: true +AllowShortLoopsOnASingleLine: true +AlwaysBreakAfterDefinitionReturnType: None +AlwaysBreakAfterReturnType: None +AlwaysBreakBeforeMultilineStrings: true +AlwaysBreakTemplateDeclarations: true +BinPackArguments: true +BinPackParameters: true +BraceWrapping: + AfterClass: false + AfterControlStatement: false + AfterEnum: false + AfterFunction: false + AfterNamespace: false + AfterObjCDeclaration: false + AfterStruct: false + AfterUnion: false + BeforeCatch: false + BeforeElse: false + IndentBraces: false +BreakBeforeBinaryOperators: None +BreakBeforeBraces: Allman +BreakBeforeTernaryOperators: true +BreakConstructorInitializersBeforeComma: false +ColumnLimit: 0 +CommentPragmas: '^ IWYU pragma:' +ConstructorInitializerAllOnOneLineOrOnePerLine: true +ConstructorInitializerIndentWidth: 4 +ContinuationIndentWidth: 4 +Cpp11BracedListStyle: true +DerivePointerAlignment: true +DisableFormat: false +ExperimentalAutoDetectBinPacking: false +ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ] +IncludeCategories: + - Regex: '^<.*\.h>' + Priority: 1 + - Regex: '^<.*' + Priority: 2 + - Regex: '.*' + Priority: 3 +IndentCaseLabels: true +IndentWidth: 4 +IndentWrappedFunctionNames: false +KeepEmptyLinesAtTheStartOfBlocks: false +MacroBlockBegin: '' +MacroBlockEnd: '' +MaxEmptyLinesToKeep: 1 +NamespaceIndentation: None +ObjCBlockIndentWidth: 2 +ObjCSpaceAfterProperty: false +ObjCSpaceBeforeProtocolList: false +PenaltyBreakBeforeFirstCallParameter: 1 +PenaltyBreakComment: 300 +PenaltyBreakFirstLessLess: 120 +PenaltyBreakString: 1000 +PenaltyExcessCharacter: 1000000 +PenaltyReturnTypeOnItsOwnLine: 200 +PointerAlignment: Left +ReflowComments: false +SortIncludes: false +SpaceAfterCStyleCast: false +SpaceBeforeAssignmentOperators: true +SpaceBeforeParens: ControlStatements +SpaceInEmptyParentheses: false +SpacesBeforeTrailingComments: 2 +SpacesInAngles: false +SpacesInContainerLiterals: true +SpacesInCStyleCastParentheses: false +SpacesInParentheses: false +SpacesInSquareBrackets: false +AccessModifierOffset: -4 +Standard: Auto +TabWidth: 4 +UseTab: ForContinuationAndIndentation +... + diff -Nru bullet-2.86.1+dfsg/CMakeLists.txt bullet-2.87+dfsg/CMakeLists.txt --- bullet-2.86.1+dfsg/CMakeLists.txt 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/CMakeLists.txt 2017-09-29 23:20:39.000000000 +0000 @@ -1,6 +1,6 @@ cmake_minimum_required(VERSION 2.4.3) set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true) - +cmake_policy(SET CMP0017 NEW) #this line has to appear before 'PROJECT' in order to be able to disable incremental linking SET(MSVC_INCREMENTAL_DEFAULT ON) @@ -15,7 +15,6 @@ endif(POLICY CMP0042) ENDIF(COMMAND cmake_policy) - IF (NOT CMAKE_BUILD_TYPE) # SET(CMAKE_BUILD_TYPE "Debug") SET(CMAKE_BUILD_TYPE "Release") @@ -27,8 +26,33 @@ 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_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF) + +OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF) +IF (BULLET2_USE_THREAD_LOCKS) + OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF) + OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF) + IF (MSVC) + OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF) + ENDIF (MSVC) +ENDIF (BULLET2_USE_THREAD_LOCKS) + + +IF(NOT WIN32) + SET(DL ${CMAKE_DL_LIBS}) + IF(CMAKE_SYSTEM_NAME MATCHES "Linux") + MESSAGE("Linux") + SET(OSDEF -D_LINUX) + ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux") + IF(APPLE) + MESSAGE("Apple") + SET(OSDEF -D_DARWIN) + ELSE(APPLE) + MESSAGE("BSD?") + SET(OSDEF -D_BSD) + ENDIF(APPLE) + ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux") +ENDIF(NOT WIN32) OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF) OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF) @@ -85,15 +109,60 @@ ADD_DEFINITIONS(-D_WIN64) ELSE() OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON) + option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON) + IF (USE_MSVC_SSE) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE") ENDIF() + IF (USE_MSVC_SSE2) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2") + ENDIF() + ENDIF() + + option(USE_MSVC_AVX "Compile your program with AVX instructions" OFF) + + IF(USE_MSVC_AVX) + add_definitions(/arch:AVX) + ENDIF() + OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON) IF (USE_MSVC_FAST_FLOATINGPOINT) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast") ENDIF() + OPTION(USE_MSVC_STRING_POOLING "Use MSVC /GF string pooling option" ON) + IF (USE_MSVC_STRING_POOLING) + SET(CMAKE_C_FLAGS "/GF ${CMAKE_C_FLAGS}") + SET(CMAKE_CXX_FLAGS "/GF ${CMAKE_CXX_FLAGS}") + ENDIF() + + OPTION(USE_MSVC_FUNCTION_LEVEL_LINKING "Use MSVC /Gy function level linking option" ON) + IF(USE_MSVC_FUNCTION_LEVEL_LINKING) + SET(CMAKE_C_FLAGS "/Gy ${CMAKE_C_FLAGS}") + SET(CMAKE_CXX_FLAGS "/Gy ${CMAKE_CXX_FLAGS}") + set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:REF") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:REF") + ENDIF(USE_MSVC_FUNCTION_LEVEL_LINKING) + + OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option" OFF) + + + + OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option" ON) + + IF(USE_MSVC_COMDAT_FOLDING) + set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF") + ENDIF() + + OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option" ON) + IF(USE_MSVC_DISABLE_RTTI) + STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI + SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}") + SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}") + ENDIF(USE_MSVC_DISABLE_RTTI) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267") ENDIF(MSVC) @@ -163,6 +232,30 @@ ENDIF (NOT MSVC) ENDIF (BULLET2_USE_THREAD_LOCKS) +IF (BULLET2_USE_OPEN_MP_MULTITHREADING) + 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_USE_OPEN_MP_MULTITHREADING) + +IF (BULLET2_USE_TBB_MULTITHREADING) + 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_USE_TBB_MULTITHREADING) + +IF (BULLET2_USE_PPL_MULTITHREADING) + ADD_DEFINITIONS("-DBT_USE_PPL=1") +ENDIF (BULLET2_USE_PPL_MULTITHREADING) + IF (WIN32) OPTION(USE_GLUT "Use Glut" ON) ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS ) @@ -208,19 +301,40 @@ ENDIF() OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON) +# Optional Python configuration +# builds pybullet automatically if all the requirements are met +SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.") +SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 ) +SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS}) +SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH}) +OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF) +IF(EXACT_PYTHON_VERSION) + set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED) +ENDIF(EXACT_PYTHON_VERSION) +# first find the python interpreter +FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG}) +# python library should exactly match that of the interpreter +FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT) +SET(DEFAULT_BUILD_PYBULLET OFF) +IF(PYTHONLIBS_FOUND) + SET(DEFAULT_BUILD_PYBULLET ON) +ENDIF(PYTHONLIBS_FOUND) +OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" ${DEFAULT_BUILD_PYBULLET}) -OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF) +OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON) +OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON) 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) + OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON) + + OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF) + + IF(BUILD_PYBULLET_NUMPY) #include(FindNumPy) FIND_PACKAGE(NumPy) if (PYTHON_NUMPY_FOUND) @@ -230,13 +344,25 @@ 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) + + IF(APPLE) + OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" ON) + IF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK) + add_definitions(-DB3_NO_PYTHON_FRAMEWORK) + ENDIF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK) + OPTION(BUILD_PYBULLET_SHOW_PY_VERSION "Set when you want to show the PY_MAJOR_VERSION and PY_MAJOR_VERSION using #pragme message." OFF) + IF(BUILD_PYBULLET_SHOW_PY_VERSION) + add_definitions(-DB3_DUMP_PYTHON_VERSION) + ENDIF() + + ENDIF(APPLE) + ENDIF(BUILD_PYBULLET) IF(BUILD_BULLET3) @@ -272,14 +398,6 @@ 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) @@ -290,7 +408,6 @@ ENDIF(BUILD_EXTRAS) -#Maya Dynamica plugin is moved to http://dynamica.googlecode.com SUBDIRS(src) @@ -305,7 +422,15 @@ ENDIF() ENDIF() + IF(INSTALL_LIBS) + #INSTALL of other files requires CMake 2.6 + IF(BUILD_EXTRAS) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" ON) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + ENDIF(BUILD_EXTRAS) + SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" ) SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name") ## the following are directories where stuff will be installed to @@ -319,12 +444,8 @@ DESTINATION ${PKGCONFIG_INSTALL_PREFIX}) ENDIF(NOT MSVC) -ENDIF(INSTALL_LIBS) +ENDIF() -#INSTALL of other files requires CMake 2.6 -IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) - OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" OFF) -ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON) @@ -335,9 +456,8 @@ set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet ) list (APPEND BULLET_LIBRARIES LinearMath) -IF(BUILD_BULLET3) - list (APPEND BULLET_LIBRARIES BulletInverseDynamics) -ENDIF(BUILD_BULLET3) +list (APPEND BULLET_LIBRARIES Bullet3Common) +list (APPEND BULLET_LIBRARIES BulletInverseDynamics) list (APPEND BULLET_LIBRARIES BulletCollision) list (APPEND BULLET_LIBRARIES BulletDynamics) list (APPEND BULLET_LIBRARIES BulletSoftBody) @@ -346,7 +466,11 @@ ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake @ONLY ESCAPE_QUOTES ) -install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake +OPTION(INSTALL_CMAKE_FILES "Install generated CMake files" ON) + +IF (INSTALL_CMAKE_FILES) + install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake DESTINATION ${BULLET_CONFIG_CMAKE_PATH} ) +ENDIF (INSTALL_CMAKE_FILES) diff -Nru bullet-2.86.1+dfsg/data/32006GPUAABBs.txt bullet-2.87+dfsg/data/32006GPUAABBs.txt --- bullet-2.86.1+dfsg/data/32006GPUAABBs.txt 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/32006GPUAABBs.txt 1970-01-01 00:00:00.000000000 +0000 @@ -1,32006 +0,0 @@ --1636.79 -2067.04 2202.94 -1598.99 -2033.59 2258.58 --672.696 -584.342 196.916 -601.76 -513.444 267.91 -2624.14 -2039.38 2255.77 2669.48 -2002.88 2280.4 --1590.84 716.348 -403.473 -1529.03 763.402 -365.911 --1540 -1952.79 -2361.2 -1508.41 -1921.04 -2329.71 -33.3585 1552.23 -1662.97 61.5449 1582.01 -1634.42 --1253.94 -2675.89 -960.344 -1188.36 -2647.75 -922.462 -370.051 2067.48 -1059.1 407.344 2102.91 -1022.32 --532.16 1588.07 990.623 -487.668 1640.24 1057.6 --2606.86 -1647.43 480.635 -2581.14 -1621.7 506.204 -910.897 913.064 1858.15 950.256 954.434 1897.46 -393.349 219.975 -15.209 454.427 273.889 55.2721 -2510.12 1698.37 -578.581 2566.15 1746.82 -511.682 --1845.25 -2418.14 1751.45 -1809.47 -2390.68 1786.8 --1272.86 -62.8596 -869.482 -1219.95 -2.59143 -816.329 --1403.5 57.1507 -1269.02 -1356.82 110.719 -1230.07 -788.187 -2594.61 -1218.47 852.823 -2525.65 -1182.7 --167.594 -1937.34 367.443 -138.22 -1907.78 418.696 -1849.91 505.788 -426.327 1885.02 556.664 -393.031 --288.966 1247.65 1294.47 -250.317 1286.4 1333.07 --1766.23 1365.64 -1368.54 -1724.36 1404.2 -1328.35 --379.816 -749.776 780.682 -331.577 -690.071 803.922 --220.845 -1392.06 -17.4628 -180.832 -1342.96 8.49495 -23.6704 1247.96 -1755.94 78.8682 1317.2 -1713.54 -1143.02 606.355 2138.6 1204.92 668.414 2200.62 -1467.83 -816.847 1940.6 1531.98 -776.702 1988.98 -2107.64 420.67 -2520.63 2152.1 477.935 -2491.58 --1826.59 -1836.95 1433.36 -1787.34 -1787.03 1470.88 --1798.19 -2152.66 -217.669 -1733.59 -2116.26 -167.022 --1934.63 902.543 -2031.86 -1883.94 953.367 -1980.96 -1068.59 70.2073 -615.466 1138.84 140.254 -545.422 -493.486 1208.07 2611.91 563.877 1271.94 2671 -2447.31 48.9004 -1242.18 2490.03 91.8758 -1199.16 -1295.19 -2513.04 -1185.75 1343.76 -2483.9 -1134.76 -1789.49 -555.69 859.825 1860.08 -490.268 930.619 --861.344 -2140.13 1777.46 -811.712 -2105.95 1804.65 -1968.37 -1757.14 -66.1178 1996.02 -1722.15 -41.1194 --538.049 -1059.37 -335.007 -485.869 -998.1 -283.199 -408.247 1388.16 -802.572 483.011 1451.39 -726.802 --2527.79 -2193.61 465.441 -2474.26 -2152.63 510.458 -329.872 -561.831 2510.62 402.806 -488.687 2583.42 -2278.01 2457.53 1284.66 2342.18 2487.26 1327.29 -1349.8 -126.133 1345.07 1408.12 -80.252 1392.16 -185.431 1556.65 233.003 229.948 1588.7 301.05 -1055.52 1320.65 2448.89 1115.05 1356.33 2488.58 --2324.89 -355.182 -117.053 -2285.57 -280.639 -73.7529 --1610.77 1540.47 -589.959 -1563.82 1581.86 -552.968 -1097.37 1894.41 2411.09 1152.94 1959.45 2457.8 -2016.46 -2300.46 1231.29 2044.45 -2269.54 1273.91 -1937.35 -353.772 -926.437 1993.29 -306.537 -868.412 --2202.88 -215.042 -266.755 -2127.76 -139.363 -215.507 -190.319 2368.96 -1888.38 253.766 2420.46 -1824.32 -1272.82 445.281 2248.34 1325.57 511.117 2302.71 --618.204 -2671.4 -691.232 -554.026 -2604.8 -615.294 -1241.76 -726.662 1095.68 1291.97 -678.805 1145.2 -2034.37 -2389.54 487.051 2100.62 -2341.71 517.331 --1988.92 -1119.33 -2685.57 -1920.37 -1046.07 -2649.8 -30.5124 -1295.54 -2434.51 62.1913 -1232.18 -2371.79 -2489.08 -2057.79 -1232.97 2539.45 -2013.69 -1177.93 -1385.1 -2372.12 1182.44 1436.27 -2323.92 1235.93 -135.93 -182.132 -1530.8 166.222 -151.93 -1500.65 -1238.14 -1317.88 -2031.92 1290.92 -1245.66 -1997.92 --932.807 -830.815 -1357.25 -869.055 -774.362 -1283.24 -460.668 -1879.01 -1823.47 499.741 -1850.51 -1788.53 --2072.4 1751.46 74.0967 -2011.81 1811.97 134.735 -1843.83 2636.04 931.157 1887.74 2679.65 974.784 --1695.13 -2515.81 -2440.49 -1633.26 -2453.94 -2378.51 --2372.61 -276.586 1963.59 -2313.39 -247.655 2006.36 --223.789 -1614.67 2178.03 -190.529 -1573.72 2198.91 --1060.25 1567.57 1154.82 -1009.13 1606.42 1177.82 --2113.35 56.7606 2355.4 -2039.48 88.9733 2385.68 -609.589 1307.39 2146.69 670.805 1368.72 2208 -895.842 2067.48 2387.84 932.717 2130.96 2416.89 -904.456 2401.13 706.672 938.626 2454.23 746.47 -271.18 1916.31 -2396.4 304.246 1978.67 -2365.51 -1709.92 -71.8611 1346.96 1745.65 -27.7502 1392.03 --95.9976 -409.892 1424.28 -62.9962 -376.808 1457.27 -239.774 -1280.75 2441.14 295.443 -1228.15 2496.14 --718.381 -1434.04 597.558 -656.696 -1400.17 666.434 -1643.52 -2649.3 2228.07 1718.32 -2574.58 2302.82 -531.063 -2360.41 198.115 561.001 -2329.77 266.709 -350.72 883.483 2237.48 401.654 953.294 2274.32 --204.157 -2431.59 -1032.9 -167.073 -2361.35 -1009.43 --1382.87 -2456.86 -2427.52 -1334.73 -2408.71 -2379.31 --1737.56 -98.0648 1794.98 -1693.94 -31.7471 1844.91 -13.2093 -2517.41 585.77 85.4811 -2445.17 657.708 -933.643 1711.2 1871.11 1004.74 1745.2 1923.61 -930.675 1688.06 -941.823 1006.02 1746.78 -877.148 --342.026 222.138 730.569 -284.14 283.115 801.139 --1376.88 -1766.32 471.389 -1347.42 -1705.57 545.172 --843.264 -1254.65 -759.549 -779.443 -1200.57 -690.004 --1136.46 449.519 630.814 -1069.51 518.636 684.801 -1410.44 -977.71 702.168 1465.04 -937.747 758.397 -2207.03 1624.79 -17.2215 2252.69 1662.64 27.7437 --424.473 1563.56 2492.29 -366.807 1593.45 2548.98 -2042.16 -2251.02 -806.273 2098.03 -2220.97 -765.736 -263.657 -1003.26 -1812.84 320.327 -943.802 -1757.61 --349.566 1019.05 218.382 -299.774 1048.25 261.367 -1561.99 1429.62 1649.58 1600.63 1458.31 1672.42 --971.091 -2382.07 -1251.1 -935.122 -2332.71 -1199.31 -2282.61 -1545.6 2248.13 2338.66 -1489.69 2304.08 -721.411 -122.775 1748.36 783.202 -55.0723 1800.65 --894.38 1777.12 2525.74 -852.695 1818.83 2567.73 --308.135 613.039 1348.22 -241.819 672.945 1415.16 --2507.58 -2001.93 -1053.35 -2450.38 -1944.71 -996.186 --2525.29 -1636.72 1779.24 -2470.08 -1587.71 1833.26 --1140.4 1005.08 -2380.84 -1095.38 1044.31 -2344.45 --1598.6 -2243.77 147.923 -1540.52 -2199.44 178.434 --850.249 1769.18 -2170.71 -802.622 1809.95 -2128.37 --2457.67 402.381 -1574.07 -2425.41 478.347 -1542.93 -1333.5 1057.35 -978.767 1399.8 1101.39 -920.309 --681.171 -111.065 -256.859 -619.153 -44.0645 -216.535 -168.74 -2331.57 -2553.2 242.392 -2266.49 -2479.78 -847.223 -2073.91 -1552.15 879.111 -2030.5 -1515.87 --1697.51 1434.38 978.298 -1652.57 1472 1050.2 -1958.59 2392.91 1874.82 2011.4 2445.94 1927.61 -1464.64 -639.13 -380.602 1514.04 -579.213 -339.721 -1148.07 -2172.89 -319.243 1215.45 -2108.81 -267.942 --1681.77 -1907.82 1969.47 -1639.94 -1878.47 2009.33 -331.96 -722.434 1254.88 404.364 -695.763 1327.46 --62.7664 1293.17 -26.3398 -19.5704 1360.97 27.487 -1357.67 730.634 15.0952 1428.59 805.715 61.6087 --7.97117 1554.08 -1882.43 49.9928 1617.6 -1838.77 -2537.89 -2125.17 -2005.1 2566.61 -2082.44 -1967.4 -2282.96 -568.632 -2476.96 2319.28 -501.426 -2448.28 -507.528 -2697.16 2107.16 559.348 -2666.99 2129.37 --2166.21 -1731.19 -2220.45 -2125.17 -1678.57 -2179.56 -1795.93 941.381 -1468.99 1825.98 978.071 -1438.96 -58.8368 -1938.46 -429.389 89.2446 -1908.01 -398.874 --416.261 -287.593 -2253.44 -349.634 -220.995 -2186.86 --1803.26 -344.769 2412.15 -1746.75 -307.107 2447.01 --1774.45 -1038.21 1069.2 -1746.8 -1010.55 1096.74 -126.737 998.325 -198.593 190.539 1059.76 -156.789 -1833.81 2371.28 189.075 1878.4 2422.16 238.172 --1620.47 58.0464 -2300.75 -1566.74 88.1908 -2278.32 -1907.38 1560.23 2393.01 1957.61 1593.69 2422.13 --406.781 -609.752 -2164.75 -375.574 -545.793 -2118.36 --2293.33 641.844 1325.33 -2223.23 716.998 1397.47 -604.952 -4.44223 -1333.53 669.971 41.712 -1283.87 --1562.65 1581.97 -1884.24 -1500.06 1612.6 -1845.86 --2211.71 -2400.06 2465.81 -2175.22 -2363.42 2535.73 -863.978 -1027.75 219.128 890.775 -955.009 265.667 -445.775 745.439 181.084 507.904 807.593 243.089 --1622.63 -1818.97 -1242.34 -1578.19 -1762.7 -1206.93 -302.899 2215.57 2201.11 338.169 2278.66 2259.59 -272.36 1444.73 -953.887 300.547 1496.53 -903.296 -2337.86 -1687.43 -2465.76 2367.11 -1613.42 -2433.88 -1695.32 1860.9 2310.36 1756.98 1934.97 2345.9 --2136.73 -2679.49 -2649.79 -2105.89 -2623.29 -2622.66 -571.546 -527.553 -2653.36 603.825 -495.839 -2626.06 -754.122 1369.69 833.4 814.199 1437.95 893.104 --2077.33 1954.99 1760.71 -2025.06 1988.62 1796.53 -1858.11 -2197.12 -1652.47 1906.17 -2147.56 -1620.9 --1612.22 2082.31 -1227.07 -1581.06 2131.78 -1169.94 -2315.37 693.727 488.174 2351.71 736.044 549.262 --1208.82 -844.391 -1689.72 -1160.16 -795.597 -1641.12 -1485.56 -1288.49 1779.54 1540.17 -1234.5 1827.33 --2602.41 -1717.98 -1698.85 -2571.24 -1649.3 -1641.86 -1085.15 -374.133 -1269.13 1136.37 -337.851 -1217.96 --1962.06 2512.45 -285.866 -1888.2 2578.87 -212.968 --884.961 -2228.54 401.56 -816.625 -2197.3 469.778 --1505.39 -660.109 1307.64 -1441.06 -611.757 1343.64 --2518.91 1735.22 -2145.96 -2484.68 1766.63 -2100.56 -1669.56 -1486.25 2435.69 1704.29 -1430.71 2475.23 -527.72 -146.57 25.5377 603.448 -107.704 94.1064 -1596.48 2259.93 -2529.31 1649.52 2290.04 -2506.09 -118.22 67.688 1439.87 171.542 125.482 1472.56 --937.509 199.717 -808.666 -896.936 256.738 -749.071 -372.81 2391.96 -2599.02 448.956 2428 -2570.97 --1160.52 -657.184 -2433.73 -1127.66 -586.906 -2400 --11.8089 148.372 -482.578 42.6036 222.264 -409.616 --2017.61 1555.91 -680.167 -1964.14 1620.59 -636.52 -1512.62 405.738 -2377.54 1540.9 441.468 -2349.58 -1240.52 -43.4966 -1377.1 1313.38 29.4015 -1305.02 --1304.88 1925.86 1238.94 -1237.19 1993.59 1306.68 --1386.34 109.717 1468.96 -1360.43 136.766 1535.4 -2281.33 -1051.78 1382.04 2312.01 -1021.16 1412.88 -360.994 -843.357 964.991 417.779 -796.004 993.277 --2636.24 -1430.24 1859.85 -2577.32 -1366.04 1918.73 --1788.28 2488.26 1970.24 -1729.93 2556.55 2029.26 -349.936 -2175.25 1918.61 386.158 -2142.46 1972.12 -19.9149 -852.2 -1000.96 60.3543 -783.335 -967.75 -1055.36 -2693.27 -1192.85 1104.14 -2656.41 -1137.52 -1912.49 -928.357 -570.186 1945.77 -855.182 -524.756 --421.382 -2683.25 1663.71 -378.893 -2640.65 1706.44 --369.491 2349.47 1755.83 -330.017 2388.66 1795.15 --1033.58 -1884.12 1871.28 -966.575 -1844.61 1938.13 -1793.17 1857.79 2611.19 1830.12 1895.26 2677.34 --738.012 1199.23 353.764 -689.063 1240.38 382.941 -772.159 -17.0587 -2112.08 848.009 33.3806 -2049.12 --1934.55 2588.93 -2565.66 -1902.1 2621.28 -2533.26 -1983.6 -1469.34 -376.519 2026.68 -1438.4 -334.489 --2324.63 -2156.08 284.285 -2287.38 -2109.37 348.229 -226.685 -2237.65 1732.18 255.176 -2170.22 1765.76 -2224.04 -1242.3 -1145.08 2296.98 -1169.54 -1072.24 --1253.32 1121.07 2060.33 -1207.67 1188.95 2090.56 -1209.51 -2212.99 21.0072 1238.07 -2157.85 58.9394 -665.705 1563.78 -430.486 731.305 1631.71 -356.527 -335.663 2158.81 2069.04 381.422 2211.26 2121.65 --1488.13 -1241.97 1819.12 -1464.61 -1199.82 1859.48 -1151.72 -1003.81 -1843.36 1225.35 -948.159 -1770.58 --784.515 1562.96 1649.65 -756.246 1607.77 1677.61 --786.966 311.156 -1267.2 -747.221 350.84 -1227.29 --2482.49 -270.636 -860.292 -2436.3 -224.332 -814.036 --2378.44 1108.44 -1590.92 -2325.92 1159.62 -1538.81 -2329.2 -163.371 2315.04 2364.02 -97.6908 2360.08 -2075.6 -335.864 -163.904 2141.39 -279.139 -133.73 --135.347 2344.29 -1604.07 -72.5856 2395.84 -1564.42 --2272 947.354 -2050.37 -2232.67 1012.45 -2011.38 -390.194 778.763 620.774 456.094 819.501 663.313 -313.366 -333.451 -1998.49 373.756 -261.914 -1963.29 -583.62 -478.516 226.986 653.266 -424.317 262.892 -1137.58 -1956.06 -1890.16 1196.76 -1928.41 -1859.52 -273.532 1023.61 -2179.89 342.275 1059.69 -2106.01 -2345.32 562.206 -799.728 2388.25 616.166 -774.603 --643.547 219.565 1142.57 -600.981 262.073 1185.43 -566.982 -428.488 464.054 590.318 -388.414 503.083 --2571.12 1104.72 2348.78 -2526.37 1152.24 2411.48 -2577.99 -1286.82 1599.34 2647.12 -1219.61 1668.76 -1658.6 -1803.97 1836.2 1716.48 -1755.44 1856.98 -1119.97 -2156.23 2274.53 1187.97 -2088.47 2342.41 --1448.91 -1477.86 667.577 -1415.07 -1436.19 700.927 --518.231 2178.43 -2220.79 -450.155 2247.42 -2161.12 --8.5965 -28.2358 -549.09 35.3741 33.655 -495.027 --1638.17 2245.05 1472.33 -1606.44 2295.76 1503.78 -2286.54 1762.08 -380.568 2344.47 1789.37 -322.466 -1009.17 -1473.99 354.021 1051.76 -1438.5 412.737 -2280.91 2559.09 -2460.19 2336.4 2630.39 -2420.94 --2108.06 -958.529 -1232.26 -2077.38 -928.077 -1201.65 -344.081 -1960.43 479.417 384.595 -1918.57 533.599 -1721.77 1458.61 79.4986 1793.51 1529.36 151.649 --1996.71 -669.639 -896.765 -1935.82 -608.902 -835.751 --1556.19 1419.05 306.917 -1525.41 1471.37 347.789 --263.212 -781.357 1462.73 -203.269 -711.521 1506.23 -796.485 -1470.8 1938.44 850.061 -1417.09 1991.81 --1151.96 821.97 2223.22 -1084.57 889.005 2290.43 -1585.77 690.428 -57.5944 1621.5 728.492 -26.2662 --515.706 -2276.16 2347.19 -458.173 -2211.96 2381.43 -86.8591 159.582 -1050.63 127.951 204.23 -999.843 --486.209 1205.06 1242.37 -441.979 1249.74 1296.35 --2335.75 2421.32 719.106 -2263.35 2451.08 766.471 --2334.71 -26.0973 832.144 -2285.63 23.0791 881.058 --828.524 -1973.23 -43.4844 -779.71 -1921.84 30.9721 --2253.31 350.569 -1969.57 -2204.41 421.514 -1929.38 -629.328 2510.63 1396.8 689.615 2543.35 1461.37 -481.679 1519.86 626.626 511.357 1549.48 656.309 -352.588 -56.9163 -811.55 408.782 2.43847 -766.373 -2095.63 1683.18 -272.918 2127.74 1731.18 -239.918 -1106.48 -2099.61 2489.85 1154.49 -2043.62 2544.94 --1954.5 -1573.35 -2233.5 -1920.2 -1538.41 -2189.62 -849.074 -305.792 -2405.4 900.129 -273.665 -2357.59 --2583.57 -609.915 1320.24 -2530.45 -556.949 1373.39 -463.504 -2052.02 2393.91 535.936 -1995.77 2437.38 -1908.68 -1228.34 112.327 1946.76 -1175.31 159.311 -1721.85 -1364.99 -1078.83 1780 -1316.77 -1023.06 --1457.48 -2042.68 378.162 -1385.18 -1970.4 450.209 -352.382 -537.546 666.469 413.189 -476.733 727.058 --2137.48 -2243.33 1410.52 -2097.69 -2176.73 1439.7 --203.242 -2047.41 1380.71 -128.905 -1972.98 1455.1 --698.524 -1452.47 -80.064 -630.773 -1415.71 -27.075 --26.5176 701.448 661.787 37.4418 767.45 700.614 --1259.84 -130.625 425.76 -1188.16 -59.0698 497.287 --486.498 -1458.35 -1845.27 -455.192 -1396.94 -1814.12 --586.904 -45.9721 1606.96 -529.945 -7.80988 1663.82 -2218.17 -1761.11 2004.23 2255.35 -1730.47 2041.56 --2059.6 -2369.28 30.0271 -1988.93 -2298.7 100.752 --2597.74 908.72 803.294 -2551.81 954.615 848.928 -1608.15 717.39 2191.19 1659.11 767.673 2226.48 -359.232 2009.62 -1184.92 391.712 2082 -1134.33 --582.574 -1827.43 204.9 -535.199 -1760.03 252.099 --1537.32 894.401 1933.51 -1465.48 949.031 2006.08 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414.36 -2530.54 1697.33 -959.118 1579.17 -394.675 1032.39 1652.27 -321.542 --1624.09 -130.157 -2128.32 -1578.22 -60.5754 -2081.31 -398.849 -1919.72 1841.86 436.565 -1890.87 1906.34 --2346.71 -632.85 1922.22 -2276.94 -604.179 1952.45 -404.039 1702.15 -1721.59 449.366 1747.37 -1676.36 -1078.15 -2412.34 -1975.9 1122.07 -2374.24 -1901.43 --1299.67 26.0501 2488.37 -1268.48 55.9522 2526.22 -1525.38 463.116 -753.468 1599.37 495.506 -697.917 -2313.69 1664.27 1918.1 2362.2 1732.4 1961.69 -42.1934 2586.35 -541.757 111.171 2628.08 -472.189 --1470.54 -2519.94 2012.31 -1415.17 -2478.23 2084.57 --1228.49 -845.406 1546.67 -1185.69 -810.893 1576.72 --1370.74 -1169.23 -119.919 -1323.89 -1122.31 -73.2304 --1211.23 -810.758 1852.86 -1143.39 -778.18 1920.73 --781.884 1283.02 -462.134 -743.024 1317.27 -401.687 -1474.99 -4.04638 -1388.1 1509.51 24.8749 -1346.35 -11.1838 -685.47 -540.212 44.6086 -609.679 -482.431 --1519.24 2160.37 373.95 -1475.39 2188.91 406.61 --1239.69 -1858.44 -1543.42 -1207.9 -1791.56 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-815.385 -452.219 -2312.88 2621.35 518.882 -2273.02 2671.02 -990.343 2070.27 343.017 1028.24 2126.47 378.064 -1961.71 409.576 -396.242 2013.17 465.242 -345.124 -1049.61 -1943.34 2043.45 1113.03 -1890.87 2107.34 -1821.07 -497.35 -212.024 1859.37 -458.164 -171.012 -2285.35 1990.89 81.4765 2345.94 2019.68 135.6 -289.148 1623.97 514.872 335.434 1683.63 582.711 --842.446 2365.06 -893.429 -816.241 2433.94 -836.581 --1742.16 700.169 -1258.2 -1694.69 747.868 -1210.52 -2361.52 -2636.76 -46.3091 2398.84 -2568.91 -8.87452 -2342.35 -2067.59 -222.017 2372.46 -1996.3 -158.636 --1759.23 -2294.57 1158.93 -1697.36 -2235.3 1216.29 --2307.21 2394.56 -458.025 -2269.74 2460.54 -425.95 -1259.31 1480.47 488.275 1298.54 1523.08 528.109 -1406.81 1516.1 2203.01 1455.72 1579.73 2238.52 -1182.11 1221.63 422.381 1227.05 1292.54 486.575 --448.27 462.531 1331.56 -384.291 497.426 1402.03 -1875.43 1508.76 -1261.01 1935.59 1567.51 -1231.08 -248.961 -17.4613 -2493.11 293.872 27.6995 -2448.16 -21.8956 1635.13 -1100.65 86.8237 1671.35 -1035.55 --1570.21 569.558 898.599 -1522.79 627.465 959.537 -1417.84 -1287.06 -1339.88 1463.31 -1229.81 -1294.21 --2527.5 68.7244 729.782 -2455.8 127.665 801.96 -2073.97 2361.39 2301.76 2142.96 2411.2 2327.79 -1842.75 900.582 -233.838 1900.82 934.065 -162.498 -893.384 1921.8 -54.0009 922.728 1962.03 -2.0536 --1882.93 846.939 443.551 -1819.52 876.448 480.155 -744.768 2066.22 -1806.05 802.159 2110.72 -1737.07 -844.368 1220.88 -514.531 892.759 1252.57 -465.791 -621.795 -2379.65 1319.59 657.85 -2323.46 1378.44 -2060.55 1276.17 -1762.95 2099.15 1337.91 -1722.78 -1851.3 1632.86 642.414 1888.61 1703 679.372 -426.525 91.9832 -499.77 462.248 127.876 -463.911 --1394.3 -1212.19 1119.41 -1336.05 -1170.71 1154.76 --1931.82 2110.17 2631.46 -1897.94 2166.68 2687.68 -2151.81 -877.215 -2218.95 2218.16 -812.1 -2169.25 --2674.73 -1399.21 -2356.95 -2638.06 -1324.05 -2317.16 -2389.6 -1617 2587.6 2438.31 -1586.7 2646.18 -690.072 195.734 -1211.28 732.222 258.626 -1169.13 -888.108 234.516 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553.077 -1721.92 1055.94 607.475 -188.387 -13.7128 -1687.12 219.097 44.5377 -1626.69 --1150.56 1945.31 1331.79 -1083.8 2011.92 1398.3 --1294.34 -511.191 2259.42 -1264.07 -475.168 2289.63 --662.252 2343.58 -674.563 -627.762 2378.02 -640.102 --26.7565 1726.41 -143.315 12.9832 1764.68 -69.6376 -1708.51 1135.21 827.312 1775.27 1204.68 884.26 -1165.67 1246.28 2555.79 1203.22 1312.14 2592.94 --1192.27 2575.98 -1730.35 -1151.63 2609.32 -1675.47 --443.395 1555.18 1326.22 -410.632 1627.05 1359.14 --1023.55 -1734.11 -1048.76 -970.579 -1658.61 -995.623 --500.717 1678.89 2175.08 -454.844 1713.79 2223.84 -572.284 19.7637 2104.19 607.617 53.5809 2140.62 -1106.74 -643.262 -1462.2 1181.81 -611.122 -1425.02 -909.733 -1737.47 2063.25 950.237 -1669.81 2110.65 --2671.69 1956.65 -606.468 -2635.08 1993.26 -569.792 --2608.24 121.326 -1620.79 -2566.92 179.646 -1565.69 -646.984 -866.885 680.985 696.476 -814.954 730.86 -919.539 -336.367 -1976.8 968.162 -274.344 -1944.37 --184.459 2556.77 -1006.3 -114.106 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608.296 442.304 -30.2495 650.823 472.724 -2261.89 745.297 1941.21 2323.69 781.555 1982.82 -704.36 1032.77 72.2184 760.194 1083.56 104.839 -735.389 -2240.45 292.434 799.517 -2176.22 324.676 --1140.12 -2562.86 -2528.26 -1101.87 -2505.35 -2504.64 -534.989 2357.87 1380.42 575.859 2429.35 1404.03 -2137.57 -2292.52 -1733.04 2207.19 -2258.51 -1683.3 --1088.09 -2415.66 1469 -1016.83 -2344.64 1540.16 --1278.33 -2429.87 -1086.72 -1216 -2385.81 -1031.33 --361.61 -2237.12 -692.775 -295.975 -2192.04 -627.628 --589.305 2238.33 782.976 -540.826 2316.42 830.525 --82.9048 -355.199 54.5979 -26.7224 -324.572 96.4855 -2601.9 -2534.57 848.513 2655.96 -2485.69 881.4 --2019.58 -275.605 2619.83 -1982.84 -241.455 2654.52 -1324.49 -2087.58 548.329 1384.54 -2054.86 601.164 --2435.93 -2377.4 1187.81 -2379.99 -2331.35 1232.63 -1818.27 2229.43 1949.21 1872.51 2259.29 1977.97 --2541 1605.07 1908.76 -2486.88 1664.21 1936.53 -1296.98 1547.49 1699.78 1360.4 1578.85 1762.73 -769.222 129.345 -1784.01 830.378 196.915 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2464.01 -631.754 1791.02 188.719 704.483 1828 239.214 -2407.48 -1668.39 1254.9 2445.66 -1612.41 1297.61 --1225.39 567.609 -1342.98 -1187.79 636.144 -1317.4 -189.783 2022.37 -2191.26 257.18 2072.06 -2124.01 -856.9 2006.58 1410.33 913.389 2060.81 1445.16 --1894.79 -1215.85 1779.2 -1842 -1180.03 1856.54 --1487.89 199.396 -1166.12 -1429.15 239.871 -1104.54 -488.71 -1915.42 1837.22 562.665 -1861.84 1871.05 --740.519 -2123.86 799.821 -693.798 -2054 846.249 --2063.2 1685.74 -1302.41 -1995.48 1729.04 -1230.64 --2632.64 -173.232 1918.14 -2593.41 -117.493 1974.62 -1329.23 -1780.59 539.593 1392.39 -1710.03 601.532 -844.913 2617.45 -1838.05 878.246 2673.81 -1804.95 --1420.86 -1009.31 1799.99 -1381.4 -967.271 1839.48 --960.088 -768.35 2554.96 -919.712 -723.876 2603.49 --2570.19 653.211 1182.13 -2527.95 714.222 1241.4 -900.821 -410.217 -2664.8 956.412 -383.561 -2609.67 -1078.66 2631.07 -1902.35 1133.78 2665.26 -1853.17 -1852.21 304.812 1896.52 1895.8 360.818 1939.8 --734.365 -2161.43 376.743 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927.618 -2241.62 1896.42 960.754 -2555.55 1877.84 2444.37 2589.93 1949.58 2503.22 -1046.81 -805.064 1768.84 1097.66 -736.935 1820.43 -1510.83 189.852 -1681.36 1541.91 264.416 -1651.47 --635.713 -1060 512.724 -603.813 -1020.88 544.402 --1931.21 1722.39 2484.13 -1898.7 1767.86 2510.69 --1045.53 115.215 1675.46 -986.605 181.942 1734.16 --2626.01 -1628.5 -2167.5 -2592.85 -1586.65 -2141.39 -1999.05 1567.2 1056.21 2069.57 1633.51 1126.59 -1762.43 -1202.52 1362.59 1814.84 -1150.05 1414.81 -374.975 -361.827 1757.89 450.016 -288.434 1833.15 --2182.33 653.451 -873.08 -2151.23 695.857 -818.667 --1076.83 -1391.23 -2115.52 -1037.01 -1328.43 -2086.6 -2373.15 47.6598 1086.13 2435.08 109.93 1148.06 --1645.17 -2267.51 -1637.41 -1608.68 -2215.39 -1600.6 -2294.22 2011.3 1809.58 2322.26 2039.2 1837.47 -1231.47 883.447 -584.896 1296.59 948.35 -519.992 -391.633 -1868.5 199.7 438.172 -1822.03 246.398 --1468.09 876.434 2125.39 -1410.88 947.81 2185.07 --701.37 2163.5 253.812 -657.994 2196.76 297.204 -2386.17 244.647 -615.837 2430.97 296.33 -539.963 --1882.93 491.829 -412.412 -1854.06 544.295 -364.329 --1911.33 88.2424 -2415.01 -1879.97 122.918 -2387.41 -842.73 2365.91 -2151.54 908.845 2404.4 -2119.59 -1007.35 461.669 -1685.61 1035.74 494.058 -1658.11 --1805.76 -585.438 -669.509 -1777.2 -516.33 -640.839 --2558.94 203.927 1954.08 -2498.91 255.892 2014.02 --1288.67 -1724.36 -514.434 -1233.95 -1669.7 -459.385 -1357.31 891.934 -223.12 1420.4 935.713 -191.823 --1917.62 2246.76 -219.317 -1867.91 2273.86 -176.432 --1395.53 135.673 686.584 -1350.31 192.771 713.686 -792.835 -327.724 263.132 859.015 -286.159 312.332 -2640.54 1140.56 -1680.31 2666.51 1166.78 -1653.99 -2620.95 2030.24 -1059.82 2664.22 2073.45 -1016.54 -2190.55 248.501 948.137 2249.29 307.225 1006.7 -1706.53 1656.05 536.887 1743.17 1721.82 559.296 --2672.15 -1485.05 1740.62 -2640.16 -1412 1791.26 -287.923 1342.54 2032.75 350.024 1387.28 2066.7 --2262.23 -151.474 -1725.89 -2231.16 -82.0245 -1662.03 -1602.2 15.5396 2361.21 1644.51 68.4601 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1602.56 -1627.74 --2307.38 -1075.07 713.143 -2262.66 -1032.1 761.926 --766.447 -206.484 -2278.28 -710.348 -147.295 -2223.08 -2207.32 -2575.98 -2131.83 2234.04 -2532.43 -2106.02 -2430.14 1621.02 729.68 2460.39 1677.79 771.944 --344.114 -1813.85 -1249.31 -309.393 -1761.6 -1214.16 --1218.48 -1244.01 716.038 -1152.74 -1216.5 762.532 -210.624 -1462.61 1075.69 276.032 -1413.9 1147.02 -1906.21 -175.496 742.592 1935.41 -122.301 794.414 --1721.97 -1155.29 920.987 -1677.8 -1113.84 957.133 -1603.23 1807.24 853.434 1650.6 1841.3 900.187 -2118.22 -1586.4 -1649.53 2158.78 -1514.6 -1619.67 -111.759 -74.2604 -1880.58 165.536 -36.4807 -1830.76 --1427.77 -941.356 -1528.23 -1400.32 -914.105 -1500.74 --29.1754 1827.9 766.911 42.3977 1883.03 821.652 -2010.44 -376.672 226.716 2044.32 -301.623 259.937 --240.755 -2655.61 -325.566 -168.384 -2616.02 -253.369 --1527.96 311.545 -854.306 -1499.6 383.432 -825.668 -1209.13 2023.87 1434.83 1282.33 2085.38 1485.86 --948.499 -432.651 126.99 -912.535 -392.77 152.472 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772.779 661.416 1089.03 -159.295 1132.26 -791.168 206.644 1169.22 -760.305 --372.594 223.781 1166.77 -338.813 259.128 1230.1 -2626.19 -1736.72 -310.206 2680.14 -1681.09 -256.015 -1323.31 -683.736 957.399 1363.87 -646.331 997.551 -614.677 -1845.82 405.931 673.481 -1780.67 432.341 -175.726 445.322 -2376.26 242.516 512.176 -2309.3 -1835.01 1022.05 -922.765 1864.21 1051.03 -893.679 --1.07072 1693.88 498.822 49.4795 1723.62 522.568 -1626.48 2668.07 -793.51 1651.96 2693.5 -768.161 -1735.74 -87.1299 2411.53 1770.68 -42.1356 2453.1 -2179.17 1309.39 -181.213 2229.48 1351 -153.44 -616.298 2245.28 -619.577 655.129 2314.69 -591.975 --1107.35 2155.65 1595.54 -1056.06 2194.36 1638.66 --115.351 -2407.37 1182.28 -41.6398 -2352.64 1255.9 --2331.95 -120.514 -1025.94 -2268.05 -50.4807 -984.07 -101.547 -543.768 -1398.91 128.303 -516.22 -1359.75 --1216.87 1882.19 -1216.24 -1180.06 1954.91 -1180.27 --2351.42 -1706.94 -1305.18 -2275.55 -1654.06 -1248.33 -2033.57 -1250.12 -1455.85 2100.58 -1218.08 -1410.3 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2213.71 -863.088 -1981.63 -1668.19 -2521.77 -672.132 1702.2 -2478.42 -622.423 -626.394 -1622.48 -766.339 681.62 -1546.01 -728.69 --884.327 -1974.11 -1862.64 -835.689 -1925.35 -1813.97 --2173.09 2306.01 2298.63 -2145.8 2346.95 2325.3 --2401.73 768.543 -1612.01 -2346.04 800.246 -1536.89 -1005.57 157.674 1120.33 1054.71 193.983 1161.84 --1427.67 -1121.38 163.087 -1373.44 -1081.45 225.178 -761.222 -2172.43 -1788.4 818.718 -2115.02 -1731.12 -506.665 321.445 -170.465 543.527 369.656 -126.074 -797.384 349.919 410.528 854.808 401.177 437.397 -1401.65 1389.49 -53.8634 1439.19 1432.24 -16.7546 -535.022 -1431.97 2571.64 595.573 -1370.84 2600.13 --1131.99 1782.46 1450.05 -1074.27 1858.26 1481 --872.72 -2565.14 -2149.85 -834.565 -2511.42 -2110.44 -2426.76 -1067.94 -999.366 2469.15 -1017.29 -922.655 --1372.04 2359.3 1529.6 -1333.96 2414.08 1573.28 --1205.85 1066.71 2158.74 -1163.05 1094.98 2201.32 -2635.24 -138.829 1794.78 2671.88 -101.841 1831.44 -1824.28 -1294.3 -1952.58 1877.73 -1241.14 -1895.15 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-761.494 -0.866405 -107.038 -717.107 -2051.38 -1642.59 2082.76 2074.83 -1608.4 2128.68 -857.607 2007.34 2190.9 905.758 2043.44 2220.24 --1637.06 -1242.54 1133.54 -1604.28 -1188.4 1174.94 -1279.58 -2336.91 2591.7 1308.89 -2270.63 2632.16 -555.654 -1012.19 619.999 591.312 -976.734 655.743 --992.767 -212.885 2354.97 -958.905 -178.853 2388.96 --1351.44 -185.358 2115.6 -1300.42 -124.019 2151.85 -1245.33 1709.88 -908.273 1285.75 1736.09 -838.168 --891.643 75.4026 -2003.2 -836.703 142.631 -1968.48 -1020.01 1582.12 -1930.05 1050.95 1629.69 -1873.61 --1302.83 865.667 -1142.32 -1256.15 900.701 -1082.55 -2316.62 -148.567 870.831 2348.67 -93.5303 913.953 -1527.09 -1681.31 1503.06 1558.23 -1650.21 1534.43 -1526.05 1969.09 -1858.43 1590.15 2033.2 -1794.23 -2299.09 -2093.98 1994.23 2357.08 -2065.6 2052.15 -2445.02 1639.59 -2288.04 2492.46 1701.08 -2230.55 --1717.08 -586.34 1118.87 -1678.33 -554.048 1144.94 -571.149 1830.23 2564.1 601.187 1860.19 2590.26 -2066.26 -1822.72 -1963.32 2117.36 -1792.37 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1914.65 -1360.58 2573.23 1968.46 --1901.44 224.068 -281.894 -1871.5 294.495 -252.629 --2163.06 -1177.19 2158.58 -2128.82 -1143.1 2192.85 --291.493 2484.63 -2194.07 -226.395 2516.38 -2152 -497.962 -2660 88.6929 530.454 -2589.88 121.688 -1063.81 -1294.91 -805.982 1095.12 -1262.9 -776.169 --1761.79 -600.79 -2385.28 -1707.9 -573.377 -2329.79 --612.807 970.598 2582.6 -578.776 999.465 2626.06 -2044.53 1844.7 -599.148 2069.66 1870.13 -573.746 -2060.75 1526.49 -1283.98 2117.83 1587.05 -1227.43 -487.386 2187.07 -1823.43 547.969 2244.49 -1792.19 --2624.54 -858.927 -2001.85 -2565.83 -817.239 -1951.65 -782.004 809.008 1712.5 815.656 842.318 1745.99 -1115.15 684.437 -1169.98 1168.12 727.738 -1111.09 -1504.32 -554.54 1541.54 1580.58 -510.179 1589.24 -796.175 760.657 2056.95 830.069 795.555 2110.19 --1930.99 391.762 1008.36 -1907.1 419.145 1058.19 -2385.33 -840.443 -107.006 2442.27 -783.336 -49.9524 --3.19206 -241.884 1498.68 26.1334 -184.216 1523.68 --2670.37 -989.345 99.1862 -2594.84 -913.942 154.022 -835.902 2551.71 -2436.67 875.481 2589.21 -2384.27 --1687.56 404.65 -140.762 -1626.01 438.727 -119.468 -321.509 -1917.13 1174.51 358.283 -1868.09 1237.45 --64.5124 -817.221 372.659 -3.13375 -781.047 424.751 --1178.8 -1056.63 1751.56 -1109.53 -1019.22 1791.32 --1429.98 -242.205 891.295 -1403.24 -183.369 917.453 -1816.62 -383.714 243.022 1887.84 -312.15 314.45 -2001.2 -1524.72 679.472 2040.89 -1483.61 730.203 -826.72 -87.8827 2114.92 887.624 -21.1584 2176.1 --2358.33 1916.59 832.568 -2314.34 1985.4 869.52 -1393.24 -1570.03 1469.9 1435.64 -1505.11 1507.87 --950.09 1789.95 1689.83 -885.87 1819.37 1719.16 --1353.66 2010.18 2619.15 -1322.24 2055.2 2653.03 --1319.13 -1484.49 203.859 -1253.8 -1454.17 269.279 -1071.5 692.057 -949.861 1124.43 760.233 -883.104 -1351.95 2476.28 -114.879 1386.27 2521.75 -65.838 -2073.16 -1599.49 -768.579 2099.39 -1552.1 -741.953 -2591.24 1509.11 820.037 2642.74 1560.86 871.655 -702.156 -1886.89 -1251.08 740.232 -1821.75 -1216.07 --1767.8 -821.779 160.987 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688.06 -2338.04 -1574.3 734.279 -2271.47 --2099.06 -358.842 -1686.73 -2053.45 -301.221 -1641.43 --679.059 -1555.21 186.782 -652.3 -1512 214.292 -473.452 1267.08 1405.73 509.323 1334.11 1460.85 -2067.68 1521.86 -582.017 2133.01 1564.54 -535.661 --523.707 -1764.34 -392.854 -487.715 -1714.53 -323.78 --662.648 30.0769 891.341 -625.35 102.185 966.837 --172.854 -2503.92 1322.44 -143.129 -2434.92 1360.75 -656.659 2086.75 -46.0755 703.852 2113.33 0.949774 -1163.6 -84.6614 1980.23 1193 -10.7096 2039.76 --1637.96 -505.418 392.338 -1572.76 -439.762 424.689 --526.776 2624.14 205.909 -473.718 2661.84 249.408 -2443.48 911.022 1553.04 2494.72 962.178 1604.45 --2115.91 -21.9086 -297.617 -2079.23 26.0702 -261.513 --47.3285 -942.844 -2668.9 8.96527 -901.788 -2607.77 -2313.56 -1095.88 -2377.5 2341.63 -1068.06 -2349.73 -1705.18 -419.305 -1174.7 1736.36 -370.792 -1102.1 -903.034 975.891 2075.4 940.179 1048.71 2126.98 -607.512 -767.109 1607.33 651.072 -700.198 1659.03 --415.1 1756.89 411.224 -356.368 1804.55 449.727 --1292.26 -1092.19 1315.91 -1240.75 -1057.15 1364.97 --2542.32 1695.51 2025.3 -2513.21 1725.94 2054.44 -912.556 2228.03 1224.95 957.47 2289.36 1248.45 --1652.1 43.6891 -210.913 -1612.99 74.3371 -160.059 --600.815 -1500.56 1768.85 -553.391 -1456.57 1814.51 --1546.42 -2106.22 890.183 -1491.9 -2067.75 940.519 --982.05 -2149.26 -2065.81 -941.829 -2108.94 -2025.56 -1692.25 -1249.9 2465.57 1756.97 -1174.96 2540.14 -1514.91 2588.56 1980.07 1567.9 2657.5 2003.98 -971.016 -223.704 1377.83 1017.26 -156.381 1442.38 --640.205 2646.02 -567.865 -586.848 2682.13 -542.256 -30.2001 -1609.13 841.318 89.2121 -1569.49 870.168 --1065.78 2336.69 1611.61 -1024.39 2363.34 1653.19 -2105.63 2516.69 1195.7 2174.65 2591.22 1230.47 -256.272 2199.49 1348.12 314.984 2251.76 1375.44 -861.221 1555.17 -2359.39 907.595 1599.13 -2312.31 --1132.18 -196.154 696.03 -1069.77 -133.335 749.129 -2264.27 724.739 700.603 2289.74 750.218 726.243 -450.601 670.525 -1252.3 487.057 715.138 -1229.74 -2302.32 608.669 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180.423 136.555 -2459.93 -358.34 -1411.08 2513.82 -321.615 -1353.87 -525.479 -415.735 -1748.36 560.253 -381.323 -1714.95 -1530.56 2015.21 -2611.67 1574.23 2059.35 -2581.18 -1352.45 52.5111 716.679 1390.13 94.9469 740.891 -2236.86 443.56 2368.9 2294.21 472.508 2425.68 -1852.13 641.785 -2176.7 1905.06 682.104 -2123.92 --1750.27 -916.909 362.393 -1694.34 -846.02 415.599 -1300.56 -1157.1 -1372.6 1341.85 -1093.58 -1336.13 -250.043 1035.73 1730.16 311.228 1096.72 1791.47 -193.323 1260.24 241.308 241.403 1312.2 284.296 -2412.84 139.324 2584.67 2444.86 171.255 2616.73 -1478.75 -1427.03 -57.0665 1551.86 -1397.17 -11.1455 -2105.6 2292.12 -306.603 2137.8 2337.87 -260.76 --37.2217 -1651.65 1033.38 -0.0328061 -1594.66 1103.57 --2243.43 -1266.71 -2386.81 -2211.07 -1208.95 -2319.86 -862.735 2480.78 1602.73 886.119 2513.59 1628.27 -472.113 2015.42 1031.32 540.77 2069.12 1060.88 --675.631 -2276.06 1686.21 -606.594 -2220.66 1707.49 -2287.1 -1787.82 -668.861 2358.59 -1732.36 -605.723 -225.76 -2151.72 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964.983 -2221.48 1404.65 1322.49 2258.21 1449.05 1358.3 --138.2 -1086.3 -1998.69 -98.7529 -1033.73 -1959.13 --1771.73 2064.16 -303.154 -1696.23 2096.28 -254.943 --678.342 -129.119 2006.37 -615.997 -50.7489 2077.05 -630.015 1896.29 -1403.13 671.483 1967.49 -1361.84 -1817.74 -1170.88 -444.402 1845.08 -1143.69 -417.03 -918.264 -782.529 -2076.11 985.256 -714.913 -2024.17 --664.358 -867.6 1308.99 -592.104 -830.293 1337.49 -2247.93 -2667.08 1216.76 2310.62 -2592.72 1259.92 -1557.31 2435.48 -2274.25 1624.89 2503.32 -2206.57 -693.063 -647.509 2473.09 732.525 -608.383 2512.6 --1268.75 -2472.77 -2661.46 -1240.55 -2444.57 -2633.34 -581.578 -965.706 1342.9 630.576 -894.277 1369.32 -1277.2 1150.44 2485.04 1315.17 1188.65 2523.09 -930.395 1468.95 2635.62 977.187 1506.98 2673.63 -1525.82 123.529 1195.86 1588.25 164.644 1229.97 -1129.23 1609.38 1150.06 1162.24 1651.78 1185.84 --1430.8 -2320.73 -308.964 -1394.17 -2262.22 -276.05 --1226.33 499.602 2459.36 -1173.26 564.213 2500.47 -1452.59 -1298.21 420.1 1495.48 -1259.08 451.756 -1147.11 -1085.36 1011.5 1180.05 -1025.71 1043.86 --396.182 1725.7 1931.98 -327.189 1781.55 2004.42 --2471.97 512.526 -1945.83 -2398.97 552.69 -1886.37 --2331.4 -2052.15 2402.2 -2269.38 -2008.65 2467.57 -1306.14 1361.73 -2564.71 1341.2 1397.13 -2529.34 --2640.57 595.584 -2662.95 -2598.79 637.442 -2621.26 -2615.07 106.315 -2238.65 2654.62 169.086 -2197.63 -1993.51 -1323.55 -2083.6 2019.93 -1289.96 -2052.28 --2122.6 -1200.98 2358.84 -2078.35 -1150.46 2411.33 --1817.49 -2420.77 -871.356 -1775.71 -2384.43 -813.573 --1284.22 -975.393 73.3396 -1255.57 -915.574 98.9897 -1167.28 945.582 -2010.39 1203.95 985.479 -1976.98 --830.766 77.2739 -345.948 -788.977 118.288 -317.126 -118.185 -2682.18 1351.17 146.865 -2648.54 1386.54 -2275.94 -305.871 1624.51 2306.73 -255.558 1659.21 -11.9083 -2361.68 2040.4 44.9626 -2328.44 2073.74 --762.933 -1439.95 -1082.08 -722.776 -1399.71 -1041.85 -1235.13 -1572.29 -1199.18 1275.15 -1508.4 -1142.86 --1018.93 1904.29 1020.79 -973.63 1960.97 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325.139 -2612.61 -2203.69 --847.591 842.958 -1064.09 -787.811 901.341 -1039.98 -1106.27 -2257.23 2477.24 1158.75 -2217.74 2508.86 --2237.81 289.376 -2069.73 -2202.85 324.63 -2034.51 -923.083 180.323 755.092 965.141 255.727 797.984 --1709.15 2597.82 1516.33 -1648.82 2640.86 1575.09 -2281.05 -1669.55 -290.254 2334.08 -1616.55 -237.231 -1720.27 -1893 -2376.18 1784.48 -1820.4 -2307.05 -88.7518 2211.63 2600.53 166.188 2253.35 2645.13 --76.5886 1003.09 -1205.86 -10.3236 1059.53 -1145.66 -813.314 697.246 -1275.8 850.528 750.023 -1202.26 --1225.07 22.6155 994.722 -1149.8 63.789 1070.93 -2117.98 299.134 1430.45 2194.33 338.148 1473.6 --2472.66 -812.04 901.445 -2445.26 -759.09 930.832 -93.3837 120.986 172.629 131.92 159.606 211.3 --187.107 -881.089 1344.02 -154.439 -848.694 1376.53 -1069.15 1629.6 216.686 1121.67 1694.21 240.134 --96.9874 -1386.91 9.15589 -69.954 -1313.55 58.8522 -1213.84 1815.48 -657.495 1256.71 1853.53 -621.902 --1785.04 1923.8 -1139.68 -1756.67 1965.39 -1097.28 -2214.82 702.944 2082.74 2282.75 776.066 2136.83 --1821.44 -493.204 1779.14 -1748.69 -428.685 1809.36 -895.578 -1086.5 -2202.34 954.271 -1027.8 -2143.74 -2176.81 -1759.14 -1799.56 2236.05 -1684.56 -1771.14 -2044.86 -990.832 893.859 2108.05 -930.83 951.643 -195.611 -1772.22 -1407.29 232.198 -1738.85 -1367.44 --1134.81 2271.98 2086.19 -1100.3 2303.59 2136.16 --579.244 -1300.96 -343.844 -518.758 -1240.3 -283.064 --2515.72 -2266.81 852.647 -2463.98 -2192.46 904.038 -2439.11 -2699.33 523.845 2512.83 -2668.18 553.008 --678.458 2197.26 2211.47 -635.758 2269.98 2262.77 -519.31 1903.83 -2264.91 555.207 1940.01 -2228.66 -2649.72 -1658.61 852.136 2678.46 -1618.93 896.351 --212.392 -450.675 1369.35 -145.98 -406.147 1436.17 -1218.27 514.997 -418.605 1260.08 547.539 -381.982 --205.098 1878.95 -2388.47 -165.019 1943.02 -2359.14 -2252.55 112.989 1640.76 2286.36 157.829 1671.63 -2111.12 -489.455 582.372 2145.33 -423.486 630.906 -1188.02 715.504 350.693 1242.65 777.624 425.704 --2619.27 1947.34 300.612 -2560.51 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626.365 -322.347 2273.15 688.685 -301.74 --179.73 -2553.99 401.064 -151.078 -2506.64 450.461 -1117.27 5.71212 -1172.19 1169.42 41.6499 -1112.84 --932.581 1282.65 -438.634 -892.119 1345.99 -393.971 -155.143 1600.23 -1170.2 204.681 1635.86 -1132.71 --2491.99 2225.53 -1675.45 -2440.75 2256.65 -1635.39 --2392.12 209.225 197.989 -2329.82 271.449 260.332 --843.62 -94.3563 42.9134 -810.84 -52.4253 66.5883 --1889.7 1441.43 756.648 -1862.26 1468.87 784.265 -119.954 808.068 22.8322 170.921 878 74.3067 --538.917 1286.59 -1757.52 -499.78 1325.82 -1717.96 --1551.62 -2427.85 850.406 -1481.58 -2378.8 898.93 -147.619 -921.042 320.411 193.068 -875.425 365.826 -1.10808 1002.65 1406.21 56.5229 1050.08 1428.79 -256.232 2488.99 2057.41 319.11 2535.77 2123.43 --1888.95 -252.848 -1670.78 -1857.38 -221.149 -1639.16 -915.124 1495.67 706.309 966.808 1528.42 757.715 -2440.16 -2037.22 -234.803 2492.22 -1970.5 -205.434 -1257.83 -888.87 538.148 1295.11 -851.65 575.328 --1730.03 -1942.99 1388.31 -1693.08 -1898.79 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1906.46 2157.7 --624.057 -312.514 2490.51 -590.925 -279.665 2523.36 --1139.58 -1215.21 306.557 -1086.1 -1181.33 346.671 -691.414 1813.81 -1662.86 733.791 1846.82 -1594.23 -1217.92 2287.63 -2310 1249.21 2332.28 -2277.9 --295.736 92.6257 1101.13 -250.659 135.262 1131.59 -1267.66 -780.479 125.509 1302.34 -733.229 155.403 --1089.5 -1313.83 207.47 -1056.23 -1280.39 240.836 -55.7027 728.645 -1009.62 98.3136 759.1 -983.487 --2591.27 1267.85 -1981.1 -2514.28 1323.09 -1939.08 --818.963 -2573.83 -2271.7 -782.58 -2510.62 -2221.52 --1581.5 2336.3 -2031.88 -1539.98 2377.79 -1990.34 -1771.28 -1403.07 -1535.33 1798.29 -1352.87 -1504.1 --1487.98 -1253.24 89.5794 -1421.99 -1215.83 142.484 --2083.58 2549.94 464.049 -2029.6 2592.5 517.822 --1965.67 -933.613 -2483.08 -1910.78 -876.94 -2452.89 -2107.93 1165.63 -2059.55 2177.36 1211.25 -2012.34 --275.994 -2324.28 1963.14 -230.065 -2284.8 1991.51 --2442.91 2277.76 1695.43 -2415.33 2309.43 1721.51 --2356.05 -1358.07 -1256.96 -2312.54 -1298.23 -1213.68 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1469.76 --1474.19 2571.85 1953.9 -1441.27 2642.8 2001.5 --1694.7 -1792.11 -2128.45 -1622.57 -1759.37 -2091.81 --216.347 74.6746 267.537 -177.95 147.217 301.495 --530.181 -801.662 -2446.99 -475.981 -727.359 -2410.61 -2594.36 976.503 -1682.13 2661.05 1016.45 -1640 -1902.87 1278.04 -360.628 1958.02 1332.9 -305.723 --1506.32 -523.426 -1724.82 -1460.16 -474.065 -1693.35 -167.111 -16.8544 -1269.52 209.472 46.3195 -1240.03 --1511.92 2319.19 638.328 -1469.35 2361.84 681.001 -2132.06 -381.155 -291.854 2188.77 -324.5 -234.934 --2393.32 -1232.43 -1237.45 -2343.77 -1165.89 -1175.28 --2536.42 -925.875 1202.99 -2475.32 -890.992 1264.1 --835.906 289.454 1058.38 -802.39 364.777 1086.84 --192.16 -1990.3 -2358.61 -158.451 -1934.61 -2297.09 --1515.28 -441.448 2490.23 -1481.12 -407.041 2524.61 --576.968 -403.183 2065.44 -533.159 -351.248 2104.16 -941.57 509.253 -96.3041 983.17 550.777 -54.8557 --1191.93 1372.81 1151.79 -1157.78 1406.8 1186.05 -435.436 -1235.24 -1692.47 484.66 -1186.06 -1643.24 --1882.84 990.804 707.204 -1819.26 1020.77 761.889 --566.562 2026.91 2387.78 -501.25 2092.39 2453.33 -1872.46 -2616.87 -2029.23 1947.9 -2552.04 -1998.12 -98.6846 848.016 -1404.03 129.881 900.853 -1375.88 --940.57 1418.89 21.7346 -892.221 1472.63 51.6492 --253.851 2221.49 -2320.34 -226.413 2269.35 -2285.83 --824.188 -877.066 1815.29 -793.646 -837.072 1855.11 --2353.47 2470.22 2416.67 -2314.93 2500.45 2458.21 -2040.77 -2644.81 1343.33 2109.48 -2615 1412 --1482.92 1501.84 1306.83 -1408.74 1546.07 1385.12 --1213.85 1193.39 -1374.62 -1147.17 1260.33 -1307.88 --1746.69 1335.99 -1171.78 -1680.74 1412.41 -1126.39 --2511.85 462.923 2331.86 -2475.59 490.58 2351.98 --2625.82 894.551 1355.22 -2595.45 924.894 1385.35 -1295.48 -2500.16 1983.43 1327.64 -2456.02 2017.91 --485.269 803.425 226.722 -419.503 863.112 296.433 --1743.22 681.756 -477.643 -1676.82 712 -450.4 --1589.53 1387.78 -1140.01 -1539.75 1447.38 -1096.01 --1165.1 2413.67 2015.07 -1114.62 2464.3 2065.73 --413.371 1040.55 -1857.26 -369.641 1084.15 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1371.24 -879.935 -1387.21 1427.17 -843.792 -730.611 1306.74 2564.17 764.965 1341.33 2598.47 --1659.37 2159.92 -2374.62 -1602.9 2218.02 -2321.81 --15.6322 -1569.85 2275.55 38.7528 -1495.09 2317.94 -11.4304 150.77 1434.71 47.3259 221.912 1465 -2577.83 -1253.54 -543.8 2630.73 -1200.34 -490.888 --1272.04 1454.05 1980.2 -1226.62 1498.09 2034.82 --1008.58 -687.015 1975.09 -953.976 -637.097 2032.99 -196.048 -1239.53 1710.41 224.933 -1197.41 1755.24 --88.6612 -1113.34 -2384.12 -55.399 -1076.76 -2345.06 --1650.13 1967.52 343.397 -1614.89 2000.06 371.742 -2441.39 -760.149 1193.58 2486.09 -701.836 1254.72 -852.097 -2339.58 -625.816 921.571 -2299.02 -564.635 --920.69 -2628.94 162.944 -871.877 -2554.66 223.361 --2095.96 -2600.08 1386.18 -2040.8 -2556.45 1422.25 -1553.52 322.777 -2471.21 1589.75 378.517 -2435.34 --1928.37 610.696 2454.77 -1899.75 639.366 2483.53 --104.442 -1399.12 -2359.61 -80.3129 -1333.45 -2325.4 -2519.6 1863.04 2233.33 2553.39 1927.99 2267.08 -918.461 -1780.63 2605.43 962.971 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-1927.93 -1357.21 -526.875 -1875.85 -2319.25 1068.65 634.03 2385.85 1107.64 701.153 -1190.47 2329.1 1504.94 1260.53 2399.05 1575.17 -2041.21 -2319.82 -1427.52 2079.08 -2290.69 -1390.06 --1715.57 -2550.11 -1395.67 -1655.12 -2472.81 -1352.79 -1581.88 91.6987 2104.45 1618.44 142.16 2178.76 -2605.95 2153.95 91.7693 2638.78 2181.07 138.579 --507.485 683.811 1956.58 -480.548 736.689 1983.66 -1809.17 -878.065 -2645.44 1839.91 -842.581 -2588.68 -2612.92 1715.73 2088.24 2669.52 1774.59 2121.93 -997.855 2313.81 1974.63 1040.65 2356.72 2017.7 -624.506 -1070.26 -1166.64 678.263 -1008.45 -1142.24 --560.233 498.354 222.328 -532.099 526.612 250.376 --2140.04 2579.42 -38.0533 -2111.31 2642.25 -0.660154 --2527.88 -1716.41 -624.718 -2454.6 -1639.97 -583.921 -553.305 -1467.62 1582.24 612.625 -1408.17 1641.38 --1968.68 2229.04 -52.4553 -1933.11 2257.12 -16.5629 -1488.16 -183.14 -1755.39 1549.1 -109.584 -1722.16 --609.816 -384.301 1356.72 -561.47 -357.964 1405.57 -579.994 -776.115 471.052 633.645 -722.461 524.6 -1369.16 -320.829 519.121 1437.1 -252.326 563.892 --2633.05 -2635.08 1436.21 -2582.48 -2563.26 1467.51 --884.068 2534.7 -2357.35 -832.546 2572.5 -2324.75 --290.492 1924.9 -295.458 -245.546 1969.51 -250.465 --2217.03 1370.12 -437.433 -2156.95 1430.31 -377.113 -1687.94 2212.13 1545.72 1760.67 2284.83 1618.17 -2097.18 -99.0463 1971.7 2138.31 -54.4013 1995.47 -1766.14 -2094.83 -1533.51 1813.22 -2029.35 -1461.88 -1302.19 1106.49 226.016 1370.96 1150.29 249.062 --485.222 -1110.14 -127.343 -418.381 -1058.67 -60.2775 -615.099 2003.14 1108.72 669.014 2057.38 1158.77 --111.386 147.015 733.311 -83.3286 179.135 756.484 --304.37 1237.16 -1611.57 -254.682 1312.12 -1568.65 -2608.73 1050.51 -2347.95 2649.02 1090.27 -2275.16 -529.829 1994.61 785.271 579.011 2062.41 838.435 --1500.08 2399.34 -964.483 -1475.49 2431.43 -927.705 -1060.41 965.954 -1534.17 1128.64 1039.71 -1461 --1834.46 -2521.53 2528.18 -1794.32 -2485.66 2602.46 --102.341 2494.89 -448.545 -58.7636 2561.91 -415.904 -1820.88 -1688.55 -243.673 1884.5 -1649.99 -180.583 -1358.53 1094.84 331.97 1400.22 1143.09 373.726 --1742.06 1938.04 -2010.58 -1671.97 1991.7 -1956.26 -2084.09 1842.7 500.805 2145.99 1869.25 563.229 -80.2397 -2037.48 -2018.4 119.828 -1995.56 -1986.64 -944.225 -1018.08 2210.15 967.828 -984.055 2243.13 --2580.38 1637.38 393.394 -2512.26 1708.28 460.261 --1922.33 1778.25 -1809.53 -1867.04 1823 -1754.17 --2540.39 1345.42 2422.33 -2513.96 1371.97 2449.05 -1574.44 2161.18 -1489.62 1616.45 2211.71 -1445.42 -1193.13 -765.239 -1639.33 1227.33 -727.431 -1614.34 --2222.62 -2408.91 2607.38 -2147.5 -2370.53 2646.12 --758.204 -1594.01 -1523.13 -686.343 -1522.28 -1451.6 -960.608 -125.062 -2188.61 1014.82 -53.766 -2137.72 -1745.95 -2678.02 -1220.52 1795.18 -2611.2 -1192.18 -1104.79 111.466 745.75 1132.73 139.188 773.517 --2440.54 1915 1088.38 -2414.53 1940.92 1114.54 -584.91 635.613 -2623.99 627.273 668.704 -2578.09 -810.029 -869.738 -493.131 847.308 -804.633 -452.678 -717.396 2385.1 1385.97 748.703 2449.1 1421.75 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700.276 1939.67 -733.141 -280.457 1405.64 769.575 -247.146 1470.55 --1605.67 202.787 1825.4 -1575.13 236.458 1854.48 --2094.63 2150.42 -2588.38 -2067.43 2189.42 -2567.21 --463.285 1547.52 2654.83 -432.652 1610.7 2692.92 --515.201 -312.38 -53.1442 -442.365 -239.564 19.6767 -2234.73 2537.71 -736.979 2285.69 2588.72 -685.895 --2564.8 2576.46 1536.25 -2525.97 2630.11 1605.67 --2005.36 -788.358 1172.89 -1974.91 -741.486 1227.57 -630.411 1012.17 632.628 664.216 1044.5 677.931 --2359.62 -93.7984 2635.24 -2312.67 -61.3084 2682.51 -2070.08 -566.473 -1369.91 2102.25 -532.96 -1344.45 -2520.72 -1211.1 877.213 2551.26 -1180.48 903.969 --891.944 -1754.02 -1702.3 -847.41 -1709.5 -1657.79 -1155.4 109.373 -2261.08 1230.38 176.566 -2185.88 -47.1913 2187.13 -1116.94 104.389 2248.51 -1058.81 -1736.86 -98.0196 2269.27 1769.39 -49.7526 2293.44 --734.354 -707.359 273.094 -661.129 -672.154 346.432 -1552.07 -2512.21 162.406 1606.49 -2472.68 184.941 -561.73 32.249 -2644.25 597.02 84.7124 -2610.38 -926.121 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1138.01 238.984 --284.109 339.58 1808.09 -242.011 376.98 1849.92 --1436.47 -381.011 -8.0261 -1386.27 -351.76 63.9366 --2695.13 2430.16 -4.16893 -2655.96 2487.39 32.249 -1445.48 1134.23 -794.172 1507.48 1193.6 -754.45 --1848.57 -2236.95 2552.79 -1803.8 -2206.58 2575.64 -1479.81 655.574 2330.28 1525.13 702.342 2360.05 --163.13 -636.337 968.419 -135.465 -562.834 995.451 --1157.27 -980.833 -1009.28 -1103.56 -943.563 -973.733 -1009.03 -1772.97 1916.28 1052.96 -1720.1 1966.72 -121.006 -516.259 715.044 155.728 -481.435 749.608 --38.1714 1965.25 652.763 18.7742 2032.59 706.327 -47.6974 599.079 321.822 85.1016 644.068 377.983 --1418.15 -227.363 477.854 -1376.37 -197.801 519.154 -2239.34 -2418.94 957.006 2286.39 -2371.66 1004.03 --2674.11 -1202.38 -35.576 -2625.13 -1136.56 13.5942 --1386.69 1428.2 -2673.45 -1317.74 1483.16 -2635.86 --2496.97 -1670.98 1176.87 -2447.62 -1625.12 1205.94 -4.93982 597.907 1110.88 54.1253 649.727 1161.13 -332.562 -1427.27 1208.46 373.049 -1365 1237.32 --2009.83 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719.308 1189.22 -224.966 751.099 -493.647 -180.536 -2106.81 566.127 -107.742 -2034.13 --1404.31 -2681.63 458.782 -1332.99 -2646.2 485.267 -149.726 -2008.12 1216.13 216.83 -1966.78 1281.78 -919.073 -1452.51 -437.902 983.159 -1388.52 -374.106 -1440.64 1185.37 549.1 1479.47 1224.14 587.669 -391.193 -922.15 1733.28 442.187 -891.905 1765.57 -2512.49 -1879 -1035.96 2540.64 -1806.33 -978.167 --624.017 488.631 2546.37 -552.865 518.116 2577.93 -1581.88 490.718 60.4202 1645.08 520.978 86.2821 --1934.11 2132.16 1727.64 -1868.88 2174.32 1755.05 --2649.5 -1747.16 362.614 -2599.65 -1720.86 390.865 -1197.9 -445.419 2289.8 1272.39 -412.206 2316.64 -1423.29 1875.13 2643.95 1464.92 1933.1 2684.99 --54.2137 389.516 939.053 6.92089 416.033 1000.19 --960.294 1316.19 1455.62 -914.179 1353.39 1478.76 --1456.16 2170.83 242.051 -1427.84 2216.52 279.614 -1508.83 -1897.39 2595.74 1544.52 -1831.45 2632.89 --2015.44 -1918.45 -1656.31 -1982.91 -1861.1 -1623.56 --405.674 2615.64 914.991 -356.578 2667.24 949.817 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2628.7 -607.883 -2609.24 2673.28 -550.855 --990.475 -1405.96 229.374 -947.883 -1336.18 266.728 --1344.26 -2642.43 2042.43 -1272.24 -2565.64 2085.09 -1986.41 -480.286 1178.63 2020.45 -417.522 1212.26 -1285.67 2431.04 -1986.73 1354.91 2506.4 -1949.71 --1665.24 1732.23 -633.048 -1626.26 1800.95 -594.765 -1448.86 335.398 -1251.94 1487.27 403.626 -1213.37 --2676.25 804.569 -1354.29 -2644.11 863.232 -1315.71 -1352.66 -1908.24 2304.51 1413.96 -1871.67 2362 -1951.09 -2300.4 1980.45 1993.41 -2258.57 2010.04 --614.221 455.658 481.872 -561.056 520.419 535.458 --1460.32 -2606.89 -254.443 -1429.17 -2531.71 -229.733 -311.83 1967.84 -673.212 343.75 2010.2 -637.234 --1074.97 -1406.31 362.625 -1041.05 -1360.45 396.09 --468.613 -513.307 1002.68 -432.489 -445.761 1038.85 -2041.44 -1520.58 1330.18 2071.07 -1487.2 1359.98 -2507.26 2253.25 1310.51 2544.92 2286.68 1348.08 -744.9 -1040.64 -2574.69 803.82 -1009.24 -2545.53 --398.311 1634.25 -1310.74 -335.23 1680.94 -1247.93 --1371.84 360.304 -855.741 -1322.95 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341.698 -2630.21 -2524.31 2162.51 2494.24 2577.26 2197.14 2529.14 --2280.07 710.183 83.3149 -2207.06 753.524 105.584 --60.2751 1536.78 1478.07 -24.1799 1570.62 1519.81 -769.482 -1051.94 1102.55 798.311 -1023.07 1131.45 -733.301 1941.83 -2484.81 765.899 2004.72 -2414.26 --1397.1 893.072 393.534 -1339.01 925.791 432.323 -1775.69 -444.658 1210.78 1847.6 -401.095 1248.45 -1493.71 345.621 -886.761 1552.87 407.757 -843.678 -417.211 1964.39 2424.91 457.681 2040.29 2451.29 --965.276 726.861 2211.62 -935.843 754.118 2246.93 -527.477 -648.788 1863.47 573.456 -615.404 1926.11 -2342.21 -276.235 -29.0639 2419.42 -236.206 20.9561 -2380.18 -1476.76 -196.129 2412.41 -1425.16 -166.957 --2166.72 -2020.18 -291.632 -2110.49 -1955.08 -261.204 --2392.18 1717.68 2011.94 -2318.38 1785.9 2072.93 --1402.23 -2169.38 -1696.93 -1352.65 -2138.26 -1669.95 --1214.65 615.529 -1946.61 -1156.19 682.379 -1913.05 -2176.36 -86.111 -1095.25 2229.94 -32.7018 -1041.57 -1665.55 503.875 -810.925 1691.05 529.709 -785.203 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1670.62 1697.47 -2375.79 -1949.92 -34.2074 2444.11 -1888.75 5.67836 -1920.83 -2666.02 1969.36 1955.83 -2635.42 2013.36 --1325.63 -782.837 1644.94 -1301.22 -733.373 1673.63 -1394.68 418.902 -826.472 1435.93 455.956 -798.164 --470.901 878.687 -330.292 -442.259 907.182 -301.859 -2242.32 2116.27 1858.72 2273.44 2172.61 1890.41 -2044.73 -2493.28 2362.74 2090.98 -2453.71 2390.41 -1549.74 1743.23 -2434.45 1576.98 1816.37 -2393.71 --1292.36 -518.539 2165.36 -1253.87 -479.964 2203.61 --978.068 -2533.51 910.315 -943.548 -2487.94 944.078 --570.946 -2462.05 1213.52 -528.646 -2424.78 1249.16 --2563.88 -955.977 -2420.04 -2515.75 -907.94 -2371.64 -639.831 -919.715 -1484.84 697.362 -889.444 -1424.01 --61.7074 -2181.46 980.266 -13.0559 -2127.69 1030.02 -1415.23 265.449 -335.546 1452.92 301.657 -291.913 --690.668 1669.59 1303.29 -647.973 1720.26 1366.47 --1432.83 2357.49 -1131.11 -1376.2 2431.32 -1082.23 --795.78 1724.54 -404.486 -746.881 1769.65 -370.312 -1136.9 -1863.59 -1987.97 1189.23 -1835.18 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1848.91 1682.42 2693.16 -530.249 1915.59 1317.26 593.634 1943.32 1380.78 --796.652 1866.49 -2020.42 -765.2 1894.54 -1989.01 --2617.96 1024.37 1993.54 -2585.92 1066.2 2025.32 -2430.28 2580.6 -2067.98 2460.69 2626.03 -2000.89 -2459.33 -384.409 1814.85 2522.59 -346.308 1871.31 -1834.28 2435.86 -1976.89 1875.68 2502.76 -1940.26 -1840.28 2172.13 -690.116 1905.25 2225.71 -646.531 -2605.28 1360.04 2621.51 2647.31 1395.24 2663.41 --1449.06 1049.99 -441.183 -1420.2 1078.74 -412.487 -1278.49 -4.36002 -2380.97 1308.57 46.5466 -2350.28 --862.483 -1046.53 -2323.03 -827.056 -991.986 -2300.68 -1999.59 1489.91 2469.46 2032.35 1548.52 2497.69 -1586.85 -582.118 2325.91 1640.85 -523.871 2401.68 --2681.51 2011.97 -71.1578 -2640.2 2064.25 1.33047 --565.674 -358.035 -2488.92 -528.82 -281.594 -2439.81 --1488.49 -1849.15 -985.044 -1452.62 -1796.99 -956.209 --994.756 1314.47 914.444 -934.191 1388.95 947.7 -820.757 -778.272 -1440.94 861.238 -705.725 -1411.51 --2193.75 2013.41 408.193 -2148.52 2056.17 432.538 -18.2393 2583.55 -2059.1 45.0099 2610.49 -2032.1 -515.649 893.006 -786.634 550.437 946.951 -725.768 --721.194 -802.812 2581.94 -685.592 -775.312 2636.04 -1167.53 1572.35 -1856.3 1207.35 1602.54 -1816.66 -1816.42 -1244.86 -1480.11 1840.98 -1202.99 -1446.59 -2577.86 -507.019 -1386.31 2636.2 -445.092 -1358.97 -2657.09 1998.77 -391.461 2681.31 2041.1 -332.251 -2110.2 -2637.08 593.245 2144.59 -2562.59 656.334 -2359.12 -1219.88 87.8835 2412.84 -1147.23 131.096 --782.465 2478.81 165.862 -748.214 2515.96 201.271 --151.269 -827.385 1923.88 -104.326 -795.107 1977.75 --10.6264 -1089.87 -2681.62 20.4785 -1048.37 -2652.53 --2555.64 -468.006 2062.6 -2518.88 -402.795 2098.99 -10.6315 -1547.72 391.471 64.8783 -1485.98 433.164 -1729.99 -269.898 -2651.85 1761.27 -238.562 -2620.56 -1341.5 -1347.33 2139.7 1398.11 -1293.44 2173.84 --970.137 1474.02 1280.12 -939.334 1505.03 1311.07 --1657.21 2415.68 -676.14 -1614.69 2458.41 -633.572 -951.76 -995.073 1796.27 997.014 -922.398 1842.12 -1986.6 538.471 -2148.28 2015.38 567.378 -2119.46 -1101.94 1616.73 82.16 1152.8 1667.39 132.826 -831.699 -1303.05 476.311 895.186 -1261.94 514.186 -339.499 1324.92 -1971.21 365.93 1384.96 -1945.18 --2404.1 854.551 1714.65 -2366.24 929.897 1764.06 --2698.67 293.997 2558.83 -2672.47 320.375 2585.04 --152.434 271.142 -208.882 -97.5305 325.941 -153.926 -1718.64 2144.63 -1792.05 1793.74 2175.45 -1748.04 --1287.86 -1732.85 -1108.3 -1222.81 -1692.18 -1038.4 -1456.12 2008.29 992.102 1485.55 2045.87 1034.87 --804.079 1127.03 2230.82 -764.208 1195.14 2259.69 --501.256 -1662.3 420.063 -467.685 -1621.93 457.074 --1516.26 1533.34 -1356.09 -1451.76 1592.59 -1291.81 --688.78 -2421.74 -669.77 -644.17 -2371.72 -599.401 --62.2683 -2181.83 -2174.4 -24.8757 -2144.06 -2136.77 -487.915 419.976 -1908.75 515.052 474.665 -1881.52 --156.606 -317.077 1911.5 -113.226 -288.705 1938.08 --795.507 -1636.19 -1303.21 -746.008 -1563.4 -1250.75 -354.09 195.906 -2266.74 385.298 232.257 -2235.5 --1475.39 -921.762 881.641 -1437.01 -883.404 919.807 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1686.11 1641.58 -193.433 1713.54 --919.963 -1730.69 -836.943 -870.102 -1697.27 -802.488 -725.234 141.839 1950.55 776.044 174.066 1988.72 --170.289 -1124.77 -932.693 -105.976 -1089.4 -871.108 -533.766 -1372.1 -801.114 563.964 -1321.91 -739.918 -1280.69 -1992.77 1984.09 1330.39 -1962.36 2011.5 -801.089 789.032 -225.471 832.077 819.096 -189.294 --1530.88 1104.78 1117.06 -1488.12 1147.37 1159.74 -1727.8 2547.22 1312.94 1784.42 2611.19 1372.55 -1999.46 1295.48 13.9335 2074.99 1350.01 45.3088 -1557.55 -2101.25 1835.56 1613.52 -2070.66 1883.84 -738.267 2108.36 2415.63 778.016 2178.94 2455.9 --1402.28 -2389.65 1525.29 -1367.12 -2321.96 1560.24 --2558.57 -1716.34 -540.366 -2507.27 -1685.41 -505.409 --1898.67 -59.0036 2454.24 -1868.26 12.1278 2484.62 -42.4322 1974.59 -962.192 101.49 2008.37 -929.141 -2626.91 -133.714 2617.95 2685.88 -83.21 2642.39 -147.2 -2498.11 -1254.66 179.217 -2465.95 -1222.74 -452.462 1432.68 -1947.7 502.42 1505.69 -1903.22 --2233.28 -884.474 -1408.14 -2189.5 -827.596 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491.087 549.312 1317.88 523.465 580.162 --159.608 2258.29 -1261.86 -105.527 2325.03 -1230.84 --788.622 261.7 376.924 -751.5 302.882 420.705 --1858.06 -589.033 -108.027 -1828.33 -559.252 -78.3457 -461.96 1972.31 2085.53 538.689 2026.31 2149.92 -1486.73 720.447 1498.6 1540.14 756.587 1569.42 --2223.8 2187.22 -1124.94 -2182.5 2230.15 -1089.79 --1210.19 1944.37 2578.68 -1172.94 1981.91 2616.05 --2157.11 -2429.94 -2155.84 -2127.2 -2398.07 -2096.65 -2097.57 -2156.24 -1567.76 2153.58 -2096.94 -1523.29 --833.549 1923.71 -2107.6 -769.735 1957.17 -2063.55 -1293.91 -860.791 1370.24 1341.98 -796.469 1418.61 --153.169 -1526.67 2190.3 -87.595 -1478.68 2236.47 --1470.03 1087.89 -2484.75 -1427.72 1130.41 -2442.27 --2054.65 223.889 -854.992 -2010.56 297.873 -794.611 -1438.04 -1858.49 -1132.39 1478.06 -1804.47 -1087.13 -1561.1 -787.11 621.967 1592.68 -719.947 659.346 --1236.17 965.076 1662.43 -1174.18 1033.38 1712.14 -757 -80.1603 1111.6 791.612 -50.7138 1161.67 -702.604 -503.688 -1300.71 758.555 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930.72 -742.341 1662.25 980.68 --1405.3 -2683.97 -2362.82 -1346.9 -2626.63 -2332.91 --1937.39 -568.708 194.825 -1880.84 -514.06 235.841 --1633.53 29.6084 659.044 -1589.19 74.0357 703.595 --2544.36 -1034.92 403.579 -2510.57 -974.233 433.249 --612.341 1986.62 430.216 -576.808 2037.46 473.004 -1183 -1626.85 -2369.28 1237.36 -1572.43 -2315.22 -1682.11 -1657.51 -297.622 1737.76 -1622.04 -263.069 -1779.36 2539.55 493.113 1814.51 2584.83 528.185 --2209.88 -2156.01 -168.825 -2156.46 -2122.03 -148 -2066.92 2278.01 686.529 2096.03 2346.2 715.945 --1444.92 2637.45 -1188.39 -1420.35 2679.98 -1146.24 -1163.56 -77.3593 -2118.96 1222.38 -45.5085 -2089 --530.141 -14.7796 1812.45 -503.439 12.0354 1839.04 --610.627 216.189 -2596.37 -583.256 243.501 -2568.93 -246.503 2471.28 2499.4 285.101 2498.51 2522.81 -1301.51 -1775.91 2380.11 1344.13 -1746.49 2453.1 -2294.88 2497.73 -268.831 2327.4 2530.29 -236.343 --1986.05 1079.41 515.793 -1947.78 1119.94 577.854 --1234.22 468.023 -2363.26 -1202.99 522.528 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960.951 -1873.5 --561.983 -2618.41 -892.16 -511.161 -2588.1 -828.651 -956.912 1311.39 2311.85 1013.25 1375.32 2343.13 -1136.28 1913.14 1418.71 1166.19 1943.01 1452.61 -1443.27 -937.924 2091.98 1485.02 -907.871 2133.94 --202.624 -568.041 -2653.61 -161.738 -513.828 -2620.73 --1836.47 330.236 -990.336 -1780.6 364.02 -955.649 -2527.24 -69.7654 -922.544 2572.73 -42.4597 -876.851 -449.91 -1799.2 -786.498 487.202 -1753.47 -734.077 -717.095 -702.565 -2486.65 763.903 -641.028 -2437.78 -1756.68 -907.775 2013.1 1785.8 -838.999 2061.5 -2430.98 551.561 2106.49 2460.41 596.777 2154.59 --710.268 2377.32 2360.34 -673.137 2420.56 2425.58 -490.623 -1975.67 -750.181 524.969 -1921.56 -710.548 -261.139 2598.9 226.707 288.822 2626.39 254.186 --22.4611 2345.15 -969.245 5.08221 2384.95 -897.748 -2497.76 828.503 2004.38 2549.01 868.489 2030.09 -172.968 690.899 2176.31 208.805 726.866 2212.15 -916.645 1500.41 -1845.53 963.611 1547.49 -1798.44 --2139.87 -2671.27 -660.146 -2110.91 -2616.22 -631.074 -490.302 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974.155 -1344.35 250.177 685.712 1388.71 294.578 730.339 --2116.13 768.57 1070.84 -2088.2 829.565 1123.47 -2028.8 1318.22 -91.534 2056.55 1344.28 -60.7491 --1413.81 2534.84 -1841.19 -1357.88 2599.78 -1802.63 -1640.5 1814.47 -351.323 1703.7 1876.19 -313.426 -630.154 -1998 -490.244 662.816 -1956.49 -416.011 --459.608 -1641.53 1585.37 -420.507 -1605.38 1608.14 --2317.41 1030.24 759.898 -2244.56 1079.36 833.023 -698.548 1043.42 388.273 728.738 1102.47 426.453 --619.261 -1593.65 -1726.78 -554.383 -1563.52 -1679.49 -1781.28 -1512.33 -1937.37 1826.15 -1485.61 -1892.21 -2539.68 -1472.14 -1449.73 2592.36 -1437.71 -1413.62 -663.361 411.892 -2471.42 686.716 446.864 -2436.11 --2268.24 1343.05 664.239 -2228.47 1380.36 712.24 --2057.99 -2476.98 -1768.69 -1996.66 -2433.97 -1704.86 --2082.95 2043.59 1064.68 -2010.81 2080.09 1090.39 --689.276 1364.37 -2394.58 -642.282 1397.3 -2338.02 --568.082 2525.15 -1439.58 -540.766 2558.24 -1412.26 -731.878 1125.76 1153.67 760.722 1153.63 1180.78 --2085.36 819.987 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554.865 -2499.6 -767.068 899.775 -1713.47 791.736 928.759 -1663.22 --869.817 172.5 1613.54 -829.384 239.353 1673.26 --1179.62 2384.37 -285.164 -1151.47 2423.33 -210.28 --905.835 -1351.86 -179.762 -839.21 -1320.03 -113.042 -2183.95 -2295.75 1957.27 2235.87 -2250.32 2009.01 --590.995 -1306.15 638.969 -561.164 -1274.94 660.69 -1526.37 -741.923 -2261.02 1593.65 -710.883 -2194.5 -677.477 -1163.97 -2312.86 729.465 -1132.67 -2275.85 -2484.59 -1737.71 -2194.06 2539.06 -1693.83 -2161.23 --2085.45 -1447.62 2221.24 -2027.7 -1404.96 2280.59 --1245.64 1238.19 2573.74 -1201.69 1265.57 2617.28 --932.202 -585.63 -356.747 -898.404 -548.772 -325.755 -382.09 2006.97 -1598.91 416.967 2041.8 -1564.13 -2117.49 -2394.55 2106.03 2155.95 -2355.98 2144.68 --146.374 -2122.17 2063.3 -100.303 -2096.17 2109.25 -1850.02 541.823 1327.83 1911.02 575.648 1371.15 --1243.2 153.126 -1700.01 -1199.44 211.714 -1677.2 --918.974 -899.292 -387.444 -878.115 -858.569 -346.486 --1608.41 -1986.57 2406.59 -1585.21 -1957.21 2446.29 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2024.63 355.451 -1416.55 -7.16744 1885.69 1471.31 58.2575 1940.27 -2198.92 -2048.64 253.448 2233.29 -2014.28 287.424 -43.2724 2207.14 -891.126 66.9903 2269.79 -854.736 -52.5318 -1528.24 1926.69 86.6875 -1498.11 1961.5 -1127.05 2395.34 252.063 1166.03 2443.51 288.327 --1370.66 461.128 883.282 -1337.32 490.028 917.413 -1970.01 1941.05 -831.142 2005.64 2008.13 -785.754 -153.942 -1340.97 -2652.69 181.132 -1313.8 -2625.57 --1099.97 -1773.56 -997.047 -1069.6 -1716.12 -966.565 -945.763 -1054.71 -712.424 1016 -1026.94 -676.758 --1341.62 2138.63 -94.9716 -1285.07 2172.81 -48.3445 --964.344 -2271.91 2364.6 -928.049 -2235.42 2401.06 -461.51 1288.29 -2549.72 493.597 1331.3 -2492.02 -1044.39 -1865.76 -2431.68 1096.87 -1825.07 -2384.01 -359.478 -1020.82 -2368.05 422.398 -986.748 -2305.9 -2018.77 1364.37 -2568.74 2052.76 1426.02 -2530.31 --1643.88 1779.52 2264.86 -1607.15 1807.24 2319.66 --1520.79 1990.42 658.722 -1495.2 2019.06 704.846 -690.114 -2487.62 1816.04 724.62 -2425.91 1854.73 -1641.27 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2505.98 -317.842 -1202.61 -2571.79 1471.59 -299.429 2596.16 1546.03 -276.215 --110.447 1963.1 2610.52 -54.3735 2019.1 2666.64 --2462.3 -1962.73 -1347.49 -2428.71 -1929.23 -1313.89 -452.655 139.24 -2278.83 480.129 197.242 -2243.4 -1481.37 676.215 -454.024 1511.92 715.626 -395.621 -757.796 1997.45 2516.88 800.421 2063.7 2570.44 --2463.31 -516.957 906.16 -2392.87 -487.513 938.881 -2386.13 311.262 693.052 2411.56 372.139 713.71 --2115.77 2050.58 -1805.43 -2082.02 2084.39 -1771.92 -269.801 -2644.72 188.219 329.41 -2616.42 240.522 -2113.74 2088.41 1680.88 2170.38 2153.08 1752.07 --2455.72 -1487.3 -1348.35 -2424.08 -1442.81 -1285.59 --1084.02 680.911 -1676.93 -1049.7 714.869 -1642.79 -2639.19 -1338.07 -271.558 2671.74 -1288.47 -236.515 -1702.55 -1304.61 292.111 1730.32 -1276.65 320.035 --302.415 -2209.35 -2046.52 -265.809 -2148.24 -2012.55 --2289.88 -1149.81 1981.8 -2242.35 -1092.47 2007.5 --1670.08 101.871 2377.43 -1647.06 153.189 2421.07 --617.335 434.29 376.552 -588.817 462.707 404.957 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2438.2 -1786.1 1540.91 2489.47 --2624.7 677.569 2713.94 -2580.52 750.801 2758.16 --2480.32 1753.59 -20.515 -2440.28 1823.67 1.58921 --1202.18 -2616.75 3132.47 -1143.25 -2587.95 3182.13 -434.226 2671.2 2932.8 492.304 2715.76 2985.33 -119.449 -2830.9 793.571 165.064 -2755.24 838.58 --1952.92 3041.38 2164.04 -1924.2 3067.38 2183.62 -1053.77 -2020.52 649.306 1096.06 -1951.4 685.145 -3215.61 -3350.95 1126.89 3244.59 -3285.89 1168.53 -2080.3 -3072.92 -3280.2 2108.95 -2997.56 -3257.01 -2572.41 -179.5 -1709.18 2640.93 -120.211 -1643.73 -375.516 -2243.09 -20.52 403.226 -2183.88 29.6167 --103.662 -2561.29 -3168.24 -52.8565 -2522.76 -3130.81 -3108.61 -2325.51 -2161.24 3148.3 -2280.55 -2121.35 --220.179 2227.41 3119.59 -174.066 2286.62 3164.81 --2135.28 -2265.59 2167.04 -2090.24 -2219.03 2222.13 -1674.3 -3394.05 2955.6 1717.75 -3350.67 2998.95 -3042.85 -163.051 1373.15 3098.38 -94.401 1430.03 -1247.61 -590.546 2615.77 1278.65 -554.813 2660.42 -1119.39 2566.85 581.873 1184.15 2614.47 629.58 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53.8849 852.164 -783.51 82.1873 --1182.07 1985.09 -3295.71 -1116.69 2018.62 -3245.15 --907.061 -1395.57 -2148.83 -831.103 -1340.26 -2115.4 --265.101 53.8115 -1596.83 -188.664 95.2286 -1570.72 -467.991 629.453 -2291.65 529.616 685.63 -2234.06 --2809.59 -1633.45 -2517.95 -2738.53 -1585.31 -2487.14 -258.619 982.96 1856.52 293.595 1017.86 1891.47 --2726.96 -1578.82 3137.11 -2658.1 -1531.72 3200.51 -970.233 1685.28 -3006.37 1004.51 1748.28 -2972.29 --1304.34 3274.05 -2949.59 -1235.72 3310.12 -2897.83 -2718.25 1102.91 -1028.11 2750.23 1130.9 -996.113 --1496.74 336.195 2280.55 -1454.84 377.526 2342.93 --645.036 -190.63 -185.295 -607.991 -131.316 -156.25 -445.439 -2856.86 -2201.66 496.575 -2788.63 -2173.92 --3374.75 -2133.81 -2583.57 -3304.56 -2084.01 -2537.06 --911.794 -2073.42 -1247.16 -865.997 -1998.49 -1201.38 --411.657 -518.185 -1087.22 -367.005 -452.49 -1028.94 -2545.08 -2464.98 -56.8541 2616.7 -2398.96 5.61493 --1366.73 1064.84 1077.48 -1333.05 1092.73 1107.61 --2451.91 1985.37 190.967 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580.794 60.0029 --768.849 -3042.4 -2414.55 -721.291 -2994.83 -2367.08 --576.825 -3157.36 2871.87 -529.331 -3115.68 2916.58 --29.2315 -2739.4 -1338.28 31.2565 -2680.61 -1284.75 -1210.45 1625.21 -1646.84 1262.67 1693.31 -1594.19 -2739.8 2205.76 -388.662 2771.83 2244.6 -340.718 -2886.31 1526.72 2806.71 2913.34 1557.53 2834.36 -1388.16 -1486.4 2743.6 1452.28 -1442.7 2800.23 --1153.29 2398.57 1705.72 -1111.75 2440.34 1747.35 -706.527 2773.8 -713.696 755.639 2850.43 -661.632 --2252.19 -3372.78 -2916.36 -2222.14 -3333.84 -2856.24 -3128.39 -2244.64 2627.02 3177.87 -2194.95 2676.6 -3308.55 1152.45 3089.22 3356.3 1227.22 3125.8 --1376.74 1963.96 1359.04 -1330.16 2033.49 1398.61 --1132.64 -2747.9 -2018.75 -1062.33 -2716.14 -1968.22 --2266.73 -1750.31 2718.03 -2195.68 -1715.03 2789.56 -2897.05 -2084.95 1723.98 2954.45 -2036.48 1780.86 -2556.03 2096.09 -356.599 2597.45 2157.01 -303.632 --1670.29 -1883.65 3203.35 -1617.62 -1826.57 3240.37 -2690.49 3136.11 -214.645 2736.63 3211.21 -167.36 -3230.56 1156.07 1815.31 3289.82 1184.38 1874.66 -2627.25 2501.92 1127.51 2698.59 2567.3 1172.47 --3189.04 886.277 -1584.71 -3122.42 953.036 -1517.98 --43.1383 143.822 3363.16 7.74773 169.798 3394.42 --1638.56 1792.33 -2977.46 -1599.83 1837.1 -2938.93 -474.248 -1687.06 -3271.18 519.678 -1645.36 -3223.72 --126.983 1803.56 -2255.82 -68.6566 1840.27 -2215.65 -2552.28 -2102.29 -2827.36 2592.32 -2043.29 -2787.76 --1958.18 -774.079 3324.86 -1903.41 -719.623 3379.46 --1601.76 1006.22 516.518 -1559.45 1048.37 558.783 --1704.58 795.457 -1631.94 -1659.24 848.81 -1579.21 -885.951 152.888 -444.064 935.305 227.303 -397.339 --806.373 2109.97 -2422.04 -740.462 2176.59 -2363.38 --3108.38 -3372.18 -1766.16 -3081.64 -3345.7 -1739.52 -2969.1 3072.3 277.139 3012.36 3128.16 319.44 -1972.07 2394.19 -724.03 2010 2433.28 -686.657 -1328.72 2863.47 1860.72 1394.62 2929.45 1926.35 --3151.46 1032.71 931.823 -3087.78 1096.49 995.726 -2220.69 2200.24 785.743 2253.19 2265.48 829.378 -1470.18 1248.63 1182.06 1516.82 1317.95 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580.309 -2426.3 -1056.8 621.656 --2112.75 2263.01 -139.776 -2061 2314.71 -88.2026 --709.922 -305.713 1447.88 -651.021 -245.189 1506.79 -668.394 1671.97 -2946.16 706.905 1733.64 -2897.26 -1176.57 -2299.83 424.647 1214.28 -2242.23 464.663 --3260.16 -1926.98 -2122.62 -3228.03 -1870.16 -2048.67 -2688.66 1149.66 -2128.47 2762.68 1215.88 -2093.32 -407.343 161.95 -840.079 465.425 233.184 -787.226 -797.155 -395.03 2648.59 870.412 -341.82 2697.47 -2649.83 2316.74 216.643 2685.35 2393.45 287.517 -2405.26 -1984.25 -1157.7 2438.32 -1942.14 -1119 --1059.28 2006.15 -3063.34 -1003.4 2062.09 -3007.41 -2586.5 474.233 895.008 2620.64 519.381 928.79 --2175.54 -2683.35 1306.3 -2102.73 -2636.61 1359.56 -2710.23 -831.818 1094.62 2745.65 -764.705 1130.2 --3377.78 -2741.53 3183.29 -3341.18 -2670.12 3220.42 --102.233 -1739.51 3315.45 -45.3824 -1698.31 3383.78 --73.4614 2150.67 999.379 -17.6243 2204.16 1056.34 --1744.49 1714.5 426.704 -1670.5 1776.32 465.949 -2701.46 -2141.26 3074.2 2763.57 -2066.67 3119.15 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1931 603.749 -1752.1 1984.9 -3253.01 3350.19 908.026 3294.21 3391.33 948.686 -3136.22 905.1 -1963.51 3174.79 945.046 -1939.44 --2954.03 -282.916 -3266.54 -2903.51 -233.689 -3241.44 -1685.19 1039.98 -2239.44 1724.54 1086.65 -2166.95 -3311.25 1050.52 -2773 3363.19 1114.31 -2732.72 --690.78 -1343.29 1935.12 -631.632 -1292.07 1982.68 --2641.26 -212.72 -3387.13 -2604.53 -137.804 -3359.51 -1928.99 -26.9173 -2820.39 1992.68 36.717 -2756.93 --3145.19 1329.77 2669.2 -3089.12 1361.56 2725.13 --811.788 175.662 -1871.86 -779.787 240.336 -1806.16 --2768.07 1914.55 1535.91 -2739.68 1983.47 1564.52 --328.965 2943.42 -3225.16 -269.966 2980.27 -3184.46 -2769.37 -641.785 2780.75 2799.3 -612.101 2810.71 -559.271 535.872 -112.452 618.788 566.336 -52.7619 -2630.8 -1160.36 401.471 2686.24 -1100.73 470.556 --150.778 1363.14 -2205.35 -78.5557 1413.3 -2165.96 -1709.36 -2468.76 2074.68 1771.63 -2405.17 2114.68 -2841.58 2375.66 2067.56 2906.42 2444.32 2136.6 --1761.99 -1754.2 3356.07 -1703.04 -1700.85 3392.3 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1181.34 1254.1 2820.37 -1382.13 -1153.23 1793.51 1422.23 -1103.54 1816.97 -1189.52 1027.72 2445.52 1218.38 1065.12 2486.67 --262.389 2.79944 799.689 -217.668 41.8887 843.919 --3179.01 1415.3 -2397.05 -3151.67 1447.49 -2372.51 --1696.72 -2916.66 2997.82 -1659.29 -2879.46 3035.05 -2889.24 -64.5488 -606.334 2932.64 -30.5187 -556.647 -2389.92 -3004.24 -1893.58 2442.77 -2975.43 -1835.85 -1932.91 -2888.86 -99.7578 2006.07 -2859.14 -26.6735 --806.29 477.024 -3007.04 -741.839 541.376 -2942.86 -1991.5 821.271 -1845.95 2057.33 873.888 -1805.88 --3149.05 1897.59 -1688.3 -3106.3 1953.41 -1658.75 --1258.35 3312 2347.87 -1206.46 3373.1 2399.78 -540.463 567.728 2820.95 582.341 609.611 2862.9 -3070.15 2661.26 2238.9 3114.57 2702.04 2262.92 -2371.83 -3113.95 -1201.39 2406.69 -3074.55 -1169.16 -613.812 3080.84 2259.55 664.064 3143.93 2305.5 --3016.51 101.015 2932.29 -2971.82 159.963 3002.84 --1197.02 -1885.01 3126.12 -1146.32 -1841.08 3169.93 -1547.63 954.88 -536.485 1583.62 990.975 -500.626 -341.995 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2144.89 -944.726 -1716.52 2170.3 -72.219 2500.25 2786.99 100.246 2540.16 2843.78 --2015.08 87.3196 1968.39 -1976.04 143.803 2038.69 --1098.46 1688.68 2378.81 -1065.72 1744.51 2455.36 -2311.67 -88.3535 1696.26 2359.92 -47.2067 1744.52 -1876 993.436 -744.039 1933.61 1026.91 -686.562 -2154.57 -2563.11 618.246 2189.37 -2532.92 666.463 -1925.42 2316.67 -1556.74 1983.48 2374.72 -1498.76 --296.419 -877.024 -2982.51 -260.098 -808.855 -2954.73 --1474.33 1728.88 -2583.49 -1445.72 1790.5 -2521.6 --1764.86 389.665 -1677.55 -1700.66 454.112 -1613.11 --1397.84 -127.079 2482.34 -1363.09 -92.648 2517.06 --1619.67 -1746.05 140.836 -1586.56 -1672.62 174.291 -1334.67 -3287.08 3193.87 1376.81 -3244.71 3236.29 --925.765 3302.64 -1850.07 -897.974 3361.92 -1814.17 --3324.71 -651.315 -2505.14 -3252.91 -616.637 -2432.31 -1627.11 1150.12 -438.675 1663.22 1180.16 -398.505 --278.62 -1316.36 1047.92 -236.656 -1245.51 1076.5 -3105.53 -182.703 1830.56 3145.47 -108.522 1869.87 --2288.6 2062.63 -1222.49 -2232.56 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3196.54 -2215.49 -1080.36 -692.102 2256.12 -1011.19 -638.131 --1935.07 -1470.22 2428.66 -1900.33 -1420.12 2494.76 -976.059 1942.13 -1551.11 1031.15 1971.87 -1511.08 -1446.97 809.423 3010.68 1493.08 870.509 3056.53 --3224.84 1004.93 -3372.56 -3197.29 1035.39 -3330.21 --1845.17 -1751.61 1225.11 -1815.32 -1720.56 1270.82 -2005.51 627.969 -3235.7 2043.67 690.22 -3197.5 -3056.35 -1781.4 3095.99 3097.03 -1724.18 3144.91 -2121.07 -2175.07 2010.31 2154.68 -2118.9 2061.9 --1985 -1342.53 -3330.32 -1939.21 -1296.91 -3284.63 -3090.77 337.926 -1628.79 3117.23 366.092 -1553.95 -1706.56 -198.854 1917.19 1739.54 -165.745 1950.23 -144.913 2523.56 -3153.96 196.868 2587.69 -3104.08 --2111.65 -61.0034 -1912.6 -2062.08 -11.7404 -1863.24 --1228.17 1278.21 34.8398 -1154.25 1328.01 81.734 -1472.44 -682.992 -1683.25 1521.61 -646.797 -1651.43 --730.746 1597.68 -1145.29 -682.388 1646.01 -1096.86 -2568.66 -823.613 -1500.39 2599.25 -782.385 -1463.64 --1898.4 920.909 1486.79 -1834.39 955.346 1540.6 -1888.2 1096.3 1946.01 1917.68 1140.42 2000.65 --2170.4 1956.85 -2254.05 -2101.71 1990.94 -2223.11 --1323.85 -3232.79 -926.946 -1257.29 -3186.15 -860.693 -3010.7 -802.148 3189.6 3072.34 -761.253 3250.83 --3135.73 -553.271 675.143 -3076.29 -512.878 720.452 -884.704 871.359 2372.61 950.431 936.764 2438.07 -1027.63 -2133.47 -2493.68 1071.91 -2073.92 -2449.42 --1782.36 2524.18 -1904.73 -1724.55 2559.22 -1868.27 --2128.2 -3187.86 -1725.73 -2063.32 -3113.81 -1668.58 -1025.32 -967.724 2965.81 1061.12 -940.041 3001.46 -880.327 2206.32 -1914.47 946.49 2277.01 -1847.2 --2654.52 -3014.77 805.211 -2584.88 -2941.03 839.678 --2125.48 -3051.1 -701.416 -2081.67 -3001.04 -657.203 --1611.96 1467.4 1247.93 -1542.95 1522.03 1307.04 --2990.21 -1207.21 -1680.02 -2946.57 -1170.3 -1655.2 -1683.84 815.757 -2265.76 1718.8 854.255 -2214.42 --160.217 -1617.22 -185.441 -112.594 -1544.79 -143.404 --2006.67 -2122.95 612.404 -1970.16 -2095.6 659.418 --512.589 -2657.96 1103.6 -449.138 -2609.62 1158.91 -2724.36 323.851 -2670.46 2770.59 383.564 -2629.76 -1282.33 1592.75 -2260.68 1337.67 1631.8 -2206.21 -2437.99 2363.62 2200.43 2485.47 2421.21 2273.9 --2951.17 2329.02 -3340.94 -2907.57 2370.52 -3297.07 -161.871 3275.42 -1328.22 201.809 3315.71 -1288.31 --96.1628 1334.01 666.362 -24.6237 1402.89 698.407 -423.492 -3021.71 -1759.63 476.882 -2968.29 -1706.14 -2299.87 1688.15 -3330.42 2353.61 1730.41 -3276.55 -204.847 -1647.44 -16.3323 282.026 -1569.98 40.2592 --1183.49 -1352.14 255.083 -1143.6 -1315.98 287.389 -1522 -1938.23 -3142.31 1574.9 -1902.97 -3120.45 -1839.09 2031.19 2037.07 1904.16 2096.24 2107.23 -1027.47 3261.64 -2872.48 1070.79 3305.3 -2828.82 -3132.82 -3081.94 1407.21 3180.88 -3033.81 1455.14 -1091.16 332.173 -1411.56 1133.65 365.916 -1364.46 --402.669 2160.19 3346.4 -355.688 2196.83 3395.14 -1495.49 -684.777 -2672.67 1555.35 -624.643 -2612.55 --3128.38 -2149.49 2444.97 -3097.47 -2075.99 2476.82 -2772.94 -3103.98 -1233.35 2833.25 -3074.67 -1186.61 --546.395 2988.3 921.49 -486.498 3021.57 990.303 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1114.93 2109.47 -768.927 2105.29 -1855.22 804.549 2167.94 -1812.25 -1426.27 2916 2740.4 1477.38 2967.08 2791.24 --2902.27 -386.034 -2491.37 -2876.27 -358.744 -2441.11 -66.2482 -237.494 -1621.89 137.647 -196.186 -1550.43 --2765.12 -161.297 -3367.91 -2700.65 -122.305 -3329.07 -2393.32 -336.536 2333.07 2439.83 -269.047 2396.05 -3023.81 354.101 726.199 3083.75 414.244 785.99 --176.053 -2329.46 1443.09 -117.056 -2254.82 1482.91 -384.618 -1553.65 -1596.59 459.059 -1515.76 -1521.91 --126.39 -1927.21 886.836 -79.1535 -1866.83 930.728 --1183.55 1445.22 999.043 -1152.91 1509.55 1024.79 -536.208 107.279 -2554.81 593.498 157.49 -2505.87 --1821.89 -133.876 1819.15 -1770.18 -97.9575 1888.74 -651.524 -588.411 1018.61 683.28 -551.593 1045.31 -3111.55 2392.07 -2043.14 3149.87 2455.09 -2000.28 --577.339 221.749 3073.56 -536.851 275.847 3122.98 -2917.79 -516.003 679.742 2986.83 -464.988 751.541 -2328.58 -2859.57 -1469.91 2399.69 -2814.09 -1423.55 --2570.06 -473.401 2408.79 -2524.91 -428.062 2454.13 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2886.29 -961.112 319.184 2924.13 --107.044 3242.7 -2476.13 -51.0287 3298.58 -2420.26 --459.924 -3151.06 -1064.56 -397.161 -3100.23 -1025.8 --2750.84 1446.79 402.165 -2699.03 1480.34 457.771 -2335.45 -304.834 1504.7 2393.73 -246.827 1562.89 --3160.83 57.1843 -572.455 -3100.34 105.536 -523.319 -298.196 3164.65 1148.89 324.763 3204.79 1203.72 --3277.18 -416.987 1375.03 -3241.9 -380.549 1410.14 -172.06 843.874 1316.65 214.967 919.334 1354.14 -638.177 -234.802 510.965 679.799 -179.098 540.268 --1123.7 3316.17 243.555 -1062.96 3380.91 304.601 -1922.13 -1838.05 -1403.64 1953.42 -1780.04 -1343.88 -112.859 1294.38 2482.09 171.585 1353.14 2541.01 -69.2449 -44.1677 1644.54 95.9946 -3.26304 1671.25 --1627.9 2032.6 2982.34 -1570.63 2101.44 3007.94 -978.787 -3335.15 626.236 1017.2 -3261.44 693.653 -1753.29 -1593.7 -491.882 1812.09 -1535.26 -433.063 --2734.2 -223.196 1892.61 -2676.06 -190.659 1920.39 -1330.17 1723.9 40.8065 1356.79 1750.82 67.7762 -1157.04 -761.317 1890.95 1215.56 -703.767 1958.44 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-1777.79 2919.77 -1345.99 -1746.94 2945.05 -293.495 2368.77 2095.74 331.021 2430.03 2126.31 -1474.78 -406.079 62.3932 1515.02 -359.782 106.91 -3290.38 -2676.21 -781.683 3327.97 -2640.5 -723.569 --2303.65 610.623 373.129 -2274.62 680.44 395.049 --241.28 -447.51 -2736.08 -188.416 -419.498 -2697.95 -321.625 732.962 1751.92 375.735 787.088 1806.15 -819.373 2404.19 3109.56 854.091 2464.52 3137.65 --390.382 -2313.3 -541.825 -351.663 -2259.1 -496.051 -1483.27 -1498.08 415.982 1513.95 -1467.96 472.967 -1046.39 1261.15 -724.109 1100.26 1297.69 -676.34 -215.999 170.667 2359.87 258.47 213.358 2397.29 -2084.75 -1849.45 1632.96 2122.98 -1800.25 1657.14 --1654.93 -2491.87 -1723.54 -1605.72 -2417.47 -1674.85 -2836.58 -1051.45 2359.76 2871.86 -995.916 2429.13 --1016.7 1748.21 1542.5 -943.264 1807.29 1584.64 --1153.96 -3319.92 -1003.01 -1121.21 -3269.05 -974.066 --3384.9 -3063.99 -831.328 -3324.82 -2998.55 -771.434 -3068.6 -2330.43 -1067.8 3099.69 -2266.41 -1036.46 --416.026 -1384.78 -1945.02 -376.674 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666.297 -890.231 --2246.11 -405.981 -1351.18 -2173.94 -333.75 -1279 --3281.32 1457.46 116.462 -3244.23 1499.94 156.685 --2838.43 -1422.9 -510.016 -2787.96 -1364.26 -452.77 -1355.68 -2746.29 246.282 1414.43 -2720.34 296.611 --1178.41 -1555.17 -2289.42 -1117.06 -1486.63 -2241.29 --2361.4 -537.612 -2740.99 -2320.92 -462.117 -2701.96 --492.703 -1773.87 2659.21 -462.938 -1745.49 2690.95 --1096.08 -3151.84 -2330.85 -1032.06 -3104.01 -2266.1 -3304.97 -2342.25 -1782.93 3343.49 -2312.19 -1742.68 --551.769 -3322.99 2890.86 -521.931 -3248.11 2917.67 --1366.81 3231.02 2186.73 -1334.89 3263.03 2218.58 -2787.75 -125.507 -2846.88 2839.76 -76.5262 -2803.25 --1633.09 2959.32 2387.1 -1591.99 3000.74 2428.47 -411.643 2841.6 2676.83 486.091 2887.93 2711.91 --163.582 137.455 2508.35 -115.475 209.088 2558.66 -14.5541 -3162.62 -1116.35 62.8694 -3121.99 -1077.57 -1036.18 1627.81 1026.78 1084.01 1675.83 1074.54 -2620.63 332.691 364.69 2659.09 371.258 403.318 --1666.48 -2566.8 1152.99 -1589.54 -2518.87 1183.67 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1432.85 -1269.89 -2923.72 -444.432 -2008.18 842.247 482.163 -1955.86 905.313 --3146.24 2106.44 -1098.13 -3101.87 2167.01 -1067 --3026.33 -1770.86 2458.9 -2950.81 -1711.18 2509.57 -502.565 284.306 -1682.5 538.211 349.878 -1646.57 -1495.76 2731.76 2410.25 1570.38 2797.71 2485.38 -3247.52 -3137.43 -465.623 3301.33 -3066.64 -419.378 -2456.76 -3128.83 -1842.7 2482.65 -3089.13 -1792.73 -3263.98 3316.1 -2666.71 3335.26 3370.96 -2594.52 --1497.87 -198.57 2920.69 -1472.13 -140.473 2972.76 --729.969 -704.005 -2875.9 -701.689 -649.149 -2850.16 -761.68 2620.82 1289.67 800.606 2650.82 1312.35 -753.081 537.866 -2221.11 784.324 566.893 -2193.45 -1045.19 780.15 -3372.3 1092.59 835.217 -3333.73 --1679.99 258.327 1222.28 -1640.26 297.836 1262.14 -2897.97 2011.09 3171.94 2936.56 2043.58 3202.65 --363.916 1857.62 -2892.12 -298.838 1910.39 -2854.44 --3338.82 2143.18 -1451.11 -3307.2 2174.9 -1419.59 -2670.62 -1637.29 475.848 2711.07 -1582.56 516.271 --2620.81 -296.223 2825.78 -2587.96 -225.164 2875.13 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3095.24 2181.55 -1197.01 3136.41 --1083.98 -2875.46 2340.36 -1022.63 -2821.69 2402.25 -3029.1 -1976.7 1471.22 3097.89 -1907.92 1539.96 --2509.27 -1979.7 1117.37 -2467.1 -1937.54 1159.52 --1947.02 2030 1219.7 -1887.12 2065.29 1240.64 -1822.8 1932.44 -2482.45 1860.72 1970.41 -2444.31 -477.928 3103.88 3017.6 515.111 3141.86 3071.96 --270.478 1527.76 -999.153 -229.573 1563.19 -957.958 --804.005 1973.56 -1884.8 -766.285 2048.46 -1844.47 -2625.11 -360.093 490.143 2659.26 -303.921 516.427 -1979.48 -1273.31 3210.5 2044.02 -1208.63 3275.38 -372.076 3093.49 1384.45 417.156 3122.13 1425.73 --2808.73 3300.13 -2265.76 -2757.57 3342.7 -2215.22 --568.069 -3358.6 77.969 -494.179 -3320.34 152.773 -688.338 3224.05 1332.76 759.571 3260.93 1371.5 --1366.13 -814.566 2418.66 -1322.53 -770.858 2462.16 --1639.05 -41.9637 -2416.42 -1565.15 31.8838 -2342.83 --147.262 1469.39 3287.72 -85.0195 1516.58 3349.65 -3253.96 923.301 -1572.37 3327.42 996.593 -1499.13 -884.122 3322.32 -873.568 922.521 3360.76 -835.2 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3234.57 --1989.26 -3333.31 -2807.48 -1921.73 -3277.15 -2765.16 --543.737 -2919.09 2500.35 -503.39 -2858.57 2533.66 -175.569 806.577 -2825.53 229.181 865.369 -2762.78 --921.75 2424.12 -973.615 -855.64 2488.91 -932.222 --3204.41 -2678.35 -1919.84 -3148.53 -2647.78 -1865.71 --2492.12 2694.63 -1868.71 -2417.25 2724.53 -1801 -2700.92 -2039.86 2413.56 2724.66 -1973.61 2470.55 --212.854 -2385.61 -2292.94 -162.488 -2345.36 -2252.85 --2681.58 1861.7 -3097.39 -2647.06 1925.74 -3063.54 -1631.24 2983.91 -1734.11 1669.17 3021.79 -1696.1 -2410.84 1011.59 2565.06 2471.51 1042.4 2617.46 --2276.24 -452.115 -462.357 -2207.79 -381.944 -392.834 --3145.9 -3144.3 -1061.17 -3112.56 -3110.96 -1027.75 --2226.33 1508.24 485.462 -2183.38 1564.27 520 -2841.41 2492.32 2903.35 2893.51 2544.21 2955.34 --82.3914 3215.92 -357.564 -19.6922 3292.69 -329.303 -2009.26 1511.49 -1074.43 2070.06 1568.1 -1036.45 -1207.02 2193.76 1323.14 1246.05 2232.74 1361.97 --2047.77 2386.55 2458.63 -1988.84 2420.26 2500.78 --2142.28 2137.93 2512.96 -2110.54 2200.66 2546.79 --1182.05 1475.46 1650.79 -1128.81 1540.78 1710.05 -182.186 -1125.69 2775.21 215.936 -1084.45 2838.49 -2876.17 -3296.92 2324.17 2900.41 -3262.08 2374 --1348.99 -2008.68 2261.89 -1318.56 -1979.11 2291.88 -2274.42 -2971.78 1907.7 2337.5 -2936.53 1971.29 -1779.84 475.764 875.185 1818.47 551.113 905.006 -3249.95 -683.698 -2490.17 3314.04 -643.478 -2466.21 -1339.02 99.389 -1738.63 1365.13 143.486 -1680.47 -422.706 -2972.08 1875.86 477.249 -2915.56 1924.76 --1592 1865.64 -264.995 -1551.82 1906.07 -199.604 --1312.91 -479.31 2429.59 -1259.04 -435.62 2462.08 -2010.81 -3019.04 -2146.14 2036.71 -2959.7 -2092.98 --2628.4 2978.49 2982.74 -2585.62 3038.98 3011.21 -2302.9 -2450.02 558.69 2329.82 -2380.94 609.937 -1139.9 -2345 -3178.5 1181.68 -2272.81 -3126.34 -2129.68 -1175.28 -465.61 2166.8 -1130.29 -428.147 --946.546 3239.69 999.696 -878.379 3274.51 1032.9 -2200.07 -1606.27 1009.53 2263.34 -1563.03 1036.62 --3222.55 1342.52 2545.78 -3159.38 1388.39 2596.23 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2947.17 1906.12 2559.92 --3174.08 2478.15 1965.95 -3140.28 2545.03 1992.76 -2926.41 -1004.1 -880.019 2961.07 -963.467 -830.474 -1359.49 2569.45 -1282.36 1432.03 2634.79 -1218.81 -3253.46 -1252.7 -1975.12 3295.56 -1190.33 -1932.55 -2606.94 -927.278 2378.94 2665.13 -890.753 2452.55 --2078.75 2319.78 -2151.08 -2042.12 2361.68 -2098.79 --2497.49 -1329.23 -2925.32 -2452.93 -1284.64 -2880.87 -96.311 -427.036 3274.75 152.893 -372.232 3351.09 --3099.41 281.245 -1344.02 -3071.47 309.026 -1316.16 -1510.05 2611.18 -1184.84 1538.73 2654.75 -1155.97 --3084 354.81 1615.26 -3036.44 411.376 1647.89 -963.96 -1085.95 272.801 1039.59 -1057.79 335.349 -638.224 -1646.39 343.331 679.531 -1569.89 400.845 -801.313 1061.87 1507.57 845.409 1119.76 1551.6 --780.771 3301.57 -374.647 -753.435 3378.21 -327.592 --2703.35 -1599.11 -3309.48 -2667.48 -1563.01 -3273.36 --1568.39 -3213.36 1600.77 -1499.8 -3144.7 1669.43 -2554.54 4.20225 -3085.03 2595.96 45.7634 -3043.63 --3110.85 1953.9 2220.36 -3055.57 1980.83 2252.84 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1257.25 963.955 1116.91 1285.8 --2291.18 -2177.78 3309.35 -2222.59 -2145.47 3362.64 -3132.86 2093.52 -2151.9 3182.55 2143.16 -2102.38 --3063.27 -2027.92 -1418.77 -3028.79 -1955.44 -1359.75 --2783.12 3073.88 -1552.28 -2746.22 3110.84 -1515.44 --2393.5 1409.61 1869.93 -2346.93 1456.1 1916.22 -1665.03 -1387.04 -2995.17 1731.7 -1320.07 -2928.4 --437.267 2817.98 -2073.68 -407.092 2889.77 -2043.06 -1668.42 3175.02 2756.07 1721.25 3213.06 2809.34 -2884.89 -1161.36 253.117 2937.24 -1100.03 295.892 -2445.87 3333.52 -350.051 2514.88 3374.77 -314.167 --1807.5 574.42 -215.583 -1763.59 630.117 -167.203 -2275.51 1637.59 -2428.28 2334.37 1671.38 -2376.13 --1805.54 999.316 2001.31 -1749.93 1052.35 2041.96 --2409.28 356.729 -2338.32 -2380.23 392.713 -2310.9 -3361.48 -2200.52 -1174.09 3398.32 -2153.04 -1121.84 -1519.94 -282.314 -1404.64 1549.52 -252.86 -1375.24 -1280.23 -2293.74 1962.83 1348.23 -2223.54 1986.56 --1930.83 1397.67 116.343 -1873.53 1457.49 185.43 --3082.53 -752.594 2652.04 -3038.07 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589.945 -2985.79 -215.068 642.639 -2116.53 1862.12 1484.24 2178.67 1938.46 1548.62 -1682.2 690.182 3267.8 1709.61 719.467 3305.42 -3142.45 -2332.63 1403.87 3213.48 -2261.43 1475.29 --455.862 368.968 1173.11 -400.336 400.434 1199.37 --419.38 -2066.56 -1743.6 -367.752 -2015.04 -1692.12 --1837.44 2706.1 -105.646 -1779.4 2764.33 -47.6969 --2217.05 2747.44 1450.76 -2188.67 2802.22 1479.97 --3368.74 1899.07 -276.773 -3292.1 1941.98 -240.076 -1611.76 -643.941 498.884 1665.08 -590.414 552.106 --1641.78 -2702.44 3298.44 -1604.43 -2644.64 3331 --2958.58 553.364 -112.707 -2917.55 594.843 -54.4971 -3221.66 1224.21 -1813.88 3279.67 1258.32 -1775.43 --1650.39 1980.73 3098.84 -1621.85 2021.97 3123.68 -467.728 1380 1830.29 501.547 1451.46 1858.09 -632.684 2178.93 -1584.71 682.312 2231.72 -1534.08 --1858.75 1063.65 -1430.85 -1805.95 1092.74 -1410.35 -401.521 -175.33 -2026.53 441.856 -107.258 -1982.57 -2270.77 1665.71 2215.23 2324.38 1715.88 2250.39 -1444.91 -278.612 -1516.46 1505.83 -208.189 -1468.1 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2553.16 2694.07 3155.15 2584.26 2725.13 -2281.65 113.038 549.073 2330.4 162.906 603.01 --3074.49 1809.27 922.837 -3021.83 1839.76 950.455 -970.356 1907.96 -2198.71 1045.3 1982.73 -2123.89 -495.933 -2712.28 1682.45 567.269 -2649.14 1753.33 --540.321 -2046.26 1472.99 -476.695 -2017.93 1529.32 --1733.71 834.141 -3000.71 -1675.32 860.378 -2953.75 -945.986 2805.78 -1993.74 981.825 2855.58 -1963 -683.068 -848.723 -430.137 752.438 -779.366 -360.997 --93.7278 -3382.53 200.509 -66.86 -3351.3 227.102 --2073.16 2264.74 1390.98 -2022.34 2318.53 1441.42 -853.585 -1069.19 1088.18 889.882 -1003.12 1126.36 -2076.48 3282.05 -3074.46 2152.92 3312.54 -3039.98 --2884.05 1703.49 -1122.6 -2858.25 1766.27 -1065.8 --1010.86 1382.59 -1587.21 -978.502 1415.07 -1554.58 --2275.96 -1685.75 -807.037 -2247.62 -1640.85 -757.5 -1686.76 -1829.89 -2835.29 1740.34 -1794.69 -2768.71 -2785.03 2217.32 -626.948 2814.26 2246.84 -597.753 --3326.66 -2948.86 -508.892 -3270.15 -2912.6 -468.001 --1239.62 -2132.57 2165.71 -1209.22 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1304.86 2573.15 -1269.5 697.793 -1859.64 1315.85 743.915 -1813.48 --3355.08 338.628 -3365.79 -3298.85 404.414 -3309.07 --1592.66 -381.037 -2995.96 -1553.4 -307.453 -2948.62 --1493.92 -220.423 -2481.33 -1462.74 -188.493 -2445.15 --2300.11 2014.24 461.489 -2234.59 2046.31 481.184 --2388.91 1140.99 2729.75 -2360.17 1169.8 2758.43 -1912.91 -3357.02 -1585.41 1963.17 -3284.51 -1535.14 --1678.94 1215.15 -3373.03 -1634.6 1260.78 -3327.09 --1623.19 -3075.5 -2833.06 -1596.75 -3048.8 -2811.58 --728.52 255.515 961.168 -678.058 294.963 1000.48 -1754.94 -2700.04 1873.85 1788.62 -2650.79 1943.24 -2330.54 1524.78 -760.084 2379.61 1576.4 -712.38 --745.592 -66.5147 -1864.04 -713.002 -33.8962 -1831.3 -2328.33 -2749.06 2811.47 2362.6 -2699.02 2846.19 -2781.12 2633.96 803.766 2836.7 2670.36 845.938 -2337.2 1128.95 -1078.25 2394.53 1159.33 -1051.27 --3126.5 91.5475 2391.54 -3099.59 165.946 2446.01 --3008.45 3238.16 -1855.21 -2984.97 3271.74 -1818.08 --2015.31 872.971 -2937.18 -1987.07 919.19 -2870.6 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365.919 2141.83 -481.335 --2883.73 3174.81 -674.013 -2847.71 3212.14 -621.682 -3329.99 1216.02 2675.14 3363.74 1243.27 2696.34 --27.294 966.454 -2246.09 39.9275 1018.13 -2189.37 --2316.6 -2171.48 1366.39 -2267.68 -2144.5 1417.18 --2797.88 -955.726 -2003.64 -2730.75 -889.497 -1936.14 -1273.5 -3091.25 627.344 1330.14 -3033.12 677.834 --2749.88 1603.32 529.004 -2674.45 1633.45 585.137 --1833.88 2959.14 81.7753 -1782.69 3009.4 117.989 -276.878 3074.15 259.603 346.627 3148.49 311.316 --3106.9 -141.901 1162.23 -3071.02 -101.82 1197.06 --2605.92 2164.16 2271.85 -2540.24 2228.74 2337.5 -365.249 -1063.46 -3034.06 408.041 -1022.28 -2985.03 --1597.19 886.792 -3342.75 -1522.61 933.598 -3307.91 --273.956 -2545.81 2075.67 -204.194 -2492.96 2117.67 --1703.33 -1238.15 1526.07 -1655.36 -1193.59 1564.56 --1900.9 -2568.18 -667.745 -1863.65 -2514.61 -631.39 --858.38 -2125.19 1008.45 -797.006 -2063.74 1070.06 -2400.93 1829.59 2923.62 2476.61 1891.66 2961.22 --2666.69 2500.39 205.656 -2624.25 2567.85 248.323 -982.504 -668.852 1285.66 1010.51 -633.165 1321.4 -2267.21 -1625.13 2472.06 2292.76 -1594.86 2529.97 -316.023 2836.73 2827.42 343.393 2888.98 2852.7 --708.05 -1350.27 -2208.54 -646.949 -1286.75 -2166.47 -377.893 -3335.66 -2828.83 406.052 -3296.81 -2782.42 --1060.05 1069.7 -1337.49 -1000.27 1128.09 -1313.38 -1400.56 -2838.84 3125.29 1453.05 -2799.35 3156.92 --2814.92 369.13 -2603.08 -2779.95 404.384 -2567.86 -1168.39 237.012 957.013 1210.45 312.415 999.905 --2145.53 3278.53 1918.15 -2085.21 3321.57 1976.91 -2880.89 -2096.66 -358.759 2933.91 -2043.66 -305.736 -2175.68 -2375.5 -2984.74 2239.89 -2302.91 -2915.61 -121.873 2791.97 3282.3 199.31 2833.69 3326.91 --727.537 -3369.07 2097.03 -695.613 -3337.47 2128.78 --3192.04 994.237 3115.13 -3145.21 1059.04 3162.2 --2155.19 999.781 1011.8 -2126.13 1063.89 1064.63 --2578.96 -3112.03 -622.503 -2529.73 -3077.28 -569.247 --87.9381 1271.2 -1511.47 -21.6731 1327.64 -1451.27 -1029.6 885.417 -1597.83 1066.81 938.194 -1524.29 --1533.7 34.0448 1263.04 -1458.42 75.2184 1339.25 -2830.03 1112.37 1180.84 2866.74 1170.85 1215.81 --1538.4 2780.23 263.547 -1506.14 2836.13 284.822 -2678.43 381.891 1807.8 2754.78 420.904 1850.96 -3262.2 488.084 1962.28 3329.73 525.241 2030 -2743.4 2813.06 3231.11 2794.29 2864.28 3282.36 -2261.8 -2448.42 1079.97 2322.55 -2387.62 1140.62 --3050.51 -2119.87 -86.6099 -3005.7 -2055.99 -40.3138 -2031.61 -542.736 -427.697 2061.85 -474.866 -381.963 --1323.14 -71.203 -2892.48 -1270.89 -22.5613 -2820.85 --1783.74 1747.81 -776.616 -1754.65 1776.87 -747.699 -122.688 157.418 222.566 161.224 196.037 261.237 --231.447 -1105.88 1697.56 -198.779 -1073.49 1730.07 -1353.81 2061.62 275.98 1406.33 2126.22 299.428 --118.635 -1737.94 18.083 -91.6014 -1664.59 67.7793 -1534.97 2292.31 -823.698 1577.84 2330.37 -788.105 --1139.03 -2076.11 1032.69 -1082.22 -2010.09 1105.37 --2245.31 2429.16 -1430.5 -2216.94 2470.75 -1388.1 --736.497 -2362.04 -2387.58 -698.988 -2292.68 -2363.46 --2263.75 -725.481 2621.81 -2235.86 -658.117 2677.24 --306.04 -1071.93 863.691 -267.903 -1027.7 938.67 --2285.52 -613.109 2245.58 -2212.77 -548.59 2275.8 -2908.94 -2726.64 -3395.26 2976.2 -2670.17 -3348.06 --2489.33 -795.908 483.97 -2426.49 -733.04 547.019 -148.709 -124.485 1025.93 209.634 -56.6985 1090.4 -2750.24 -2206.78 -2263.69 2809.48 -2132.19 -2235.27 -2584.65 -1240.54 1133.8 2647.83 -1180.54 1191.58 -386.418 -1020.39 -1339.7 420.371 -980.96 -1298.9 -251.25 -2228.46 -1767.89 287.837 -2195.09 -1728.03 --389.19 -2595.9 2342.4 -332.697 -2542.81 2375.39 --1425.3 2866.63 2634.99 -1390.79 2898.24 2684.97 -2516.06 1893.48 -62.0837 2572.05 1926.88 -9.96526 -2753.88 -3037.01 -1650.74 2793.33 -2976.54 -1616.16 --3277.21 2142.74 -3400.72 -3234.2 2175.46 -3367.9 --721.928 -1631.27 -425.266 -661.442 -1570.6 -364.486 -3337.7 -1528.78 -660.502 3375.29 -1463.67 -606.021 --3162.8 -2846.21 1080.91 -3111.06 -2771.86 1132.3 --2985.96 2340.14 -937.133 -2959.35 2393.46 -890.433 -3082.68 -3396.81 663.717 3156.4 -3365.67 692.88 --2180.47 443.971 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2843.04 -1000.33 -608.743 -2710.58 1963.13 637.414 -2657.18 1985.31 -1689.67 -563.737 1975.52 1721.18 -527.119 2002.09 -2136.57 -1571.41 -3109.57 2208.38 -1527.62 -3046.91 -795.036 3248.09 -707.969 839.055 3278.25 -677.867 --252.969 108.543 -3247.65 -219.534 149.329 -3197.01 -193.742 -2670.13 2222.1 230.019 -2604.21 2273.85 -2598.14 1993.2 -1091.04 2649.86 2041.5 -1037.17 --2320.99 1843.29 -741.69 -2285.38 1878.88 -706.002 --768.084 -2509.6 -1061.91 -716.216 -2480.96 -1006.63 --1356.61 2543.9 3129.71 -1289.43 2590.22 3166.36 --1065.25 -1228.37 -1630.16 -1033.12 -1157.09 -1580.63 -3335.84 -2319.84 -3111.54 3391.11 -2259.96 -3083.34 --1144.62 933.502 2647.16 -1093.69 989.151 2703.66 -3335.21 1197.29 -210.566 3363.76 1262.92 -173.121 -2103.95 -2304.84 -861.38 2136.73 -2275.02 -819.377 --1934.55 132.413 1210.43 -1878.62 170.14 1247.18 -2831.87 797.349 -403.524 2860.33 859.669 -382.917 --222.739 -3211.74 511.675 -194.087 -3164.39 561.072 --367.757 2026.68 1875.05 -310.168 2097.73 1899.05 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2875.6 -1602.67 --2375.79 -314.501 -2100.9 -2344.22 -282.802 -2069.28 --363.24 -3147.16 -1701.14 -309.171 -3085.76 -1647.58 -1159.66 1888.77 896.575 1211.35 1921.53 947.981 -3081.21 -2558.16 -292.049 3133.27 -2491.44 -262.679 -495.136 -55.3519 1944.3 569.563 8.01869 1999.31 --2174.96 -2442.14 1753.95 -2138.01 -2397.94 1790.63 --2889.34 2977.61 1879.93 -2832.48 3027.71 1913.14 --3137.76 1643.97 -3318.43 -3075.95 1691.36 -3274.52 --221.767 3249.89 2993.19 -147.878 3323.63 3066.88 -3285.33 972.233 1518.77 3344.61 1031.85 1562.85 -2443.82 -1761.67 -2578.07 2479.09 -1726.34 -2542.92 -2940.63 -3381.67 -471.541 2970.87 -3310.22 -399.299 -97.0834 -2749.87 -2031.82 137.451 -2674.07 -1978.78 --1787.77 3133.91 -767.609 -1719.36 3184.19 -728.957 -3253.91 -2650.07 1689.11 3276.97 -2606.32 1712.53 --537.951 -1648.88 192.654 -499.563 -1604.34 217.641 -658.89 -2010.12 -2972.85 702.102 -1972.91 -2930 --3101.59 -2626.74 676.409 -3066.44 -2567.93 711.166 --520.233 2090.3 -2018.19 -442.879 2132.1 -1966.12 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1965.25 2824.45 1069.09 2004.86 --3218.62 -1182.21 675.013 -3176.87 -1142.29 733.448 --1184.25 -1155.22 550.969 -1148.98 -1115.94 606.671 --2679.65 -1550.86 -1224.7 -2642.51 -1475.6 -1188.12 -2687.86 -2607.4 2807.03 2752.63 -2559.92 2832.12 -1892.27 -732.125 -3303.81 1929.09 -690.347 -3277.33 --365.377 -627.366 216.234 -315.67 -551.357 293.935 --1613.13 2246.56 -1646.32 -1552.7 2307.01 -1585.8 -2499.14 -2428.94 101.439 2560.29 -2388.26 139.357 -905.288 512.557 1067.06 960.743 561.891 1099.32 --2336.78 -797.597 708.348 -2295.18 -755.723 742.438 --615.604 -1560.48 2381.58 -579.179 -1520.68 2451.09 -1321.56 2402.69 -2118.45 1353.36 2455.42 -2077.06 --2977.03 -3002.71 -1074.51 -2920.39 -2945.7 -1039.42 -1306.94 2061.81 2018.04 1344.2 2136.12 2070.79 --1247.29 379.171 2117.96 -1219.47 414.346 2146.53 --1092.29 3307.28 -821.858 -1035.78 3379.19 -765.789 --2985.89 3290.95 -321.264 -2924.05 3339.98 -259.354 -3281.37 -739.032 -182.631 3337.57 -683.867 -127.028 --2602.92 -897.1 -2270.48 -2558.21 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-2913.11 2058.38 -1708.06 --1310.77 3060.08 -609.9 -1250.35 3104.63 -579.39 -561.67 2894.48 2217.98 613.004 2946.48 2249.95 -2830.96 -1345.59 -1840.11 2881.38 -1295.13 -1789.85 --100.551 2950.99 2825.94 -39.9765 3022.68 2897.61 -362.301 281.957 1969.42 411.329 320.137 2013.94 --3303.51 736.201 1741.31 -3274.47 788.503 1805.23 -2911.91 2805.63 -724.394 2967.31 2874.88 -691.619 --3074.4 -522.091 1355.51 -3048.58 -490.625 1380.36 -2959.55 1774.57 -3366.83 3008.93 1827.42 -3317.04 -762.398 3075.36 3053.02 827.466 3125.9 3082.67 -1643.78 -718.512 -2331.23 1697.73 -648.278 -2292.67 -2728.61 -1070.42 256.697 2760.08 -1038.82 288.115 -2727.06 121.272 -975 2758.48 188.349 -936.709 --3235.37 287.406 -1787.84 -3199.27 330.167 -1752.17 --116.612 -628.31 942.954 -89.5778 -601.117 969.871 -2388.93 -106.768 -1647.35 2434.3 -35.3656 -1601.08 --1619.18 379.885 -2582.61 -1575.99 421.597 -2551.08 -2495.08 3179.01 1566.51 2559.56 3233.95 1605.53 -3207.37 159.331 798.763 3254.61 222.586 832.926 --1395.96 -1162.82 2898.76 -1323.44 -1126.84 2927.16 --1403.92 2173.12 -2718.8 -1360.06 2205.31 -2647.54 --265.889 3103.27 3016.24 -236.918 3148.24 3050.25 -1050.48 -181.85 1147.59 1098.84 -133.517 1196.2 --371.081 -848.846 -1456.49 -318.202 -804.837 -1403.77 --2247.55 -1128.27 2850.86 -2187.47 -1078.05 2920.59 --2889.46 -224.406 313.408 -2840.13 -175.038 362.687 -821.228 3174.23 -68.6929 861.994 3249.72 -15.8488 --1319.17 1244.09 -644.381 -1284.83 1294.36 -589.65 -87.3557 533.516 616.513 122.595 585.568 638.946 --3008.59 2984.44 -3323.17 -2939.54 3053.83 -3253.94 -50.5931 -2950.11 1358.45 84.3067 -2916.32 1392.23 --2100.19 1590.26 -2717.76 -2062.47 1639.98 -2695.07 --1940.81 138.684 -257.669 -1878.33 168.229 -195.226 -1523.51 -2947.42 -2237.79 1559.42 -2871.66 -2187.86 --2369.4 -3302.88 2001.57 -2318.86 -3267.84 2059.62 --3306.45 -1090.07 3268.55 -3235.42 -1018.39 3332.8 --3334.47 -2594.95 2494.4 -3288.41 -2548.76 2540.02 -2186.57 -3030.05 805.253 2245.13 -2979.49 851.695 -2303.22 -2778.92 309.213 2347.01 -2711.92 361.117 --2908.39 -2044.46 -707.464 -2880.28 -2016.59 -679.616 --2841.87 3337.55 2330.16 -2801.88 3370.09 2396.64 -1523.05 -1831.36 -1366.96 1588.21 -1799.64 -1313.16 -1139.49 -1401.74 1646.2 1185.78 -1354.58 1684.92 -1840.26 -669.308 127.894 1914.49 -594.786 202.441 --2043.77 1960.29 3289.16 -1996.84 2012.83 3342.83 --3345.54 508.923 3074.25 -3275.55 547.248 3127.8 -1079.95 968.508 -2227.71 1121.18 1012.57 -2186.8 -2820.21 -3167.76 1623.22 2849.81 -3138.31 1652.81 -1757.46 2056.21 948.838 1818.51 2085.08 1017.32 --15.4662 3136.41 1877.68 47.0643 3170.75 1901.42 --2071.9 3203.24 -2284.96 -2035.54 3273.95 -2249.29 -3186.26 733.037 1801.47 3222.81 800.026 1824.78 --64.1556 -734.125 -2134.81 -4.42709 -672.809 -2076.39 -1045.44 -1475.23 552.531 1111.1 -1411.72 599.431 --2123.96 3286.66 1028.67 -2063.65 3362.03 1053.52 --2338.48 2712.44 -2566.27 -2309.93 2787.15 -2517.33 -2771.15 -370.296 -16.9039 2808.62 -329.497 20.8027 -1382.96 2787.12 266.845 1414.22 2818.52 298.101 -1739.97 2901.33 -112.171 1779.84 2927.72 -62.7599 -1244.21 1731.37 1228.7 1287.39 1774.46 1272.04 --559.071 2176.69 -1678.43 -525.812 2209.74 -1645.27 -284.413 266.314 -1696.52 322.086 333.521 -1659.17 -2880.64 2898.73 1918.22 2922.38 2931.21 1941.86 -1515.02 334.383 2451.88 1585.84 401.689 2493.63 --2197.5 511.107 -825.51 -2128.95 555.51 -756.811 --3218.22 2313.03 -219.801 -3159.88 2344.58 -162.702 --2949.11 1298.92 472.874 -2896.1 1351.31 509.694 -804.394 -1246.62 -2268.04 840.031 -1218.01 -2215.33 --3163.99 1732.67 -1301.67 -3122.04 1800.2 -1241.88 --3357.51 -871.321 -240.983 -3331 -816.641 -189.083 --1061.72 -1283.44 1952.76 -1032.51 -1227.04 1984.56 -402.969 -1116.62 1328.07 442.061 -1077.44 1367.31 -2183.48 1553.31 -1863.6 2230.41 1592.17 -1826.07 -1282.39 1025.3 -2800.57 1358.15 1070.93 -2764.91 -268.036 622.695 -699.158 330.124 697.675 -656.514 --813.054 2794 1525.1 -786.619 2865.65 1578.88 --1808.71 -1634.22 363.684 -1765.71 -1565.67 406.46 -2598.24 960.663 -857.988 2642.48 989.298 -830.791 --1892.07 -1031.74 -303.596 -1835.12 -968.583 -227.475 -542.388 -2694.96 -1980.65 585.164 -2628.59 -1937.75 --2176.01 2548.35 2328.32 -2138.69 2585.55 2365.5 -149.227 -1479.02 921.191 212.665 -1416.2 964.3 --30.8517 -887.625 -472.842 2.1637 -822.102 -427.72 -2150.2 -2267.94 1863.84 2189.44 -2201.07 1903.42 -851.223 -2391.33 3309.71 878.783 -2355.65 3337.51 --924.438 858.177 3091.65 -893.269 886.769 3118.54 -821.039 2642.77 1776.43 878.51 2674.83 1824.04 --992.23 -2762.67 2643.87 -965.067 -2735.5 2671.02 -852.457 -3278.33 -1653.94 884.958 -3245.97 -1621.4 --3097.47 969.519 2462.17 -3045.85 1021.06 2513.5 --2180.48 118.36 -976.468 -2117.37 148.499 -927.053 --2855.8 1186.26 -1108.22 -2788.53 1240.07 -1075.94 -2833.71 -1039.51 -1098.5 2891.29 -992.915 -1070.16 -2640.85 2471.65 -463.761 2681.74 2512.17 -422.911 --3197.07 -3042.81 3209.18 -3125.87 -2983.76 3269.95 --2484.79 807.539 296.877 -2427.18 864.983 354.345 -1690.08 227.142 1047.71 1733.23 293.346 1089.97 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-2843.37 -2452.8 -52.8503 -2806.96 --3034.97 3022.67 1798.19 -2974.6 3074.63 1835.51 -1865.2 3278.48 32.7421 1936.54 3336.6 83.9718 -593.399 663.276 -886.739 624.22 692.246 -856.471 -1121.73 213.937 -1386.77 1196.24 245.988 -1355.64 -1746.68 1291.72 -229.401 1798.84 1332.92 -206.185 --1663.61 1220.66 2363.35 -1592.15 1287.04 2400.19 -2669.79 404.615 1325.13 2741.81 440.589 1371.27 --2918.06 1300.63 1875.6 -2881.34 1363.21 1911.14 --2188.73 -676.348 -757.414 -2160.55 -604.805 -713.71 --1791.36 2136.02 1229.13 -1731.42 2181.11 1289.69 --2468.86 1393.83 -1898.5 -2396.23 1466.45 -1825.69 --585.292 2628.56 857.764 -547.151 2666.57 895.957 --3133.62 1960.88 -942.12 -3071.69 2009.44 -869.669 -2474.85 -2720.25 983.988 2505.28 -2680 1014.77 --3212.83 1670.6 -1806.47 -3165.85 1714.11 -1774.12 --3084.83 3243.38 -957.178 -3015.59 3307.28 -926.476 -430.918 695.119 -781.393 466.318 737.438 -756.585 -240.516 -1081.69 2266.57 281.127 -1047.94 2303.95 -481.669 1605.02 -2241.22 538.806 1667.09 -2194.09 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435.583 -2745.9 -1557.46 -515.355 1913.12 -2113.82 586.709 1940.75 -2042.79 -199.842 -410.817 -2706.22 238.359 -361.359 -2636.9 -2455.49 -1206.74 2066.74 2510.55 -1151.63 2121.88 -498.245 -551.224 236.019 560.776 -488.766 298.593 --1335.49 2704.88 -682.969 -1278.76 2771.6 -639.117 --845.637 1510.54 -1099.51 -790.562 1566.88 -1043.47 --1282.87 982.378 -2018.56 -1208.49 1028.62 -1960.32 --2130.22 2805.76 318.109 -2077.73 2862.33 346.26 --1626.2 -142.444 2686.13 -1566.83 -74.0477 2712.3 -362.772 -51.0849 -1383.54 427.471 -16.6746 -1326.66 -2879.9 -1999.88 1494.1 2912.82 -1924.36 1527.04 --952.504 -2931.88 2730.73 -898.237 -2874.25 2760.72 -87.0756 -677.003 857.722 157.629 -604.231 927.939 --252.899 2729.76 2391.41 -184.198 2798.65 2460.29 -2870.76 615.553 1128.2 2933.47 662.416 1159.81 -3199.27 -1684.26 32.7218 3253.12 -1613.5 87.1595 --1883.19 600.153 427.461 -1828.06 655.156 482.638 -569.369 258.617 2688.49 628.925 296.341 2720.49 --1275.54 1069.45 -543.393 -1243.59 1132.85 -515.314 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717.997 3152.34 -1583.33 789.748 3204.94 -2453.45 681.642 1269.25 2506.8 734.759 1322.69 -2092.4 2809.95 1603.15 2149.07 2866.81 1659.92 --2659.03 -2424.83 -211.327 -2584.13 -2393.35 -173.159 --1968.63 647.428 -1398.25 -1909.88 692.872 -1340.31 -3084.64 2822.19 790.671 3126.53 2890.82 833.206 --2019.36 -3336.59 -2062.26 -1972.57 -3293.47 -2018.42 -2027.18 -218.452 180.137 2088.51 -178.048 230.864 --650.851 -2837.97 2415.1 -603.848 -2790.85 2462.09 -177.432 -576.255 2170.64 243.885 -540.518 2202.42 -852.764 2407.55 -1206.54 926.227 2449.57 -1132.86 --1878.97 -1278.93 349.532 -1803.68 -1203.85 424.768 --3048.53 1526.89 -1929.36 -3020.02 1555.01 -1901.24 --2937.33 -2152.27 2273.16 -2867.63 -2110.75 2335.36 -3189.11 1868 1927.25 3227.37 1903.13 1965.66 --1218.2 -0.678428 -303.61 -1178.7 69.3557 -262.688 -3105.96 97.2468 256.77 3153.08 155.943 289.743 -1559.66 -693.668 79.9522 1596.62 -651.858 116.714 -688.351 1978.65 3155.39 724.347 2040.81 3204.46 --3016.43 413.847 -104.489 -2959.86 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2510.88 -2688.82 3170.41 2546.41 --1729.17 1965.47 -2184.31 -1676.36 2018.56 -2131.43 -1113.68 -2866.96 1353.65 1150.93 -2792.53 1413 --1938.51 876.141 1999.28 -1889.56 925.183 2048.03 --2055.18 2206.5 -565.122 -2015.95 2281.09 -527.026 --2439.65 -335.736 747.573 -2389.22 -278.115 793.379 -2349.54 -2477.8 -2786.08 2423.24 -2404.21 -2712.51 -284.461 476.376 -2.08616 319.854 533.774 33.8684 --2951 -4.30083 123.551 -2886.31 60.5522 188.206 -2419.27 -626.622 -3117.99 2450.45 -575.271 -3042.58 -2670.9 -3394.55 3063.4 2714.08 -3351.29 3106.76 --1998.96 2478.5 -1165.94 -1930.22 2533.47 -1116.52 -403.875 1483.2 591.37 478.145 1523.96 637.444 -786.908 2467.49 832.174 824.908 2514.81 868.217 --2823.01 3359.98 969.513 -2772.16 3394.87 1020.34 -2100.29 2657.05 2897.9 2156.48 2693.2 2953.68 -1942.86 1507.78 1835.4 2008.18 1557.38 1900.07 -884.484 1877.11 -2310.68 937.764 1943.24 -2263.33 -2005.77 -2238.96 788.73 2048.89 -2169.42 824.332 --2219.07 1003.74 1998.24 -2163 1039.82 2055.77 --2698.68 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2406.11 --2519.61 770.607 -2261.66 -2485.65 811.478 -2229.25 -3203.77 -618.011 -3051.56 3265.3 -574.548 -2989.58 --2831.56 739.519 2834.39 -2805.47 772.151 2867.66 --1489.27 -2048.86 2467.61 -1424.01 -2006.33 2524.17 -3270.5 -973.288 -1673.27 3345.21 -939.364 -1619.85 --262.168 -2967.04 1015.68 -220.918 -2939.85 1056.27 --2965.42 -2836.12 251.507 -2905.03 -2788.88 317.42 --1574.18 996.274 -910.599 -1540.6 1039.75 -863.584 --298.49 544.549 1298.09 -236.374 620.146 1322.79 -171.793 -1750.42 1886.48 205.078 -1716.76 1919.93 --504.758 -270.221 -649.469 -442.194 -222.826 -617.071 -1899.25 1410.1 2086.44 1957.26 1463.78 2147.21 --760.719 -1278.58 3288.3 -701.811 -1203.35 3358.99 -3128.49 -2807.58 2953.17 3159.01 -2780.44 2983.48 -2024.48 1739.93 -241.093 2071.52 1801.6 -191.442 -1337.36 836.426 668.631 1393.84 887.153 701.629 --193.067 2907.02 2989.37 -140.905 2948.16 3053.33 --1303.77 1945.45 -271.498 -1278.36 1970.52 -246.146 --2564.08 -2199.47 -184.153 -2517.39 -2138.8 -136.325 --2393.91 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2436.68 798.351 --2631.35 -150.005 -465.677 -2590.32 -87.6973 -425.179 -1034.89 1748.42 1771.67 1078.73 1819.83 1807.82 -433.182 2698.09 -1553.91 460.009 2725.03 -1527.23 --2053.56 -3329.46 -730.391 -2011.28 -3287.07 -687.973 --524.555 1092.54 683.181 -497.649 1138.34 740.108 --1695.15 -295.045 2095.35 -1662.09 -261.809 2128.75 -3199.84 2431.68 -1256.75 3252.72 2469.92 -1187.56 --1679.41 1978.98 -3237.27 -1651.82 2022.05 -3206.21 -962.309 2451.19 -2599.61 1012.15 2525.93 -2541.32 -119.122 -1287.82 812.685 149.895 -1256.98 843.18 -1145.18 1734.96 -2601.61 1176.69 1784.26 -2558.79 -745.496 -3331.97 -382.499 793.075 -3288.11 -335.191 -688.695 494.797 3329.64 721.37 552.309 3375.38 --631.482 2285.62 1297.67 -572.556 2344.59 1356.75 -1072.08 2038.81 1207.04 1113.19 2078.06 1248.17 --1762.13 -1048.91 -32.6636 -1717.33 -1011.92 2.37323 -3132.51 1662.82 3051.41 3172.39 1698.05 3093.67 -3118.11 -2408.66 -277.787 3152.26 -2332.47 -228.003 -3067.5 299.788 -3372.24 3123.87 355.819 -3346.04 --1973.4 2057.31 1583.4 -1910.49 2097.83 1638.38 -2476.31 3199.24 1949.26 2536.13 3268.65 2001.63 --2896.88 -1244.85 881.935 -2844.58 -1213.07 949.999 -93.216 -1688.11 575.502 127.816 -1656.25 643.84 --3316.8 2118.86 -325.41 -3254.94 2154.6 -300.644 --3244.75 -1336.03 -1097.33 -3173.47 -1305.72 -1029.76 -2435.97 1368.64 -1371.59 2491.18 1428.1 -1315.68 -2175.43 603.439 -619.815 2205.02 676.481 -593.723 --467.277 1078.26 2383.42 -403.803 1150.16 2453.85 -882.907 302.468 1589.5 922.955 335.601 1619.84 --3027.7 715.613 -2074.56 -2952.77 748.085 -2040.43 --382.262 3194.81 -2356.9 -319.504 3248.52 -2296.96 --293.195 2361.86 2053.76 -231.751 2428.34 2082.91 -2715.78 1603.56 -2746.66 2750.31 1641.74 -2708.91 -3239.95 1811.92 -2455.32 3283.52 1860.53 -2412 -1125.3 -2012.25 2978.78 1179.9 -1957.88 3033.32 --1841.64 -2266.52 -199.947 -1812.72 -2235.02 -135.37 --2963.4 -385.784 -1038.7 -2932.63 -355.161 -1008.08 --2006.41 -2510.93 533.868 -1953.75 -2477.23 586.648 -3214.74 -2926.32 -2260.96 3242.24 -2898.76 -2233.65 -515.759 -53.4639 239.97 544.011 17.5509 291.492 --2494.71 3110.48 -1059.55 -2440.2 3162.28 -984.449 -2704.45 684.455 -2464.55 2760.56 714.206 -2422.66 -1775.79 773.564 -2647.44 1845.94 842.702 -2613.37 -2559.57 2822.57 304.532 2619.75 2882.77 364.374 --995.056 -1993.28 -883.121 -940.115 -1947.06 -830.702 --85.4852 -1953.08 1595.1 -46.0244 -1903.91 1630.83 --1550.69 -1007.55 1603.57 -1523.76 -950.998 1642.39 --3126.82 1445.39 -1771.75 -3063.67 1488.26 -1742.87 --2127.83 -2838.34 -2448.75 -2069.22 -2763.1 -2376.87 --176.527 2161.03 3005.06 -122.208 2220.58 3032.92 -1554.17 2958.7 1166.51 1619.65 2996.42 1197.19 --966.67 -1828.73 1628.42 -908.839 -1773.62 1686.37 --3147.95 1001.23 2790.53 -3096.58 1075.1 2822.23 --129.59 -1446.45 -2204.76 -58.7212 -1396.84 -2134.2 --1998.78 -3200.15 -491.156 -1961.71 -3140.12 -453.843 -3345.64 2001.72 -2687.05 3380.76 2038.32 -2653 -999.757 386.03 1636.11 1061.2 420.415 1676.59 -123.85 -2474.65 -2361.61 185.711 -2436.01 -2299.17 --1477.71 1405.3 -1307.47 -1448.4 1447.8 -1279.31 -1376.08 3342.17 -1090.71 1437.53 3378.66 -1029.3 --1887.3 507.211 -1463.78 -1845.39 539.283 -1422.01 --2583.5 -1506.35 -3368.11 -2553.31 -1475.13 -3335.8 -1359.3 -1838.32 2265.72 1416.15 -1781.32 2322.55 -1427.2 -1061.36 1482.65 1491.86 -1034.45 1507.6 --1609.17 -2219.27 1301.19 -1570.94 -2188.69 1339.06 -1239.57 -3030.5 2331.24 1265.3 -2961.57 2357.42 -2768.47 636.2 -476.273 2828.76 672.413 -451.597 --2074.4 -3136.37 1278.51 -2000.88 -3078.11 1352.54 -3157.7 356.524 -403.87 3225.4 405.382 -335.646 --1032.9 -697.92 -3210.04 -967.979 -668.16 -3132.77 -2640.12 -374.895 2907.77 2667.22 -312.214 2934.95 -860.839 1227.75 594.241 917.429 1300.43 625.295 -1497.86 -1521.77 -65.5445 1526.17 -1456.68 -30.9028 --1281.5 1263.48 3122.17 -1212.95 1308.1 3180.68 -2176.28 -1527.23 2202.96 2246.31 -1483.34 2230.12 -3135.81 -2510.92 -3041.39 3187.23 -2468.54 -3008.55 -2364.54 -726.133 -1886.94 2396.05 -692.306 -1839.14 --975.857 638.581 -1840.49 -950.277 695.073 -1816.38 --2600.18 1009.17 -2388.31 -2557.26 1060.21 -2364.81 --481.059 -2411.51 2924 -445.058 -2348.36 2954.18 --3317.67 -1327.53 -1987.11 -3259.76 -1287.05 -1948.1 --1379.09 -2526.71 1167.93 -1307.49 -2451.72 1198.07 -1537.2 3330.07 -2413.91 1592.03 3384.77 -2359.31 -1472.06 1503.59 2428.82 1502.46 1531.37 2463 -2670.36 448.178 309.895 2735.69 520.866 356.138 --3059.72 2039.78 2972.05 -3022.24 2077.23 3009.38 -1980.48 2185.07 -1550.26 2043.07 2234.12 -1526.48 -2233.56 -661.672 960.459 2280.79 -591.798 985.007 -69.7026 -2952.19 -2490.67 110.571 -2911.28 -2449.53 --1326.21 -1379.91 2651.06 -1265.7 -1328.18 2720.52 -753.553 2966 2037.6 811.416 2993.9 2109.27 --1704.49 -2754.39 1138.67 -1649.74 -2714.57 1161.7 --436.12 -2529.89 -1378.16 -398.283 -2492.11 -1340.21 -3233.21 -1726.29 3060.32 3305.71 -1653.61 3132.96 --807.588 -536.282 1911.18 -768.633 -471.14 1973.24 --894.071 2242.99 -2381.14 -862.276 2274.74 -2349.38 -3219.13 -2208.46 -1623.57 3277.41 -2178.81 -1565.5 -3252.95 938.269 2599.77 3299.33 984.577 2645.96 -2311.41 -2065.21 -2903.99 2371.14 -2005.18 -2843.95 --695.518 2756.21 -959.243 -632.389 2792.16 -931.419 --2968.75 -2948.42 -747.679 -2939.33 -2921.71 -701.009 --2231.03 -3170.27 -2469.97 -2166.64 -3106.19 -2405.61 -1832.49 1494.66 -2427.38 1859.83 1544.81 -2379.08 --873.367 -237.773 1661.81 -816.59 -208.8 1687.08 -2741.45 -1715.27 2398 2787.13 -1658.22 2428.75 -2940.3 716.862 -2728.34 2998.56 786.526 -2696.03 --1331.31 1527.8 -743.255 -1279.99 1597.59 -684.058 -2199.4 -2465.01 -1015.7 2237.32 -2427.03 -977.75 -3338.19 689.778 -761.249 3386.29 743.903 -715.942 --2010.63 1637.81 1985.15 -1981.01 1706.33 2050.22 -1628.14 -1174.1 634.319 1670.81 -1131.68 676.607 --1506.27 -495.751 2734.51 -1476.07 -430.583 2781.53 -30.4377 -336.317 -3141.81 67.3235 -301.198 -3104.83 --426.163 -1399.5 -1045.32 -386.016 -1358.1 -1017.06 -1060.87 2639.09 2339.75 1104.46 2704.69 2378.64 --3388.15 1356.2 -1326.63 -3353.07 1414.19 -1285.34 -71.0573 -747.487 1998.15 106.875 -673.576 2037.02 --2446.28 375.772 -1938.46 -2393.02 422.354 -1884.65 -2049.26 209.688 -1072.37 2077.87 245.051 -1044.4 -266.185 1841.24 65.7462 299.172 1889.6 98.5826 --490.077 2909.52 -1046.05 -432.704 2946.13 -995.646 -1781.52 2087.84 -504.563 1851.4 2146.02 -470.02 --603.511 3087.19 1662.69 -558.438 3132.4 1707.62 -818.49 -798.968 -2001.41 886.722 -760.376 -1938.82 --3380.82 2688.44 -2233.2 -3352.74 2720.91 -2204.63 --1949.58 2324.62 679.004 -1923.67 2353.94 733.117 -2331.18 -436.64 2732.61 2384.27 -393.099 2781.46 --1247.02 2248.99 -3016.13 -1200.1 2298.04 -2957.35 -2259.7 -1272.3 -2762.92 2289.41 -1199.39 -2732.08 --2749.46 -1698.95 -2971.57 -2689.99 -1635.59 -2903.21 -68.3165 -166.706 -2987.5 97.4381 -132.295 -2932.63 -2014.74 -825.845 2127 2068.32 -774.581 2154.63 -302.706 1851.37 1704.69 373.94 1928.46 1758.39 -3178.91 -1403.23 -2333.87 3252.05 -1337.23 -2284.08 -1924.93 2457.55 1358.27 1965.79 2484.69 1401.52 -1725.78 -1169.46 2171.01 1787.16 -1110.78 2227.09 --1968.34 -764.833 1836.68 -1917.57 -727.348 1887.4 --3199.62 -1935.98 -2801.64 -3165.29 -1901.64 -2767.52 -223.769 -446.742 3201.94 252.302 -394.385 3246.64 --1738.05 1979.26 -3069.99 -1691.02 2031.84 -3036.85 -436.345 143.355 -1091.44 491.847 211.008 -1043.51 --1986.14 -2464.91 2264.39 -1959 -2426.82 2292.06 --2710.91 761.968 -184.243 -2655.05 792.817 -157.949 --2671.84 -145.394 -3210.95 -2642.94 -113.482 -3181.91 --941.002 1212.69 -1689.71 -914.644 1273.15 -1643.36 -980.583 223.991 -2809.92 1009.25 268.844 -2778.31 --41.4192 -1297.92 -3306.46 -5.17727 -1232.6 -3276.37 --1990.76 733.32 706.073 -1957.36 799.882 767.447 -41.0565 -2888.37 660.69 77.9233 -2848.21 688.202 -2608.86 -2756.21 1765.76 2663.71 -2700.33 1826.14 -2647.11 -2409.08 2723.93 2683.86 -2372.29 2760.62 -2575.8 1439.61 -710.669 2648.77 1476.37 -678.259 --883.291 -618.377 846.383 -841.634 -546.591 878.805 --2326.76 -1376.1 1482.9 -2299.38 -1332.96 1517.85 --3258.69 3025.15 -344.695 -3201.66 3082.15 -287.499 --948.904 -2942.93 1985.83 -898.452 -2892.37 2036.4 --237.051 2245.26 1604.38 -203.953 2283.33 1658.91 --1208.16 1492.46 -1458.7 -1168.95 1535.13 -1419.13 -587.552 1403.92 -1696.79 635.031 1452.7 -1622.18 --2225.16 -2363.46 26.7921 -2156.12 -2304.35 87.1079 --2031.67 1642.23 2313.02 -2005.8 1677.04 2361.14 -2953.85 185.817 2956.84 3014.61 253.924 2999.14 -604.433 -2163.48 2235.92 644.689 -2123.39 2276.22 -339.178 -2985.2 -2609.8 372.526 -2951.51 -2576.41 -1593.97 2861.38 3050.97 1617.54 2934.32 3078.13 --2203.8 979.224 -147.879 -2150.18 1053.57 -110.948 --3296.58 -1202.66 2983.93 -3260.03 -1175.83 3020.58 -844.926 -3196.59 -1835.77 872.942 -3168.44 -1807.61 -2782.58 2527.8 -317.614 2854.62 2586.49 -287.766 -48.6103 2712.65 3316.67 124.162 2753.23 3377.01 -3275.79 2994.7 -2627.05 3342.77 3070.2 -2560.36 -3110.7 1431.16 2901.29 3145.16 1477.15 2935.87 --2125.36 -2361.53 -2418.26 -2088.92 -2325 -2381.99 -1703.67 -411.345 -2414.34 1737.52 -375.928 -2342.8 --2416.57 -2444.15 2370.08 -2374.53 -2371.17 2422.36 -3106.77 1477.43 -1639.42 3139.84 1551.39 -1571.02 --3366.36 -1676.35 675.046 -3305.31 -1637.52 700.233 -167.82 -1884.85 2654.79 227.737 -1848.91 2678.18 --3366.51 -1028.81 2976.27 -3325.75 -988.35 3017.01 -2434.87 383.896 312.054 2472.58 459.192 377.612 --3212.99 -1529.09 -1131.83 -3185.69 -1500.23 -1096.9 --2973.96 1007.27 3082.49 -2903.78 1068.91 3130.82 --1736.39 -3279.89 -1294.35 -1705.18 -3241.07 -1271.21 -945.883 676.346 5.72329 983.981 714.308 43.7565 --1163.97 1899.41 2108.91 -1118.46 1951.51 2153.44 --1118.64 -3001.56 -1724.82 -1073.59 -2960.9 -1655.61 --181.854 2046.74 -2095.51 -154.399 2074.28 -2067.98 -2134.81 -1867.3 -1679.58 2185.23 -1830.72 -1644.6 --3006.59 29.0406 -1556.9 -2942.99 57.2112 -1504.94 --2013.39 745.437 2745.64 -1982.31 773.349 2788.19 --2943.51 2048.54 1027.35 -2878.47 2118.79 1071.56 --2524.38 -2729.65 2509.18 -2460.18 -2697.17 2544.85 -3325.58 -538.292 3052.42 3361.39 -504.54 3114.39 --2740.41 852 -2872.34 -2679.12 890.068 -2813.62 -781.165 -2556.68 293.403 841.93 -2496.47 338.306 -1015.25 46.43 -2495.3 1079.61 76.8116 -2444.02 --2822.09 -18.0302 2031.88 -2788.47 40.3732 2067.74 --465.46 3374.54 -1620.7 -428.795 3402.22 -1580.48 -1035.82 -2149.67 534.07 1068.26 -2118.54 566.569 --3207.7 2244.2 936.597 -3142.34 2288.04 1002.09 --1219.59 -1328.6 -2414.2 -1147.54 -1300.54 -2342.14 --2617.34 883.207 3062.01 -2555.03 914.861 3085.05 --1410.3 -288.912 -1635.68 -1341.35 -235.911 -1612.73 -2704.19 2091.66 1901.58 2751.19 2136.59 1966.33 --2995.11 -1434.21 -1939.38 -2944.22 -1373.82 -1889.11 --3308.43 -1499.46 2186.81 -3269.59 -1442.89 2211.05 --408.536 1640.68 -425.109 -355.213 1675.06 -395.185 -356.22 -940.141 1352.98 392.895 -908.318 1429.09 --2734.63 -949.38 18.1286 -2700.22 -902.214 55.0684 --118.675 1051.3 -2594.89 -69.8896 1107.88 -2545.97 --2731.67 1747.49 2319.9 -2697.96 1798.99 2379.69 -1008.3 2601.49 2218.47 1062.17 2644.36 2272.79 --3138.71 -2694.75 2336.27 -3094.88 -2650.97 2380.1 --720.012 -2282.58 1891.43 -686.466 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1640.89 --1441.97 -2400.61 -1873.21 -1407.23 -2360.8 -1845.35 --2371.28 -2573.09 -2075.72 -2337.49 -2514.82 -2032.2 --1733.14 326.001 962.991 -1705.08 363.089 1009.92 -2098.13 1109.91 2908.16 2131.25 1143.15 2941.28 -672.736 3114.59 -2406.57 722.519 3164.44 -2356.96 -2532.43 -3090.33 -552.973 2587.64 -3052.97 -508.803 --1780.43 1734.87 -1103.95 -1751.62 1790.8 -1067.81 --726.071 199.182 2507.75 -671.208 254.292 2562.92 -924.999 1650.84 3235.1 959.353 1685.42 3269.39 --2083.44 2728.81 -2985 -2026.97 2786.92 -2932.2 --1596.68 1837.7 2502.09 -1551.25 1881.74 2556.72 -510.059 2193.34 2781.17 551.646 2247.41 2858.68 --3.66629 2464.03 -2243.11 58.7516 2527.26 -2204.4 --1017.31 -180.866 1758.04 -990.178 -128.295 1814.95 -250.834 -1556.29 2160.91 279.719 -1514.17 2205.74 --107.297 -1398 -2998.74 -74.0345 -1361.42 -2959.69 --2074.46 2483.15 436.43 -2039.21 2515.69 464.775 -1381.96 940.23 3056.16 1422.7 980.844 3096.85 -3081.87 -950.134 1511.86 3126.56 -891.82 1573 -1082.69 -2942.36 -780.494 1152.16 -2901.81 -719.313 --1153.77 -3302.56 213.276 -1104.96 -3228.29 273.693 -1961.96 413.955 -3108.89 1998.19 469.695 -3073.02 --2425.86 773.18 3096.52 -2397.24 801.849 3125.28 -2642.14 1356.92 747.691 2689.75 1397.12 781.961 -2264.64 2592.47 2961.47 2290 2623.37 2988.76 --1456.1 -2488.22 970.223 -1416.39 -2452.26 1014.59 -1890.85 -2249.63 -3266.39 1962.57 -2208.86 -3219.24 --1527.21 -1958.08 -1597.84 -1469.21 -1881.2 -1565.11 --128.447 -1754.31 -2968.55 -104.318 -1688.64 -2934.33 -1162.94 -2237.69 3288.39 1207.45 -2193.4 3332.82 -2851.83 1922.45 363.543 2890 1967.6 396.954 -2748.67 1720.23 -2905.53 2793.13 1776.68 -2861.28 -2498.56 -1498.64 -0.886752 2540.27 -1443.43 40.7257 -1409.17 1876.46 -2858.67 1440.05 1911.4 -2828.1 -2264.03 -1437.4 3303.69 2330.81 -1380.11 3341.58 --2824.98 -408.605 -1749.64 -2796.56 -353.129 -1710.02 --1377.95 2599.82 -2836.55 -1324.66 2631.3 -2783.79 -939.02 -1853.32 547.026 990.316 -1818.19 584.829 --125.816 2054.45 -329.815 -65.5097 2114.96 -269.469 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--3169.24 1046.36 1314.68 -3135.93 1106.88 1347.92 --660.381 -1706.28 -1168.43 -628.583 -1674.67 -1136.48 --438.358 1876.09 -1785.02 -377.199 1942.38 -1732.57 -1540.13 -1477.45 -713.379 1591.22 -1426.5 -662.362 -712.725 -35.3649 31.4235 763.495 37.5838 82.0831 -1905.34 -1534.14 -1482.34 1932.89 -1473.56 -1444.05 --1974.97 3320.83 2433.97 -1918.79 3387.14 2487.61 -1449.98 2169.67 -1569.65 1524.8 2210.88 -1494.78 -535.808 -1176.45 2053.94 568.552 -1143.85 2086.37 --3364.24 3224.13 1363.93 -3310.84 3277.46 1417.57 --1342.22 1445.78 322.132 -1306.54 1481.48 357.702 -3324.16 454.456 -826.037 3389 493.809 -769.759 -979.883 -436.785 3204.35 1028.95 -406.111 3237.87 --2535.41 -1696.3 -1965.77 -2499.28 -1626.92 -1932.98 -2938.89 617.686 -1639.03 2971.53 661.194 -1595.87 -3164.83 1288.7 3127.29 3218.03 1342 3180.37 -1319.46 -641.253 1367.07 1363.91 -603.818 1411.72 --341.352 -2904.2 2255.33 -311.36 -2837.27 2286.36 -535.883 794.199 -2206.23 563.1 821.561 -2179.01 -2401.66 -3157.11 -627.047 2454.09 -3126.22 -594.784 --351.745 -1068.17 -1371.16 -323.261 -1005.55 -1335.96 -1281.62 1219.53 -2620.88 1350.19 1289.79 -2578.77 -931.175 -2448.51 -614.977 959.041 -2400.35 -548.108 --2986.19 -2171 1869.72 -2956.11 -2120.91 1906.15 --343.244 1103.54 -2799.42 -306.536 1140.07 -2762.83 --3114.92 -3343.56 3069.02 -3055.84 -3315.04 3102.83 --1203.04 1358.94 2609.96 -1152.17 1387.23 2651.2 --1731.77 -727.533 3341.99 -1684.64 -688.611 3388.56 --1301.95 -1366.63 -2280.04 -1239.09 -1303.3 -2247.41 --459.295 1067.81 3237.41 -396.625 1105.7 3300.17 -1345.11 1787.33 -510.039 1369.15 1848.28 -451.535 --324.382 812.621 773.997 -294.163 856.609 830.26 -3168.64 -891.739 -3114.06 3210.28 -839.507 -3072.21 -1656.29 3030.54 1244.4 1698.81 3058.73 1290.83 --888.56 793.182 -1598.75 -827.478 839.347 -1533.03 -2801.36 -2791.11 2941.97 2849.84 -2755.1 2963.13 -2360.27 -2583 -1233.71 2427.99 -2546.9 -1166.07 --1055.13 3303.43 -2239.88 -1006.54 3352 -2191.13 --896.639 2350.04 524.555 -864.666 2395.98 556.287 -2988.33 -1081.99 -3151.51 3054.98 -1015.49 -3085.13 -2816.99 -1637.16 -131.351 2851.57 -1585.68 -97.1029 --995.667 494.788 2802.42 -969.521 565.31 2831.15 -2852.19 2979.84 -3094.78 2926.01 3014.35 -3039.69 -512.706 -2702.65 -1313.85 562.62 -2657.76 -1254 --3293.73 1948.89 531.311 -3217.98 1979.19 572.497 --2502.52 -399.307 438.592 -2459.65 -370.148 505.288 --2101.34 -774.143 1549.55 -2052.96 -747.164 1575.14 --2231.85 -2243.91 748.942 -2168.31 -2201.65 802.188 -2134.42 2151.96 -3256.4 2181.73 2189.49 -3183.59 -802.466 -348.183 -2270.65 846.546 -316.211 -2225.95 -1987.39 -755.465 -444.914 2042.86 -684.635 -406.982 -2712.98 -1728.65 -2708.12 2768.48 -1696.55 -2683.9 --2153.57 -1833.16 618.031 -2093.81 -1793.15 679.992 --472.578 -1467.92 1792.86 -427.709 -1427.21 1837.6 --1790.12 65.4843 1720.75 -1728.69 134.049 1751.17 --2090.34 -2344.21 -2619.5 -2030.76 -2311.35 -2573.45 -2802.73 -656.541 1746.14 2839.8 -589.586 1789.5 --3098.7 3258.98 -3045.54 -3039.28 3298.88 -3023.8 --2013.24 644.254 1935.78 -1950.85 706.579 1998.29 --2254.25 -2536.28 -1631.04 -2187.83 -2501.59 -1566.46 -2527.2 -744.235 3181.46 2581.74 -696.752 3211.07 --1913.74 -2523.24 1791.4 -1866.43 -2476.1 1838.57 -247.962 956.322 -2620.53 296.744 1025.34 -2571.02 --830.943 -2862.79 -2397.99 -769.38 -2829.88 -2359.57 --1154.5 -1967.63 -2562.97 -1078.97 -1902.63 -2531.93 --668.726 -1835.18 -1189.39 -628.11 -1794.68 -1148.79 -43.1639 -1460.13 -682.796 71.1136 -1432.2 -655.113 -1814.65 1428.09 -2230.16 1887.71 1501.22 -2157.23 --546.557 2653.67 1553 -491.88 2705.12 1610.38 -1951.91 1912.15 -923.553 2013.2 1965.87 -875.771 -1085.59 1464.11 -2755.5 1116.54 1530.49 -2711.43 -1003.9 2972.72 -712.018 1061.89 3021.68 -664.985 -2848.71 -1057.45 -2884.18 2879.98 -1003.97 -2853.19 --2721.3 -1696.98 3013.09 -2670.79 -1636.11 3057.94 -2590.61 -3050.21 2020.53 2617.66 -3020.48 2045.02 --354.135 207.351 -354.504 -309.226 272.384 -319.823 -1684.03 -482.26 -3075.31 1717.23 -448.806 -3042.13 -770.443 -2755.79 2041.24 820.129 -2697.38 2064.69 -1023 3365.37 2035.87 1077.8 3403.06 2067.89 -2547.12 -1950.12 1135.62 2591.63 -1887.55 1170.34 -529.685 -962.642 639.567 587.314 -930.284 682.759 -34.2251 771.952 1893.64 106.767 801.346 1930.27 --977.238 2523.44 -315.313 -924.025 2597.5 -267.617 -3130.01 1920.76 2158.08 3183.72 1974.41 2211.49 --1395.26 -1489.31 2320.98 -1360.91 -1420.62 2353.59 -1110.33 -951.004 1929.32 1177.8 -883.519 1996.85 --2052.43 -316.373 1770.85 -2009.31 -259.7 1845.28 -1127.78 -3236.15 -2579.38 1170.7 -3199.8 -2521.48 --1448.7 2527.03 -3349.93 -1400.66 2577.47 -3301.85 --2040.7 3295.51 -2866.13 -1990.6 3329.91 -2834.33 -32.3042 3169.28 -622.716 68.3325 3205.21 -584.229 --2333.92 -2007.89 3324.81 -2288.94 -1947.71 3374.63 -1376.24 -3287.54 2004.47 1406.34 -3227.1 2079.76 -2868.82 2340.56 866.6 2902.29 2375.91 894.215 -1092.67 1353.81 922.164 1129.41 1390.6 959.072 -2127.01 764.872 2928.53 2180.68 818.17 2981.91 -826.426 -930.436 -2997.86 881.069 -860.128 -2967.43 -2800.94 2773.6 2278.96 2839.34 2812.03 2317.17 -44.6256 -283.945 -2295.73 99.6941 -238.695 -2265.71 -1968.29 -1625.22 -1115.72 2022.7 -1582.83 -1086.51 --971.822 755.627 3135.98 -927.801 793.625 3168.13 --951.875 1139.64 -1111.55 -923.972 1167.53 -1083.97 --1432.41 168.03 -26.2132 -1382.98 239.87 14.6106 -2557.98 -2932.88 -3281.52 2598.67 -2894.22 -3256.57 --1658.02 2666.74 768.235 -1631.76 2698.35 794.619 --126.073 2852.2 -941.93 -84.6733 2905.72 -899.853 -382.492 1313.29 2859.4 410.516 1379.4 2885.01 --1255.06 2448.58 3305.5 -1224.61 2484.02 3335.62 -2690.87 -588.964 -2276.68 2759 -545.893 -2227.88 -2156.07 2350.7 46.4949 2220.62 2381.94 75.6537 -671.526 -2802.07 3014.77 712.018 -2761.6 3055.41 -400.909 3002.74 2736.92 450.543 3052.49 2786.73 --451.726 2269.05 -3070.41 -416.183 2316.42 -3041.35 -339.207 -803.265 832.477 403.845 -750.598 864.457 --3253.59 -2372.74 219.765 -3197.43 -2316.52 275.706 --1449.99 2060.9 207.621 -1402.52 2117.05 240.982 -2317.57 1702.22 3039.28 2368.23 1768.34 3069 --21.9153 -2891.39 -1914.33 41.9583 -2841.24 -1849.84 --287.016 -2483.41 -724.12 -229.48 -2425.61 -666.672 --840.398 -1023.68 -2687.66 -799.846 -996.427 -2657.28 --57.9213 -2550.94 -944.574 -28.9199 -2501.99 -906.361 --405.073 -2460.01 -2386.49 -334.031 -2423.75 -2331.36 --1383.1 -2979.32 -401.28 -1348.07 -2918.4 -361.387 -1053.37 2497.57 -2973.84 1125.76 2554.12 -2918.16 --984.668 -2524.97 -1490.91 -924.376 -2464.42 -1433.21 --2824.96 -3073.48 405.486 -2788.91 -3043.95 455.062 -743.442 -544.675 -1833.49 782.953 -499.417 -1794.34 -1836.5 2057.98 -3309.53 1893.44 2084.59 -3252.38 --368.336 1082.17 -1181.73 -324.716 1134.55 -1128.37 -1700.37 1953.27 1951.21 1733.75 1986.57 1984.53 --2711.42 3208.67 331.637 -2650.61 3281.4 380.918 -1456.52 1720.58 -2972.12 1490.97 1769.28 -2927.55 -2774.66 1093.78 424.764 2851.4 1121.4 474.668 -2518.65 -1753.16 -3211.74 2564.35 -1719.78 -3179.13 --3372.1 -3382.42 -844.021 -3333.24 -3345.24 -788.355 --1796.8 1695.44 -47.3391 -1731.85 1752.67 18.3954 -34.3628 1127.26 -505.594 80.0642 1172.91 -459.699 --1778.49 3066.96 -3234.16 -1711.83 3107.42 -3199.29 -1455.73 2721.21 1431.73 1490.72 2756.32 1466.71 -1973.3 -2916.41 660.576 2006.5 -2881.58 719.658 --3203.91 -2145.28 737.981 -3173.19 -2075.09 781.144 --975.064 -1080.19 542.029 -906.102 -1040.63 573.789 --3211.74 257.509 -1232.38 -3182.12 317.358 -1202.05 --885.212 -1469.33 -562.951 -857.302 -1397.93 -509.834 -2606.4 2732.57 1912.06 2638.56 2766.27 1962.89 -442.338 -858.616 -2208.59 485.985 -825.185 -2166.78 -649.991 2066.03 -2115.44 696.303 2103.16 -2048.6 -2865.36 -1440.24 -2065.84 2898.39 -1382.14 -2032.68 --394.027 2308.02 234.76 -329.169 2343.87 257.695 -2416.33 842.182 -515.011 2458.84 917.086 -462.475 -2168.46 -2245.48 -3083.83 2197.86 -2193.63 -3055.85 --1857.22 2237.64 -1268.99 -1809.3 2311.85 -1220.99 --2204.36 -1930.56 -2190.89 -2167.22 -1893.26 -2153.38 --107.152 101.142 1328.86 -46.4293 161.84 1389.84 --617.472 -2917.05 2047.13 -557.005 -2876.25 2084.81 -2591.35 -291.951 -2435.89 2630.22 -258.388 -2379.72 --1476.77 2486.88 2467.18 -1432.47 2521.52 2489.69 -1496.09 -1803.48 1267.87 1538.03 -1774.81 1326.82 --3041.6 -228.185 -2720.47 -3006.03 -192.768 -2685.06 -3008.97 -576.463 -3274.37 3047.06 -545.714 -3250.66 -567.777 967.613 1372.57 630.798 1017.16 1428.61 -2010.39 -550.714 -1709.75 2035.95 -476.904 -1668.65 --2212.46 -1565.83 -910.264 -2168.28 -1535.73 -887.792 --1197 3048.81 1846.23 -1121.33 3116.71 1884.47 --2114.46 -845.172 651.978 -2039.46 -787.426 707.167 -2175.42 755.844 -2267.41 2202.74 829.903 -2226.92 -1203.98 -2823.19 -2919.38 1261.65 -2765.46 -2861.7 --2782.81 -627.074 1420.19 -2727.02 -555.035 1484.8 --3236.77 -1461.05 332.901 -3186.06 -1390 393.103 --1989.43 -802.631 1504.76 -1942.32 -754.393 1567.8 --769.678 2543.35 -2506.89 -727.447 2573.81 -2431.83 -2477.22 -301.077 896.336 2550.11 -266.79 923.085 --2585.89 -273.441 -2894.14 -2514.89 -202.333 -2823.2 --1251.58 1926.64 662.503 -1208.94 1969.35 705.068 --1105.1 -2443.65 -3326.39 -1030.5 -2381.61 -3261.31 --2246.35 1467.87 116.539 -2203.04 1522.7 163.689 --1885.39 1936.28 -974.704 -1836.21 2001.84 -919.045 -2368.13 -50.7057 1107.66 2431.02 5.14776 1183.94 -3117.34 -3180.25 -2319.6 3164.02 -3129.09 -2281.56 -1472.91 2404.98 96.407 1549.57 2473.56 129.138 --3004.59 -1503.49 59.4691 -2966.11 -1453.83 97.669 -2904.36 -762.636 -1648.02 2930.84 -723.399 -1621.84 --2942.68 -3309.94 -221.437 -2885.3 -3276.04 -163.575 -1824.54 -2226.18 2379.78 1877.61 -2173.11 2432.67 --1032.72 2395.15 2635.59 -985.082 2459.23 2666.4 -675.412 -1967.93 3255.46 739.015 -1935.03 3308.88 --2366.06 427.579 3143.73 -2291.81 477.315 3196.3 --492.398 -2137.5 -851.158 -416.558 -2082 -800.636 -1353.85 -1210.05 172.453 1384.85 -1173.03 221.547 -2145.46 2787.19 524.233 2202.95 2864.55 595.244 -3213.95 1167.16 -702.709 3259.94 1213.01 -656.854 -1718.98 -3344.21 -2401.56 1750.08 -3282.15 -2331.49 --1790.36 -2004.86 -438.713 -1760.77 -1974.57 -400.375 --1243.77 622.8 612.287 -1209.98 649.848 688.45 --1289.07 497.132 2549.82 -1255.27 531.02 2583.83 --657.267 -286.674 3207.49 -596.763 -214.843 3267.04 --1192.48 -2690.51 -2821.01 -1164.94 -2655.62 -2757.38 --128.475 2017.38 -2417.61 -96.1725 2049.74 -2385.34 --189.524 347.404 1577.94 -129.34 417.275 1602.4 -1965.79 -3351.84 298.812 1998.61 -3318.85 331.511 --1908.15 -3103.67 -1562.49 -1871.37 -3066.88 -1525.91 -2778.96 -914.188 2334.34 2820.67 -883.479 2392.87 -410.114 826.486 -3075.8 456.799 890.958 -3017.66 -2194.62 -1819.8 -28.6189 2224.06 -1790.38 1.18399 -844.274 -1341.5 1708.07 896.92 -1289.36 1746.04 -1164.51 2533.65 -2820.13 1198.5 2561.09 -2766.57 -3265.38 209.659 1399.48 3314.66 243.875 1448.14 -2886.48 -1772.55 -1375.9 2917.42 -1715.95 -1344.69 -2059.03 -2399.29 -1391.4 2104.62 -2353.5 -1345.54 --646.555 2246.63 2325.98 -613.496 2284.68 2384.94 -3307.19 3228.5 1094.77 3346.36 3292.17 1124.84 -279.985 -2420.36 2665.78 315.92 -2349.99 2741.4 -1161.14 2723.04 2084.74 1200.03 2793.97 2122.54 --2371.01 -3079.85 -2901.5 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3340.94 -3099.23 -1854.07 -2723.83 3168.46 -1818.29 -2664.72 -2491.48 -2384.71 709.111 2524.16 -2358.77 741.26 -2187.49 1801.27 -2028.29 2265.85 1868.02 -1955.32 --1721.85 3302.64 1466.05 -1689.09 3331.24 1517.92 --510.728 -659.3 -1558.25 -473.629 -599.109 -1519.93 --2368.59 -1452.83 253.937 -2317.78 -1417.38 309.773 --3383.18 2668.87 -1252.27 -3338.95 2713.6 -1188.99 --495.806 -975.712 -2195.57 -462.079 -922.492 -2152.87 -828.407 -210.66 653.079 870.46 -168.874 695.168 --3109.34 2779.01 3143.14 -3047.32 2825.92 3205.3 -803.843 -1431.63 580.897 847.247 -1389.57 621.867 -2198.13 207.521 -480.781 2271.88 269.523 -408.112 --155.713 676.956 -411.436 -119.973 730.698 -380.136 --1595.94 62.752 -1154.47 -1528.96 129.508 -1087.57 -40.7769 -2636.13 -17.2526 103.157 -2570.33 45.3326 --27.108 -2024.39 -766.728 10.094 -1965.65 -713.189 --3181.95 -1071.69 -2923.63 -3149.52 -1030.49 -2883.87 -2962.61 2563.04 3145.89 3011.93 2604.66 3194.43 --930.554 1519.15 -1647.22 -894.408 1570.94 -1611.58 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2829.94 -1099.19 -743.894 3243.22 2834.6 774.832 3288.01 2879.19 --184.371 -194.917 2137.09 -142.724 -148.22 2199.53 --1941.57 -216.321 1117.02 -1901.44 -183.819 1143.75 --506.433 -122.14 -3401.21 -474.819 -90.5094 -3369.68 -988.164 707.721 1838.49 1049.53 747.903 1869.03 --2407.75 -749.976 -1731.81 -2350.06 -680.09 -1673.76 --1595.8 2543.23 3114.23 -1548.97 2584.21 3158.66 -620.374 1696.4 597.214 692.208 1757.39 658.199 --841.893 2962.72 -2624.35 -810.075 2994.44 -2592.53 -2473.55 2519.62 100.157 2506.55 2575.34 138.152 -2247.89 -2698.18 -2698.49 2321.7 -2666.93 -2664.35 --347.452 -2132.38 2523.95 -273.383 -2105.25 2552.17 --508.72 -925.305 2958 -471.34 -853.114 3021.45 --894.774 -2638.7 -1772.45 -859.809 -2611.16 -1731.24 --2164.23 188.731 488.728 -2104.71 227.779 522.377 --280.738 2063.48 1109.72 -221.512 2131.14 1177.46 -1021.19 31.0462 -2148.06 1058.92 68.8001 -2110.4 -1858.57 -1612.53 207.19 1888.18 -1576.55 262.456 -1336.35 -1474.82 -606.061 1401.82 -1433.56 -550.878 --589.933 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21.578 143.179 --2487.12 -866.492 1105.45 -2455.58 -814.369 1137.43 -1151.89 -1541.35 -2582.78 1201.09 -1467.56 -2535.03 --2564.12 -442.163 -2960.88 -2522.46 -412.895 -2918.39 --819.437 -1950.24 -156.154 -789.401 -1907.22 -104.834 -3230.1 3111.14 1303.17 3277.95 3150.9 1328.74 -2875.49 -1606.75 -548.943 2939 -1579.21 -507.354 --0.711875 -1629.73 -948.138 61.7475 -1596.84 -886.28 --3139.85 1686.16 189.7 -3112.44 1713.7 217.247 --1027.02 194.163 -3082.22 -975.794 235.065 -3032 --121.266 1176.9 -266.3 -95.0978 1203.15 -240.082 -702.566 1920.38 798.416 750.882 1991.51 845.23 -1824.81 -2580.89 3188.35 1851.89 -2545.67 3220.86 --1403.98 1697.17 -2917.16 -1362.5 1758.72 -2875.52 -3247.07 15.0678 -245.198 3316.66 46.9559 -175.577 -2244.98 140.282 1195.09 2281.9 207.788 1234.03 --921.522 3144.94 -1585.38 -877.08 3216.89 -1555.66 --1949.13 -2595.43 -2881.78 -1905.5 -2530.85 -2810.09 -1020.63 782.102 369.493 1085.67 845.186 398.879 -2180.79 1835.11 413.098 2213.94 1884.01 465.941 -615.036 2687.83 537.967 660.89 2725.48 583.307 --904.71 995.268 1224.28 -866.243 1043.38 1250.79 -60.5072 2751.69 534.121 108.291 2787.47 556.837 --337.125 1224.29 1998.87 -299.884 1282.38 2061.9 --379.813 1895.55 -3091.61 -330.06 1937.39 -3042.04 -2545.66 -3382.29 -2548.86 2583.86 -3351.18 -2506.22 -2528.33 -3212.61 1225.02 2557.1 -3156.84 1277.45 -1239.08 580.096 2090.44 1270.47 616.766 2121.75 -3008.13 2475.12 1509.68 3062.76 2525.26 1565.52 --510.346 -2547.59 -3201.27 -471.852 -2477.14 -3168.87 -822.891 1589.12 2546.62 880.74 1646.39 2605.02 -2859.99 2312.81 -800.595 2933.39 2348.47 -727.261 --99.0052 -504.416 3121.04 -48.9242 -469.284 3161.78 -1712 1018.4 -3060.05 1782.2 1088.82 -2989.74 -1178.52 -798.614 -592.034 1256.04 -730.19 -559.722 -1524.95 137.606 -371.588 1562.71 169.484 -334.324 --95.4275 2511.39 2059.42 -36.7492 2556.76 2115.74 -416.598 -2509.31 1818.48 475.624 -2473.87 1869.84 -393.796 -2977.45 -470.484 435.04 -2936.23 -429.217 -512.48 418.397 -3038.07 546.037 454.041 -3004.83 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3250.55 3221.02 -3129.46 3284.87 --2062.58 -848.628 -279.332 -2005.74 -772.872 -237.429 --260.803 -1045.32 1413.94 -218.67 -1007.2 1456.11 --3023.49 1051.47 1478.87 -2951.66 1106.08 1536.67 --430.714 -2515.83 2617.19 -403.4 -2465.9 2644.46 --328.612 -1132.46 2209.16 -284.299 -1069.36 2262.56 --1778.7 -2714.87 189.477 -1704.66 -2681.15 211.483 --3157.99 -3129.62 3059.24 -3107.55 -3070.58 3103.17 -2924.06 -156.699 1253.87 2964.66 -96.9762 1326.28 -1370.28 -128.655 3258.62 1418.2 -68.3386 3307.3 -1788.73 3231.61 3206.41 1826.49 3305.43 3272.48 -1987.85 -2939.12 1455.76 2028.68 -2879.08 1509.26 -1500.06 2586 -1663.53 1527.3 2612.89 -1636.59 -2816.28 2214.11 1774.09 2855.86 2253.81 1813.72 -2151.91 -2710.63 -2288.5 2199.5 -2663.09 -2241.07 -1954.35 -1883.9 2789.16 1996.88 -1833.05 2809.55 -360.214 -989.741 -1566.03 420.92 -960.581 -1517.36 -666.475 813.329 2380.36 732.117 865.133 2418.78 -442.91 -3137.57 -1526.33 495.781 -3068.49 -1488.09 --2145.8 -3386.43 2934.38 -2114.63 -3357.18 2982.22 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734.755 -1184.63 -223.872 3038.2 -3373.14 294.08 3069.01 -3318.1 -1972.74 -3108.06 3154.32 2020.1 -3058.16 3191.49 --2438.62 -2247.22 2282.59 -2401.15 -2209.63 2319.89 --1353.99 2920.66 2861.79 -1318.11 2956.2 2920.51 -2136.75 3057.97 434.187 2166.34 3087.49 463.774 -2566.98 1087.25 -1717.14 2600.98 1121.14 -1683.21 --865.458 -3106.53 3088.46 -834.033 -3069.26 3137.38 -1825.49 3326.15 -3125.21 1853.21 3377.59 -3067.33 -2199.38 -3368.54 -1811 2253.39 -3332.26 -1782.45 --1795.9 -1743.8 -1483.59 -1743.46 -1713.4 -1453.88 --1212.21 1749.86 -2963.47 -1187.59 1816.88 -2923.92 --1989.7 -448.966 2485.68 -1942.82 -377.796 2532.47 -1386.84 -2839.69 -3127.49 1414.3 -2812.15 -3099.98 --1638.78 -322.776 291.097 -1581.38 -271.259 316.795 -3328.28 -2065.4 -2244.56 3389.27 -1990.94 -2168.46 --2266.79 2498.91 -1922.53 -2222.42 2558.63 -1874.12 --942.812 2399.9 1666.14 -909.973 2460.66 1718.63 --391.942 2952.7 -1483.68 -354.658 2989.64 -1446.4 --3005.21 830.711 -520.149 -2941.82 867.226 -457.413 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311.309 281.199 -771.159 361.287 316.829 --3309.64 -1603.67 -2790.29 -3242.39 -1551.21 -2722.91 --2138.89 -2044.6 -1284.36 -2101.33 -1994.91 -1252.19 --2374.72 1981.88 -2533.39 -2333.25 2023.24 -2492.14 --467.098 -1801.54 2318.02 -398.137 -1730.12 2356.07 -1750.7 -1149.1 1672.8 1810.75 -1088.26 1708.03 --1160.94 -1727.56 1195.48 -1120.71 -1687.34 1249.46 -3376.08 1600.43 -1317.2 3404.8 1633.8 -1266.4 -154.669 104.911 -85.5253 191.897 154.208 -49.0447 --1489.82 -163.442 1024.28 -1441.05 -117.786 1059.48 --2673.47 2458.28 -1180.25 -2616.82 2522.75 -1150.45 --367.799 -3376.25 1594.4 -323.057 -3319.24 1668.17 --1651.53 2848.95 2015.23 -1616.74 2880.55 2049.69 -1791.75 -1627.58 -3095.95 1864.16 -1582.81 -3047.82 -132.041 1824.59 513.501 197.161 1886.8 560.447 -1140.38 621.595 1659.2 1186.16 678.034 1725.13 --1772.61 -940.31 -1047.21 -1745.04 -903.034 -1001.82 --2840.48 3264.65 1407.08 -2782.15 3325.31 1429.93 -2799.58 3194.64 2052.59 2864.83 3222.49 2117.87 -3129.45 -1617.33 -2032.51 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2902.91 --3209.61 -3317.05 1176.35 -3171.42 -3286.77 1214.71 --1955.23 1376.34 -1470.63 -1917.72 1425.62 -1408.78 --754.316 -3245.62 -2309.78 -698.026 -3170.31 -2252.29 --1582.52 1891.62 923.204 -1519 1927.82 953.015 -2279.33 -1031.4 -1169.14 2325.44 -991.861 -1130.62 -773.11 894.28 1352.4 808.218 937.699 1374.63 --2641.95 -981.59 -35.1515 -2603.08 -918.027 16.0115 --881.391 3060.85 2673.37 -834.442 3131.54 2723.74 -1730.5 2062.35 1073.2 1772.77 2118.19 1115.31 -2384.8 1949.3 -1473.91 2442.74 1989.23 -1428.87 -7.35562 -590.539 2407.5 53.2574 -544.666 2453.4 -2873.82 -3317.88 1833.64 2931.15 -3247.84 1884.26 -1726.69 3119.91 -657.062 1802.45 3159.33 -592.434 -2287.34 -2652.65 -696.771 2317.77 -2603.76 -670.818 -3011.1 1095.46 -3357.39 3058.37 1125.73 -3310.19 --87.1755 1688.19 -292.64 -41.7854 1733.9 -247.041 -564.328 2961.33 -2313.22 597.99 3016.42 -2259.46 -2314.37 1039.92 -2893.32 2344.04 1102.91 -2870.37 --1337 2865.33 -19.6766 -1285.19 2930.5 28.3968 --1755.84 -716.644 -2067.35 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937.556 -140.973 1294.41 1133.17 179.912 1333.27 1172.04 --1259.76 587.309 -415.187 -1222.11 621.018 -358.377 -2273.23 500.907 267.782 2308.58 569.745 316.782 -1968.72 1472.61 1371.88 2001.15 1504.91 1404.3 -970.331 1417.99 3194.63 1006.47 1484.57 3237.68 -1386.83 -970.789 1930.85 1444.33 -924.671 1978.96 --598.136 3034.35 1485.41 -549.534 3069.69 1530.42 -1918.99 836.507 -2280.16 1946.45 886.864 -2252.63 --2966.96 474.806 -256.898 -2914.11 527.489 -204.091 -3006.39 469.592 -3366 3064.44 496.323 -3296.07 -2193.63 3293.34 -2839.01 2221.64 3348.19 -2785.9 -2827.84 91.8076 1729.91 2854.85 120.21 1756.64 --1436.25 -2033.01 2186.19 -1396.66 -1994.65 2225.39 --1138.38 2443.31 1081.58 -1088.62 2483.89 1153.82 --1893.03 -792.124 119.075 -1845.19 -750.38 142.225 --549.918 -3213.76 -119.34 -516.152 -3159.18 -75.9763 -1445.06 2550.68 -3396.31 1478.7 2593.36 -3360.38 --3015.51 1624.98 569.439 -2988.14 1677.65 597.014 --3001.34 792.66 -2549.43 -2940.59 858.219 -2526.14 -3352.84 395.264 1606.86 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986.437 2182.05 -2502.51 1042.41 --2628.44 3196.31 -1149.4 -2558.22 3267.59 -1116.84 -1664.75 1638.46 -3052.73 1696.21 1693.58 -3031.72 --1673.49 184.117 -2888.1 -1644.61 220.152 -2835.86 -857.387 -2853.58 -772.518 899.627 -2802.04 -713.58 --3357.65 1933.94 -480.28 -3289.57 1973.67 -418.603 --2691.8 -54.4909 1672.4 -2651.27 2.73688 1699.4 -1608.97 -3370.71 2820.26 1635.42 -3344.33 2846.61 -2557.8 262.31 315.439 2585.71 290.296 343.128 --2364.34 -3323.4 -454.02 -2338.55 -3270.26 -413.904 --2644.72 -1774.38 726.377 -2618.83 -1748.38 752.255 -2955.03 -1226.63 1199.07 2988.59 -1182.66 1245.99 --2644.62 1917.77 -1203.16 -2577.1 1967.93 -1172.25 --3197.91 1156.25 -450.182 -3149.07 1186.31 -377.262 -69.7508 -2083.54 33.1402 97.5402 -2031.2 81.2259 --332.631 -2715.16 765.002 -257.61 -2661.57 840.023 --1375.76 -1548.63 -1166.12 -1342.3 -1515.06 -1132.43 --1502.62 -2198.28 -188.67 -1465.58 -2155.3 -151.511 -1596.09 2756.62 -353.845 1628.54 2797.52 -332.248 --970.923 1546.35 -673.926 -939.371 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919.848 -195.08 -769.171 970.19 -162.857 --638.404 2499.97 -931.789 -584.219 2531.41 -897.835 -2130.99 1884.52 2923.64 2179.05 1943.1 2997.88 -1295.33 -102.464 3149.33 1349.66 -64.8806 3190.23 -1994.6 935.541 -1757.18 2028.09 965.661 -1687.22 --2616.33 2171.98 -1286.69 -2582.66 2220.28 -1255.1 -3329.68 2691.85 -867.808 3376.11 2726.13 -835.828 -2050.95 2338.18 2678.07 2094.95 2376.73 2709.09 --3385.94 -2703.67 1554.02 -3324.2 -2664.69 1615.5 -2778.31 -1420.82 3179.54 2822.51 -1359.57 3209.82 --3327.49 -2035.37 -3259.26 -3266.7 -1972.34 -3226.74 -2795.37 1720.82 -3036.32 2824.1 1782.02 -2987.73 -2740.6 -2084.51 2691.26 2772.06 -2037.86 2722.51 -1920.1 -2062.96 -3116.34 1984.12 -2028.31 -3080.58 --2521.27 1796.34 2438.12 -2490.47 1857.69 2468.06 --175.758 1946.03 835.455 -147.192 2005.49 879.322 -1873.47 18.1117 -3390.05 1912.8 53.1262 -3339.09 --173.969 -3234.63 -2833.68 -146.206 -3191.32 -2779.56 -3164.71 1153.4 3112.85 3208.01 1194.75 3144.15 --3087.44 1678.99 2855.59 -3044.59 1721.73 2898.27 -722.684 385.093 2720.58 767.342 422.339 2743.08 -213.17 1440.13 3264.92 263.565 1472.39 3315.33 -2897.3 -1461.54 1551.23 2932.29 -1426.84 1585.88 -1152.94 -3019.95 1940.69 1185.62 -2956.1 1992.08 -1711.4 -1520.71 746.06 1743.2 -1482.6 775.649 -3292.37 -2913.29 2915.54 3325.93 -2885.21 2942 -3286.17 -2911.85 -48.1978 3316.28 -2864.35 -19.2287 -586.99 2263.49 -1972.76 614.461 2290.84 -1945.19 --2019.58 -808.077 1345.95 -1969.95 -736.984 1419.49 --1423.89 1709.14 -1342.18 -1382.83 1756.33 -1312.86 --802.011 337.827 2929.12 -750.432 389.481 2980.55 --755.698 2895.74 -1871.67 -728.045 2950.97 -1850.14 --1536.29 3222.54 -239.438 -1470.07 3288.84 -173.107 -70.0062 1972.46 3234.31 104.798 2044.17 3267.09 --354.991 -225.448 3180.36 -310.574 -164.217 3223.97 -3123.12 -2245.94 3174.32 3153.45 -2204.42 3219.07 -2230.92 -3257.96 -3214.23 2286.91 -3208.06 -3159.34 -2553.41 -645.001 -2688.81 2579.76 -586.821 -2656.69 --2640.55 -2280.42 -1557.01 -2603.93 -2250.43 -1498.67 --2339.91 -940.136 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681.466 -1840.87 1292.23 725.502 -199.899 -1243.86 2672.22 243.187 -1212.94 2707.94 --1984.42 362.565 -629.846 -1956.47 394.397 -601.985 -3360.03 2366.29 2457.55 3393.87 2420.56 2525.58 -2514.77 3267.32 1839.05 2547.38 3301.41 1872.57 --3243.96 1996.5 -1034 -3216 2024.36 -1005.89 --933.745 -2356.84 959.917 -900.297 -2306.47 1008.79 -928.194 2853.63 281.202 961.004 2879.67 313.432 --2193.32 3194.69 -531.463 -2153.84 3262.51 -497.115 --940.775 -2291.62 -633.789 -879.561 -2254.74 -572.576 -2514.98 -2633.41 620.834 2569.81 -2583.89 648.393 -1457.38 -2290.03 -1112.68 1506.21 -2232.86 -1059.56 --2093.67 1734.59 -1705.24 -2050.57 1783.1 -1656.69 --3260.57 441.418 380.259 -3227.32 474.819 413.528 -1444.24 1144.61 1957.19 1488.96 1215.34 2006.03 --2726.6 2064.99 -1055.08 -2675.51 2125.4 -1003.23 --1086.81 1755.07 1772.06 -1031.27 1782.95 1827.92 --2413.66 -2270.89 2750.88 -2383.71 -2230.98 2775.24 -1116.63 -3036.84 -1672.15 1178.45 -2983.26 -1610.35 -2344.23 -2612.27 -1471.05 2376.77 -2570.08 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1139.89 1582.55 -1713.48 --753.764 633.156 -1825.86 -696.889 689.925 -1769.09 -888.916 1913.21 2339.61 926.981 1965.9 2369.83 --3037.14 -1167.75 654.853 -2984.16 -1126.69 710.322 --3360.64 -1305.88 -367.969 -3306.55 -1263.03 -321.064 --1922.48 2349.36 1711.77 -1892.67 2379.13 1741.41 -1229.82 -3160.64 1843.46 1299.75 -3115.15 1867.93 -1741.51 2953.69 743.408 1768.38 2980.54 770.02 -1593.96 3330.51 726.034 1632.58 3369.14 764.418 --897.163 -3135.78 -1358.17 -868.289 -3106.65 -1329.12 -2573.47 974.878 -1031.75 2644.21 1017.4 -974.382 --1589.38 -1336.73 -1774.93 -1540.33 -1297.19 -1725.84 --2465.64 1451.64 1463.78 -2435.69 1481.6 1500.17 --2768.3 57.4134 -2683.96 -2707.12 86.223 -2655.48 -3123.05 -2207.32 -1534.58 3163.72 -2161 -1493.42 --1100.53 2232.59 -3272.72 -1067.44 2265.76 -3239.81 -3336.08 1664.58 253.501 3380.62 1709.1 298.042 -2106.6 1484.26 -490.375 2180.71 1524.89 -442.05 --2613.38 1973.03 -351.425 -2584.15 2017.43 -309.429 --2463.59 2925.74 -296.205 -2420.38 2964.72 -252.787 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932.279 --692.551 1095.05 2554.7 -633.941 1160.61 2608.92 -2903.63 1979.03 1841.96 2947.58 2007.19 1871.7 --1363.4 -1668.14 1918.5 -1316.05 -1609.31 1953.41 --385.326 -996.328 -1750.69 -351.421 -937.145 -1675.72 --2122.39 -1340.57 1243.81 -2078.3 -1296.47 1287.8 -1107.36 -957.652 -2781.45 1134.6 -928.421 -2742.23 -2597.83 -1203.96 2679.92 2653.06 -1148.92 2732.24 --1993.63 -2298.42 1784.66 -1961.71 -2231.69 1816.42 -1895.9 -3168.9 -1027.67 1937.47 -3107.79 -1003.7 --2597.95 2883.9 -205.648 -2560.65 2959.17 -151.278 -1177.33 2012.12 2660.04 1206.26 2076.33 2719.09 --2927.83 -612.141 -877.036 -2896.53 -585.994 -845.609 -2221.45 -1231.69 -322.441 2260.27 -1192.78 -283.817 --3286.61 1488.85 241.612 -3261 1532.13 305.294 -2106.85 -2770.17 849.012 2148.4 -2720.68 890.148 --476.464 1751.15 2816.56 -415.388 1791.84 2845.6 -1866.47 -1130.31 -442.349 1895.62 -1087.38 -382.7 -2736.93 1203.37 -1136.54 2776.5 1266.8 -1096.35 --3292.42 3122.2 -2796.78 -3234.02 3176.52 -2738.47 --3037.3 1396.84 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1409.29 3386.7 1749.72 --1837.65 3335.46 -1868.3 -1811.5 3361.79 -1842.15 --2121.58 1862.51 499.339 -2088.08 1896.69 546.25 -2458.99 -3294.94 2339.31 2497.82 -3243.74 2389.18 -25.376 2156.89 1290.61 51.6819 2201.01 1316.85 --685.946 -114.789 -2463.9 -634.871 -78.2763 -2440.73 --760.464 -277.01 1880.71 -708.757 -202.167 1908.78 --511.563 470.726 942.04 -482.27 517.047 988.162 -3165.43 436.528 -3173.11 3194.78 484.917 -3143.06 -2781.74 -335.883 -1486.13 2820.57 -300.176 -1417.94 --1297.7 2178.29 1662.06 -1253.93 2222.03 1705.62 --2932.62 -2314.69 1508.32 -2891.79 -2271.07 1548.59 --419.025 -2890.7 -308.286 -358.441 -2830.41 -247.969 --650.245 -2709.68 1114.06 -616.369 -2635.57 1154.83 -1713.16 450.43 2599.23 1745.9 481.611 2637.31 --2659.33 3271.62 -1659.11 -2627.99 3301.13 -1633.6 --1715.07 -1246.75 2924.22 -1672.82 -1199.31 2990.03 --3056.74 1630.69 697.042 -3022.4 1664.94 731.378 -2274.65 -791.024 -304.165 2337.74 -745.424 -249.569 --3218.28 -2144.64 1199.43 -3186.32 -2107.35 1244.73 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980.262 702.584 -124.61 257.708 1505.29 164.726 297.573 1545.18 -157.727 -3065.47 -3036.56 204.438 -3022.89 -2977.13 -2253.88 -1376.11 2273.32 2288.28 -1346.25 2311.39 --2156.59 -3210.24 -941.882 -2115.99 -3175.32 -920.545 -2827.47 1284.92 -2823.39 2858.32 1315.52 -2792.62 -2936.33 175.515 2196.05 2962.05 204.127 2250.4 --2607.41 -2549.29 1905.38 -2561.81 -2503.57 1951.18 --910.277 2906.82 -451.131 -873.646 2936.26 -421.067 --2017.72 186.162 2925.19 -1967.08 214.91 2973.33 --2036.17 -2238.47 -93.2443 -2002.69 -2171.69 -60.4878 --781.703 -976.456 -1987.57 -710.161 -919.105 -1916.53 -1272.4 3176.2 427.895 1324.3 3218.12 463.169 -3070.14 3326.78 -1018.6 3142.38 3383.13 -967.817 --1214.47 486.956 2751.15 -1157.27 547.476 2790.68 --787.274 -1006.76 1234.09 -750.383 -976.222 1271.53 --2155.23 -1810.1 736.201 -2097.7 -1780.35 779.899 -748.24 -2465.03 -2593.53 776.152 -2428.76 -2556.3 --3019.89 -1068.15 -3101.46 -2988.6 -1004.07 -3031.43 --2811.96 -1343.51 479.982 -2765.03 -1297.31 504.191 --2894.75 -161.917 -554.112 -2853.5 -97.4591 -513.297 --783.026 -2655.2 2589.15 -740.315 -2610.17 2633.9 --3117.11 -2817.9 -871.492 -3084.53 -2762.65 -817.259 -3324.97 2810.56 2290.58 3358.92 2844.29 2324.55 --380.741 -1009.22 -2860.74 -329.592 -958.091 -2809.31 -2290.41 212.529 2589.48 2317.16 240.878 2616.28 --137.753 -2485.49 316.922 -87.9226 -2450.18 364.56 -710.932 1693.09 -1356.72 754.132 1721.41 -1322.65 --662.645 -2856.15 -463.406 -626.834 -2817.4 -420.641 -1205.4 2394.81 3311.14 1239.71 2428.06 3356.08 -2197.39 1890.71 522.904 2254.47 1943.52 562.169 -3251.86 2358.89 -732.24 3288.03 2395.11 -695.942 -541.864 3325.27 2448.29 565.972 3356.77 2475.05 --2400.34 1809.53 1840.39 -2344.9 1865.14 1895.72 --2158.76 1925.84 -2465.8 -2114.91 1969.01 -2412.7 -445.699 -279.674 -2705.1 484.256 -216.453 -2647.25 --710.484 -729.735 1863.46 -677.374 -663.862 1897.28 -1558.78 1599 3203.63 1584.57 1624.96 3229.67 --1025.34 2534.09 -614.759 -989.077 2591.47 -572.145 --1936.05 -2162.8 809.524 -1912.36 -2135.41 848.562 -2180.66 -3288.3 -2690.94 2212.04 -3250.41 -2633.24 --875.013 -1976.56 -2265.92 -821.915 -1948.68 -2239.11 --2194.47 2963.24 -2778.77 -2143.42 2996.9 -2754.76 --2467.47 2837.68 -3126.68 -2405.31 2899.66 -3064.38 -3022.2 -3202.19 -176.938 3061.67 -3162.77 -137.397 -2390.2 267.58 2270.43 2422.48 298.015 2329.7 -2003.56 -1479.94 -1690.42 2049.73 -1446.37 -1668.25 --1241.8 -920.85 -2958.71 -1189.59 -869.419 -2932.53 -1648.97 1785.49 742.935 1676.72 1813.29 770.516 --1083.84 2191.48 3053.75 -1047.39 2227.9 3089.98 --3378.47 -420.842 804.942 -3314.33 -346.984 864.324 --1873.63 -3259.7 2674.5 -1840.03 -3190.56 2707.45 -2025.32 -1330.84 3002.93 2065.57 -1290.56 3042.97 --942.339 1690.02 -2826.87 -916.883 1715.55 -2801.37 --1382.78 164.628 3076.41 -1342.07 200.867 3117.48 -2554.77 -1694.32 2971.45 2581.77 -1637.54 3012.16 -3086.57 -641.297 -259.002 3146.87 -581.41 -199.036 --99.9791 -3255.65 2118.89 -74.6189 -3230.07 2144.45 -1731.45 1939.15 -663.392 1764.35 1972.16 -630.292 -1858.67 -2322.1 -3117.96 1895.34 -2285.26 -3081.12 -2561.43 -884.557 763.46 2594.08 -858.099 796.356 -3021.21 -910.806 -875.488 3047.75 -842.595 -848.333 -52.0638 -1599.54 -1686.91 86.1015 -1565.29 -1652.83 --2960.38 1500.72 2693.08 -2887.18 1532.49 2766.43 --2484.16 -1152.63 693.94 -2424.41 -1115.54 731.64 -1301.98 -84.4834 -2772.03 1359.05 -13.6623 -2739.28 --3366.82 -666.449 2551.17 -3327.53 -638.724 2590.25 --293.29 -873.419 -1783.4 -262.646 -840.893 -1744.85 --2805.2 -2201.41 2409.57 -2766.73 -2163 2447.89 --701.345 -570.912 3243.3 -633.952 -527.656 3290.25 --1736.12 157.333 -2706.86 -1692.63 214.504 -2653.59 -2037.49 3063.57 -2313.24 2080.05 3093.52 -2291.4 -667.454 -2467.99 502.445 721.742 -2408.79 554.018 --1199.48 550.19 1401.93 -1160.57 620.78 1439.81 -1602.84 1874.93 2353.3 1629.35 1911.54 2381.85 -727.193 1980.43 -80.5654 779.573 2032.86 -27.8041 --689.699 1983.33 -2437.64 -660.354 2032.93 -2370.85 -2854.88 3195.44 -1178.18 2880.74 3225.74 -1152.7 --500.018 -2500.67 -2457.11 -465.273 -2458.13 -2419.65 -2507.56 1313.55 -3224.3 2559.62 1371.72 -3194.39 --2641.37 2571.27 2124.24 -2591.94 2613.81 2159.38 -2994.27 2748.31 -69.6189 3025.91 2780.02 -38.1411 -3347.85 1965.31 584.671 3388.15 2036.32 606.74 --3402.3 -2217.38 -3393.12 -3367.6 -2146.35 -3357.96 --2386.17 3005.38 1691.28 -2342.99 3046.36 1741.9 --1152.61 2948.93 1326.12 -1097.76 2983.94 1372.34 --141.738 -2943.07 2089.79 -115.155 -2909.55 2116.03 --1646.42 -1760.01 1628.91 -1597.58 -1704.54 1673.78 -3092.98 -3377.5 2467.33 3131.51 -3332.31 2489.56 -883.771 3187.23 3082.04 943.736 3247.02 3141.93 --3347.14 3014.8 3079.76 -3282.9 3079.46 3117.96 --2013.97 -636.863 1941.46 -1943.19 -604.59 2011.95 -208.5 -25.3416 1601.52 234.47 19.3199 1627.27 -3313.62 -1714.6 -202.998 3370.1 -1653.4 -146.953 --2549.61 -1090.86 116.333 -2517.51 -1058.55 148.513 --1198.5 -3384.94 2947.66 -1171.78 -3324.72 2973.69 --2037.69 -309.636 1618.44 -1987.49 -251.941 1687.74 -2314.63 -665.112 -1024.19 2356.89 -605.121 -977.707 --1224.56 1108.05 -1139.38 -1171.71 1138.42 -1101.22 --1834.21 -3209.27 -3108.39 -1792.87 -3171.22 -3059.62 --2119.65 954.587 3203.9 -2092.39 988.924 3242.66 --615.08 2788.2 2420.21 -587.005 2816.33 2448.31 -826.339 1183.42 2309.55 874.031 1218.74 2356.66 --306.515 1095.3 2353.82 -258.131 1143.98 2402.22 -3086.98 624.653 -1444.37 3142.94 655.729 -1395.96 --1076.3 2064.89 -2767.7 -1049.68 2114.79 -2740.74 --1786.23 -2862.35 -3076.63 -1736.43 -2799.04 -3049.98 -1732.49 1764.57 -639.242 1762.61 1832.27 -603.114 --1644.98 1580.5 -2897.35 -1611.74 1630.91 -2864.47 -300.927 1205.31 -1181.34 342.25 1274.21 -1140.8 -2734.86 242.402 -1497.52 2766.32 287.534 -1437.39 -173.877 -995.115 -1454.02 210.078 -959.886 -1425.75 -1089.23 -2100.54 -1914.61 1142.03 -2051.77 -1868.23 -824.512 -2449.2 -2803.51 866.405 -2412.16 -2774.62 -2428.18 -951.107 3064.82 2479.03 -882.842 3102.01 -2744.97 -2905.88 3192.03 2780.13 -2862.87 3229.52 -314.978 -3196.87 -1929.7 360.018 -3129.33 -1904.7 --3171.18 -593.954 -2375.3 -3104.67 -550.863 -2336.59 --1086.03 -532.515 -826.395 -1060.2 -458.846 -800.242 --604.614 1931.03 1221.56 -577.29 1958.6 1249.03 -1294.64 1481.68 751.52 1338.31 1525.49 795.371 -622.059 1193.76 -2694.47 653.148 1232.35 -2653.01 -1944.61 1904.96 -2938.84 1980.01 1952.6 -2894.9 -2659.52 -1978.17 -629.472 2687.56 -1938.89 -599.623 --203.305 -1713.87 2333.5 -174.405 -1665.21 2399.75 -63.0294 -2009.05 2075.36 96.9463 -1950.27 2109.55 --3128.39 583.346 -186.643 -3058.19 624.203 -154.876 -1407.29 3128.96 825.688 1463.98 3161.16 854.017 --13.3616 241.063 -2508.84 21.2939 285.625 -2467.89 -2848.04 -714.619 959.464 2875.84 -687.026 987.385 -1663.41 946.396 3341.54 1697.05 989.381 3383.16 --1580.11 -230.614 2169.4 -1534.58 -180.157 2215.01 --585.539 53.1994 -852.127 -525.4 88.5872 -827.81 -2637.13 -111.172 2854.38 2677.36 -54.2252 2886.9 -1945.47 1586.08 2183.98 1971.11 1636.94 2210.13 --1401.22 548.65 179.445 -1352.68 610.898 210.645 -3111.95 -2932.26 -1517.76 3138.57 -2905.72 -1491.38 --2126.21 -2094.04 -1108.69 -2096.71 -2060.03 -1078.88 -321.138 -1811.63 2161.43 364.058 -1768.9 2204.42 -2799.09 2097.48 -1115.07 2843.55 2137.21 -1081.41 -1835.98 -2384.43 -1638.28 1887.24 -2352.33 -1600.44 --144.81 2956.2 -518.371 -95.2584 3023.05 -481.669 -1812.87 2636.18 712.943 1841.84 2665.42 742.236 --9.58988 2239.98 2846.82 29.0579 2313.2 2894.77 -2739.91 -462.473 -2676.72 2770.41 -435.21 -2642.78 --2429.07 2059.44 -1897.56 -2397.22 2105.18 -1845.48 --514.179 -249.988 3339.44 -444.159 -217.269 3383.08 --2180.42 2250.84 -531.007 -2132.6 2294.12 -482.656 --1659.97 3110.19 417.246 -1601.28 3150.4 483.748 --1640.74 386.614 2689.01 -1583.98 424.665 2730.51 -1937.52 -2329.59 1703.13 1980.68 -2286.53 1746.33 --1865.66 373.27 -443.429 -1838.49 403.339 -401.739 -1499.43 2400.76 -2863.31 1526.1 2431.52 -2824.73 -286.93 -2429.42 2139.04 316.28 -2389.84 2212.48 -1218.25 -552.295 -1703.99 1260.85 -509.401 -1661.29 --413.481 -243.364 -527.3 -370.946 -204.491 -484.809 -1863.26 -1337.54 -2126.08 1936.88 -1301.47 -2052.32 --2503.72 -2965.85 -1509.95 -2475.43 -2928.53 -1481.43 --623.532 457.627 1511.37 -596.193 493.681 1534.33 -139.795 -2926.77 2205.46 173.114 -2864.85 2240.09 --415.796 -159.488 2903.45 -347.882 -120.386 2929.58 --819.437 -2540.85 -1973.65 -743.087 -2493.97 -1943.78 --619.871 992.028 839.62 -577.719 1046.79 877.083 -1395.44 -1177.73 -645.333 1435.45 -1114.41 -594.369 --1089.82 -1185.61 454.641 -1016.09 -1154 530.465 --80.4697 331.96 -814.596 -46.9783 386.664 -790.289 --3419.97 -3419.97 3419.93 3419.97 3419.97 3519.97 -3419.93 -3419.97 -3419.97 3519.97 3419.97 3419.97 --3419.97 -3419.97 -3519.97 3419.97 3419.97 -3419.93 --3519.97 -3419.97 -3419.97 -3419.93 3419.97 3419.97 --3419.97 3419.93 -3419.97 3419.97 3519.97 3419.97 --3419.97 -3519.97 -3419.97 3419.97 -3419.93 3419.97 Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/BspDemo.bsp and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/BspDemo.bsp differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/bullet_logo.png and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/bullet_logo.png differ diff -Nru bullet-2.86.1+dfsg/data/capsule.urdf bullet-2.87+dfsg/data/capsule.urdf --- bullet-2.86.1+dfsg/data/capsule.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/capsule.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/checker_blue.png and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/checker_blue.png differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/checker_grid.jpg and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/checker_grid.jpg differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/checker_huge.gif and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/checker_huge.gif differ diff -Nru bullet-2.86.1+dfsg/data/cube_gripper_left.urdf bullet-2.87+dfsg/data/cube_gripper_left.urdf --- bullet-2.86.1+dfsg/data/cube_gripper_left.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/cube_gripper_left.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/cube_gripper_right.urdf bullet-2.87+dfsg/data/cube_gripper_right.urdf --- bullet-2.86.1+dfsg/data/cube_gripper_right.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/cube_gripper_right.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/cube.mtl bullet-2.87+dfsg/data/cube.mtl --- bullet-2.86.1+dfsg/data/cube.mtl 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/cube.mtl 1970-01-01 00:00:00.000000000 +0000 @@ -1,16 +0,0 @@ -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 - - - diff -Nru bullet-2.86.1+dfsg/data/cube_no_friction.urdf bullet-2.87+dfsg/data/cube_no_friction.urdf --- bullet-2.86.1+dfsg/data/cube_no_friction.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/cube_no_friction.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/cube.obj bullet-2.87+dfsg/data/cube.obj --- bullet-2.86.1+dfsg/data/cube.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/cube.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,48 +0,0 @@ -# cube.obj -# - -o cube -mtllib cube.mtl - -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 - Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/cube.png and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/cube.png differ diff -Nru bullet-2.86.1+dfsg/data/cube_small.sdf bullet-2.87+dfsg/data/cube_small.sdf --- bullet-2.86.1+dfsg/data/cube_small.sdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/cube_small.sdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,35 +0,0 @@ - - - - 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-2.86.1+dfsg/data/cube_small.urdf bullet-2.87+dfsg/data/cube_small.urdf --- bullet-2.86.1+dfsg/data/cube_small.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/cube_small.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/cube_soft.urdf bullet-2.87+dfsg/data/cube_soft.urdf --- bullet-2.86.1+dfsg/data/cube_soft.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/cube_soft.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/cube.urdf bullet-2.87+dfsg/data/cube.urdf --- bullet-2.86.1+dfsg/data/cube.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/cube.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/dinnerware/dinnerware.mtl bullet-2.87+dfsg/data/dinnerware/dinnerware.mtl --- bullet-2.86.1+dfsg/data/dinnerware/dinnerware.mtl 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/dinnerware/dinnerware.mtl 1970-01-01 00:00:00.000000000 +0000 @@ -1,21 +0,0 @@ -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-2.86.1+dfsg/data/dinnerware/generate.py bullet-2.87+dfsg/data/dinnerware/generate.py --- bullet-2.86.1+dfsg/data/dinnerware/generate.py 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/dinnerware/generate.py 1970-01-01 00:00:00.000000000 +0000 @@ -1,252 +0,0 @@ -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-2.86.1+dfsg/data/dinnerware/pan_tefal-collision01.obj bullet-2.87+dfsg/data/dinnerware/pan_tefal-collision01.obj --- bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision01.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/dinnerware/pan_tefal-collision01.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,36 +0,0 @@ -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-2.86.1+dfsg/data/dinnerware/pan_tefal-collision02.obj bullet-2.87+dfsg/data/dinnerware/pan_tefal-collision02.obj --- bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision02.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/dinnerware/pan_tefal-collision02.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,36 +0,0 @@ -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-2.86.1+dfsg/data/dinnerware/pan_tefal-collision03.obj bullet-2.87+dfsg/data/dinnerware/pan_tefal-collision03.obj --- bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision03.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/dinnerware/pan_tefal-collision03.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,36 +0,0 @@ -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 -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-2.86.1+dfsg/data/dinnerware/pan_tefal-collision04.obj bullet-2.87+dfsg/data/dinnerware/pan_tefal-collision04.obj --- bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision04.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/dinnerware/pan_tefal-collision04.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,36 +0,0 @@ -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 -0.706733 -0.191066 0.681192 -vn 0.444900 -0.691793 0.568758 -vn 0.088502 0.609907 0.787515 -vn -0.441942 -0.815296 0.374139 -vn -0.595750 0.064829 0.800549 -vn -0.683770 -0.459760 -0.566639 -vn -0.132581 -0.607583 0.783112 -vn -0.220415 -0.970551 0.097201 -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-2.86.1+dfsg/data/dinnerware/pan_tefal-collision05.obj bullet-2.87+dfsg/data/dinnerware/pan_tefal-collision05.obj --- bullet-2.86.1+dfsg/data/dinnerware/pan_tefal-collision05.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/dinnerware/pan_tefal-collision05.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,36 +0,0 @@ -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 0.337731 -0.812635 0.474934 -vn -0.151863 -0.910103 0.385551 -vn -0.786673 0.591186 -0.177887 -vn 0.661692 0.712532 0.233371 -vn -0.904799 0.159708 -0.394757 -vn 0.641963 -0.023667 -0.766370 -vn -0.472889 -0.878846 0.063294 -vn 0.722857 0.565784 -0.396694 -f 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bullet-2.86.1+dfsg/data/dinnerware/plate-collision02.obj bullet-2.87+dfsg/data/dinnerware/plate-collision02.obj --- bullet-2.86.1+dfsg/data/dinnerware/plate-collision02.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/dinnerware/plate-collision02.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,34 +0,0 @@ -mtllib dinnerware.mtl -usemtl pan_tefal -v -0.048268 0.085308 0.060000 -v -0.051940 0.089963 0.060000 -v -0.029150 0.050489 0.000000 -v -0.027560 0.047735 0.000000 -v 0.048765 0.086152 0.060600 -v 0.052459 0.090862 0.060600 -v 0.029442 0.050994 0.000000 -v 0.027836 0.048213 0.000000 -vn -0.471567 -0.127056 -0.872629 -vn 0.616670 0.313448 -0.722127 -vn 0.434277 -0.589449 -0.681141 -vn -0.696898 0.673938 -0.245235 -vn -0.964280 0.142499 -0.223288 -vn -0.118273 0.245678 -0.962109 -vn 0.333505 0.310546 -0.890133 -vn 0.592935 -0.751851 -0.288355 -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 5//5 6//6 -f 2//2 3//3 4//4 -f 2//2 7//7 3//3 -f 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-1,34 +0,0 @@ -mtllib dinnerware.mtl -usemtl pan_tefal -v 0.098012 -0.000853 0.060000 -v 0.103880 -0.000000 0.060000 -v 0.058300 -0.000000 0.000000 -v 0.055120 -0.000000 0.000000 -v 0.050228 -0.085308 0.060600 -v 0.052459 -0.090862 0.060600 -v 0.029442 -0.050994 0.000000 -v 0.027836 -0.048213 0.000000 -vn 0.692885 0.707963 -0.136739 -vn 0.408978 0.907585 0.095006 -vn -0.212286 -0.468709 0.857465 -vn 0.297056 -0.618852 0.727172 -vn 0.708170 0.492350 -0.506050 -vn 0.745762 -0.289343 -0.600100 -vn 0.808951 0.000863 -0.587876 -vn 0.926527 0.350079 -0.137811 -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 5//5 6//6 -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-2.86.1+dfsg/data/dinnerware/plate.obj bullet-2.87+dfsg/data/dinnerware/plate.obj --- bullet-2.86.1+dfsg/data/dinnerware/plate.obj 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1442 1946 735 970 2086 2250 1025 562 722 302 562 722 302 2086 2250 1025 2107 723 1044 1686 2081 751 1687 2006 621 1807 2005 620 1117 1276 374 1237 1275 373 1151 1277 375

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bullet-2.87+dfsg/data/gripper/wsg50_one_motor_gripper_left_finger.urdf --- bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_left_finger.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/gripper/wsg50_one_motor_gripper_left_finger.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf bullet-2.87+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 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,391 +0,0 @@ - - - - - 1.4 -0.2 2.1 0 0 0 - - 0 0 0 0 0 0 - - 0 0 0 0 0 0 - 0.1 - - 1 - 0 - 0 - 1 - 0 - 1 - - - - - - world - base_link - - - - 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 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - 0 0 0.01 0 0 0 - - - 0.02 0.02 0.02 - - - - - - - motor - base_link - - 0 0 1 - - -0.055 - 0.001 - 10.0 - 10.0 - - - 0 - 0 - 0 - 0 - - - - - - 0 0 0.04 0 0 0 - - 0 0 0.035 0 0 0 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - -0.03 0 0.01 0 -1.2 0 - - - 0.02 0.02 0.07 - - - - - - - left_hinge - motor - - 0 1 0 - - -20.0 - 20.0 - 10 - 10 - - - 0 - 0 - 0 - 0 - - 0 - - - - - 0 0 0.04 0 0 0 - - 0 0 0.035 0 0 0 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 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 - - - - - -0.055 0 0.06 0 -0 0 - - 0 0 0.0115 0 -0 0 - 0.2 - - 0.1 - 0 - 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_left - base_link - - 1 0 0 - - -0.01 - 0.05 - 1 - 1 - - - 0 - 0 - 0 - 0 - - - - - - 0.055 0 0.06 0 0 3.14159 - - 0 0 0.0115 0 -0 0 - 0.2 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - - 0 0 -0.06 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 - base_link - - 1 0 0 - - -0.01 - 0.05 - 1 - 1 - - - 0 - 0 - 0 - 0 - - - - - - - 1.0 - 1.5 - - 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 - - - - - 1.0 - 1.5 - - -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-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_new.sdf bullet-2.87+dfsg/data/gripper/wsg50_one_motor_gripper_new.sdf --- bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_new.sdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/gripper/wsg50_one_motor_gripper_new.sdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,394 +0,0 @@ - - - - - 0 0 0.7 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 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - 0 0 0.01 0 0 0 - - - 0.02 0.02 0.02 - - - - - - - motor - base_link - - 0 0 1 - - -0.055 - 0.001 - 10.0 - 10.0 - - - 0 - 0 - 0 - 0 - - - - - - 0 0 0.04 0 0 0 - - 0 0 0.035 0 0 0 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - -0.03 0 0.01 0 -1.2 0 - - - 0.02 0.02 0.07 - - - - - - - left_hinge - motor - - 0 1 0 - - -20.0 - 20.0 - 10 - 10 - - - 0 - 0 - 0 - 0 - - 0 - - - - - 0 0 0.04 0 0 0 - - 0 0 0.035 0 0 0 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 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 - - - - - -0.055 0 0.06 0 -0 0 - - 0 0 0.0115 0 -0 0 - 0.2 - - 0.1 - 0 - 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_left - base_link - - 1 0 0 - - -0.01 - 0.05 - 1 - 1 - - - 0 - 0 - 0 - 0 - - - - - - 0.055 0 0.06 0 0 3.14159 - - 0 0 0.0115 0 -0 0 - 0.2 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - - 0 0 -0.06 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 - base_link - - 1 0 0 - - -0.01 - 0.05 - 1 - 1 - - - 0 - 0 - 0 - 0 - - - - - - - .3 - 0.04 - - 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 - - - - - .3 - 0.04 - - -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-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_no_finger.sdf bullet-2.87+dfsg/data/gripper/wsg50_one_motor_gripper_no_finger.sdf --- bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_no_finger.sdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/gripper/wsg50_one_motor_gripper_no_finger.sdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,307 +0,0 @@ - - - - - 0 0 0.4 3.14 0 0 - - - - - - world - base_link - - 0 0 1 - - -10 - 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 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - 0 0 0.01 0 0 0 - - - 0.02 0.02 0.02 - - - - - - - motor - base_link - - 0 0 1 - - -0.055 - 0.001 - 10.0 - 10.0 - - - 0 - 0 - 0 - 0 - - - - - - 0 0 0.04 0 0 0 - - 0 0 0.035 0 0 0 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - -0.03 0 0.01 0 -1.2 0 - - - 0.02 0.02 0.07 - - - - - - - left_hinge - motor - - 0 1 0 - - -20.0 - 20.0 - 10 - 10 - - - 0 - 0 - 0 - 0 - - 0 - - - - - 0 0 0.04 0 0 0 - - 0 0 0.035 0 0 0 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 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 - - - - - -0.055 0 0.06 0 -0 0 - - 0 0 0.0115 0 -0 0 - 0.2 - - 0.1 - 0 - 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_left - base_link - - 1 0 0 - - -0.01 - 0.04 - 1 - 1 - - - 0 - 0 - 0 - 0 - - - - - - 0.055 0 0.06 0 0 0 - - 0 0 0.0115 0 -0 0 - 0.2 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - - 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-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_right_finger.urdf bullet-2.87+dfsg/data/gripper/wsg50_one_motor_gripper_right_finger.urdf --- bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper_right_finger.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/gripper/wsg50_one_motor_gripper_right_finger.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper.sdf bullet-2.87+dfsg/data/gripper/wsg50_one_motor_gripper.sdf --- bullet-2.86.1+dfsg/data/gripper/wsg50_one_motor_gripper.sdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/gripper/wsg50_one_motor_gripper.sdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,388 +0,0 @@ - - - - - 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 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - 0 0 0.01 0 0 0 - - - 0.02 0.02 0.02 - - - - - - - motor - base_link - - 0 0 1 - - -0.047 - 0.001 - 10.0 - 10.0 - - - 0 - 0 - 0 - 0 - - - - - - 0 0 0.04 0 0 0 - - 0 0 0.035 0 0 0 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - -0.03 0 0.01 0 -1.2 0 - - - 0.02 0.02 0.07 - - - - - - - left_hinge - motor - - 0 1 0 - - -20.0 - 20.0 - 10 - 10 - - - 0 - 0 - 0 - 0 - - 0 - - - - - 0 0 0.04 0 0 0 - - 0 0 0.035 0 0 0 - 0.1 - - 0.1 - 0 - 0 - 0.1 - 0 - 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 - - - - - -0.055 0 0.06 0 -0 0 - - 0 0 0.0115 0 -0 0 - 0.2 - - 0.1 - 0 - 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_left - left_hinge - - 0 1 0 - - -1.0 - 1.0 - 10 - 10 - - - 0.01 - 0 - 0 - 0 - - 0 - - - - - 0.055 0 0.06 0 0 3.14159 - - 0 0 0.0115 0 -0 0 - 0.2 - - 0.1 - 0 - 0 - 0.1 - 0 - 0.1 - - - - - 0 0 -0.06 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-2.86.1+dfsg/data/gripper/wsg50_with_r2d2_gripper.sdf bullet-2.87+dfsg/data/gripper/wsg50_with_r2d2_gripper.sdf --- bullet-2.86.1+dfsg/data/gripper/wsg50_with_r2d2_gripper.sdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/gripper/wsg50_with_r2d2_gripper.sdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,298 +0,0 @@ - - - - - 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 - 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 - - - - diff -Nru bullet-2.86.1+dfsg/data/hello_world.lua bullet-2.87+dfsg/data/hello_world.lua --- bullet-2.86.1+dfsg/data/hello_world.lua 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/hello_world.lua 1970-01-01 00:00:00.000000000 +0000 @@ -1,5 +0,0 @@ -io.write("Running ", _VERSION, "\n") -ptr = my_createFunction(1, 2, 3, "abc", "def") ---io.write("my_function() returned ", a, "\n") -my_printTest(ptr) -my_deleteFunction(1)--ptr) diff -Nru bullet-2.86.1+dfsg/data/hinge.urdf bullet-2.87+dfsg/data/hinge.urdf --- bullet-2.86.1+dfsg/data/hinge.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/hinge.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,73 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/humanoid/LICENSE.txt bullet-2.87+dfsg/data/humanoid/LICENSE.txt --- bullet-2.86.1+dfsg/data/humanoid/LICENSE.txt 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/humanoid/LICENSE.txt 1970-01-01 00:00:00.000000000 +0000 @@ -1,26 +0,0 @@ -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. 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- - - RFinger23_link - - - RThumb1_link - - - RThumb2_link - - - r_gripper - - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - true - - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - 0.5 - 0.5 - false - true - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.3 - 500 - - - gaussian - 0.0 - 0.007 - - - - nao_robot - true - 5.0 - camera/top - image_raw - camera_info - CameraTop_optical_frame - 0.07 - -0.0545211 - 0.06919734 - -0.0241095 - -0.0112245 - 0.0 - - - - - - 5.0 - - 1.06290551 - - 640 - 480 - R8G8B8 - - - 0.05 - 500 - - - gaussian - 0.0 - 0.007 - - - - /nao_robot - true - 5.0 - camera_bottom - image_raw - camera_info - CameraBottom_optical_frame - 0.07 - -0.0648764 - 0.06125202 - 0.00382815 - -0.00551104 - 0.0 - - - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFL_frame_collision - - - nao_robot - true - FSR/RFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrFR_frame_collision - - - nao_robot - true - FSR/RFoot/FrontRight - RFsrFR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRL_frame_collision - - - nao_robot - true - FSR/RFoot/RearLeft - RFsrRL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - RFsrRR_frame_collision - - - nao_robot - true - FSR/RFoot/RearRight - RFsrRR_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFL_frame_collision - - - nao_robot - true - FSR/LFoot/FrontLeft - RFsrFL_frame - - - - - 0.5 - 0.5 - false - false - 1 0 0 - 0.1 - 0.003 - - 1 - 20 - false - - LFsrFR_frame_collision - - - nao_robot - true - FSR/LFoot/FrontRight - LFsrFR_frame - - - - - 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-2.86.1+dfsg/data/husky/husky.urdf bullet-2.87+dfsg/data/husky/husky.urdf --- bullet-2.86.1+dfsg/data/husky/husky.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/husky/husky.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,373 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/husky/meshes/base_link.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/husky/meshes/base_link.stl differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/husky/meshes/bumper.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/husky/meshes/bumper.stl differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/husky/meshes/top_plate.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/husky/meshes/top_plate.stl differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/husky/meshes/user_rail.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/husky/meshes/user_rail.stl differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/husky/meshes/wheel.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/husky/meshes/wheel.stl differ diff -Nru bullet-2.86.1+dfsg/data/init_physics.lua bullet-2.87+dfsg/data/init_physics.lua --- bullet-2.86.1+dfsg/data/init_physics.lua 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/init_physics.lua 1970-01-01 00:00:00.000000000 +0000 @@ -1,66 +0,0 @@ --- Very basic Lua script to create some Bullet objects. --- See also examples/LuaDemo - - -world = createDefaultDynamicsWorld() - -cubeshape = createCubeShape(world, 30,1,30) -pos={0,0,0} -orn = {0,0,0,1} -mass = 0 -body = createRigidBody(world,cubeshape,mass,pos,orn) - -shape = createCubeShape(world, 1,1,1) - -x=0 -z=0 -maxy = 10 - -toggle=1 - -for x=0,10 do - for y=0,5 do - if toggle==1 then - toggle = 0 - for z=0,10 do - mass = 1 - if (y==maxy) then - --mass=30; - end - pos = {-14+x*2,2+2*y,z*2} - - body = createRigidBody(world,shape,mass,pos,orn) - --setBodyPosition(world,body,pos) - --setBodyOrientation(world,body,orn) - end - else - toggle = 1 - - end - end -end - -toggle=1 -shape = createSphereShape(world, 1) - -for x=0,10 do - for y=0,5 do - if toggle==1 then - toggle = 0 - else - toggle = 1 - for z=0,10 do - mass = 1 - if (y==maxy) then - --mass=30; - end - - - - pos = {-14+x*2,2+2*y,z*2} - - body = createRigidBody(world,shape,mass,pos,orn) - end - end - end -end diff -Nru bullet-2.86.1+dfsg/data/init_urdf.lua bullet-2.87+dfsg/data/init_urdf.lua --- bullet-2.86.1+dfsg/data/init_urdf.lua 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/init_urdf.lua 1970-01-01 00:00:00.000000000 +0000 @@ -1,20 +0,0 @@ --- Very basic Lua script to create some Bullet objects. --- See also Demos3/AllBullet2Demos using Demos3/bullet2/LuaDemo - ---right now we cannot interleave adding instances of different shapes, they have to be added in-order ---hence the two loops. this will be fixed soon - -world = createDefaultDynamicsWorld() - -cubeshape = createCubeShape(world, 30,30,1) -pos={0,0,-3.0} -orn = {0,0,0,1} -mass = 0 -body = createRigidBody(world,cubeshape,mass,pos,orn) - -pos={0,10,0} -orn = {0,0,0,1} -mb = loadMultiBodyFromUrdf(world,"r2d2.urdf", pos, orn); -pos={2,2,0} -orn = {0,0,0,1} -mb = loadMultiBodyFromUrdf(world,"r2d2.urdf", pos, orn); diff -Nru bullet-2.86.1+dfsg/data/jenga/jenga.mtl bullet-2.87+dfsg/data/jenga/jenga.mtl --- bullet-2.86.1+dfsg/data/jenga/jenga.mtl 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/jenga/jenga.mtl 1970-01-01 00:00:00.000000000 +0000 @@ -1,16 +0,0 @@ -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-2.86.1+dfsg/data/jenga/jenga.obj bullet-2.87+dfsg/data/jenga/jenga.obj --- bullet-2.86.1+dfsg/data/jenga/jenga.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/jenga/jenga.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,113 +0,0 @@ -# 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/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/jenga/jenga.png and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/jenga/jenga.png differ diff -Nru bullet-2.86.1+dfsg/data/jenga/jenga.urdf bullet-2.87+dfsg/data/jenga/jenga.urdf --- bullet-2.86.1+dfsg/data/jenga/jenga.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/jenga/jenga.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/kiva_shelf/meshes/pod_lowres.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/kiva_shelf/meshes/pod_lowres.stl differ diff -Nru bullet-2.86.1+dfsg/data/kiva_shelf/model.sdf bullet-2.87+dfsg/data/kiva_shelf/model.sdf --- bullet-2.86.1+dfsg/data/kiva_shelf/model.sdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/kiva_shelf/model.sdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,205 +0,0 @@ - - - - 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-2.86.1+dfsg/data/kuka_iiwa/kuka_world.sdf bullet-2.87+dfsg/data/kuka_iiwa/kuka_world.sdf --- bullet-2.86.1+dfsg/data/kuka_iiwa/kuka_world.sdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/kuka_iiwa/kuka_world.sdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,414 +0,0 @@ - - - - - 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 - 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114 1199 108 1200 110 1201 115 1202 115 1203 111 1204 108 1205 111 1206 115 1207 407 1208 407 1209 406 1210 111 1211 110 1212 427 1213 428 1214 428 1215 115 1216 110 1217 115 1218 428 1219 535 1220 535 1221 407 1222 115 1223 108 1224 111 1225 116 1226 116 1227 112 1228 108 1229 112 1230 116 1231 356 1232 356 1233 355 1234 112 1235 111 1236 406 1237 405 1238 405 1239 116 1240 111 1241 116 1242 405 1243 527 1244 527 1245 356 1246 116 1247 117 1248 121 1249 122 1250 122 1251 118 1252 117 1253 118 1254 122 1255 398 1256 398 1257 397 1258 118 1259 121 1260 427 1261 426 1262 426 1263 122 1264 121 1265 122 1266 426 1267 534 1268 534 1269 398 1270 122 1271 117 1272 118 1273 123 1274 123 1275 119 1276 117 1277 119 1278 123 1279 327 1280 327 1281 328 1282 119 1283 118 1284 397 1285 396 1286 396 1287 123 1288 118 1289 123 1290 396 1291 518 1292 518 1293 327 1294 123 1295 117 1296 119 1297 124 1298 124 1299 120 1300 117 1301 120 1302 124 1303 402 1304 402 1305 403 1306 120 1307 119 1308 328 1309 329 1310 329 1311 124 1312 119 1313 124 1314 329 1315 519 1316 519 1317 402 1318 124 1319 117 1320 120 1321 125 1322 125 1323 121 1324 117 1325 121 1326 125 1327 428 1328 428 1329 427 1330 121 1331 120 1332 403 1333 404 1334 404 1335 125 1336 120 1337 125 1338 404 1339 535 1340 535 1341 428 1342 125 1343 126 1344 130 1345 131 1346 131 1347 127 1348 126 1349 127 1350 131 1351 366 1352 366 1353 367 1354 127 1355 130 1356 334 1357 333 1358 333 1359 131 1360 130 1361 131 1362 333 1363 512 1364 512 1365 366 1366 131 1367 126 1368 127 1369 132 1370 132 1371 128 1372 126 1373 128 1374 132 1375 429 1376 429 1377 430 1378 128 1379 127 1380 367 1381 368 1382 368 1383 132 1384 127 1385 132 1386 368 1387 529 1388 529 1389 429 1390 132 1391 126 1392 128 1393 133 1394 133 1395 129 1396 126 1397 129 1398 133 1399 404 1400 404 1401 403 1402 129 1403 128 1404 430 1405 431 1406 431 1407 133 1408 128 1409 133 1410 431 1411 535 1412 535 1413 404 1414 133 1415 126 1416 129 1417 134 1418 134 1419 130 1420 126 1421 130 1422 134 1423 335 1424 335 1425 334 1426 130 1427 129 1428 403 1429 402 1430 402 1431 134 1432 129 1433 134 1434 402 1435 519 1436 519 1437 335 1438 134 1439 135 1440 139 1441 140 1442 140 1443 136 1444 135 1445 136 1446 140 1447 371 1448 371 1449 370 1450 136 1451 139 1452 430 1453 429 1454 429 1455 140 1456 139 1457 140 1458 429 1459 529 1460 529 1461 371 1462 140 1463 135 1464 136 1465 141 1466 141 1467 137 1468 135 1469 137 1470 141 1471 357 1472 357 1473 358 1474 137 1475 136 1476 370 1477 369 1478 369 1479 141 1480 136 1481 141 1482 369 1483 521 1484 521 1485 357 1486 141 1487 135 1488 137 1489 142 1490 142 1491 138 1492 135 1493 138 1494 142 1495 405 1496 405 1497 406 1498 138 1499 137 1500 358 1501 359 1502 359 1503 142 1504 137 1505 142 1506 359 1507 527 1508 527 1509 405 1510 142 1511 135 1512 138 1513 143 1514 143 1515 139 1516 135 1517 139 1518 143 1519 431 1520 431 1521 430 1522 139 1523 138 1524 406 1525 407 1526 407 1527 143 1528 138 1529 143 1530 407 1531 535 1532 535 1533 431 1534 143 1535 144 1536 148 1537 149 1538 149 1539 145 1540 144 1541 145 1542 149 1543 438 1544 438 1545 439 1546 145 1547 148 1548 289 1549 288 1550 288 1551 149 1552 148 1553 149 1554 288 1555 504 1556 504 1557 438 1558 149 1559 144 1560 145 1561 150 1562 150 1563 146 1564 144 1565 146 1566 150 1567 482 1568 482 1569 481 1570 146 1571 145 1572 439 1573 440 1574 440 1575 150 1576 145 1577 150 1578 440 1579 537 1580 537 1581 482 1582 150 1583 144 1584 146 1585 151 1586 151 1587 147 1588 144 1589 147 1590 151 1591 434 1592 434 1593 433 1594 147 1595 146 1596 481 1597 480 1598 480 1599 151 1600 146 1601 151 1602 480 1603 536 1604 536 1605 434 1606 151 1607 144 1608 147 1609 152 1610 152 1611 148 1612 144 1613 148 1614 152 1615 290 1616 290 1617 289 1618 148 1619 147 1620 433 1621 432 1622 432 1623 152 1624 147 1625 152 1626 432 1627 505 1628 505 1629 290 1630 152 1631 153 1632 157 1633 158 1634 158 1635 154 1636 153 1637 154 1638 158 1639 443 1640 443 1641 442 1642 154 1643 157 1644 481 1645 482 1646 482 1647 158 1648 157 1649 158 1650 482 1651 537 1652 537 1653 443 1654 158 1655 153 1656 154 1657 159 1658 159 1659 155 1660 153 1661 155 1662 159 1663 338 1664 338 1665 337 1666 155 1667 154 1668 442 1669 441 1670 441 1671 159 1672 154 1673 159 1674 441 1675 521 1676 521 1677 338 1678 159 1679 153 1680 155 1681 160 1682 160 1683 156 1684 153 1685 156 1686 160 1687 435 1688 435 1689 436 1690 156 1691 155 1692 337 1693 336 1694 336 1695 160 1696 155 1697 160 1698 336 1699 520 1700 520 1701 435 1702 160 1703 153 1704 156 1705 161 1706 161 1707 157 1708 153 1709 157 1710 161 1711 480 1712 480 1713 481 1714 157 1715 156 1716 436 1717 437 1718 437 1719 161 1720 156 1721 161 1722 437 1723 536 1724 536 1725 480 1726 161 1727 162 1728 166 1729 167 1730 167 1731 163 1732 162 1733 163 1734 167 1735 432 1736 432 1737 433 1738 163 1739 166 1740 295 1741 294 1742 294 1743 167 1744 166 1745 167 1746 294 1747 505 1748 505 1749 432 1750 167 1751 162 1752 163 1753 168 1754 168 1755 164 1756 162 1757 164 1758 168 1759 483 1760 483 1761 484 1762 164 1763 163 1764 433 1765 434 1766 434 1767 168 1768 163 1769 168 1770 434 1771 536 1772 536 1773 483 1774 168 1775 162 1776 164 1777 169 1778 169 1779 165 1780 162 1781 165 1782 169 1783 446 1784 446 1785 445 1786 165 1787 164 1788 484 1789 485 1790 485 1791 169 1792 164 1793 169 1794 485 1795 538 1796 538 1797 446 1798 169 1799 162 1800 165 1801 170 1802 170 1803 166 1804 162 1805 166 1806 170 1807 296 1808 296 1809 295 1810 166 1811 165 1812 445 1813 444 1814 444 1815 170 1816 165 1817 170 1818 444 1819 506 1820 506 1821 296 1822 170 1823 171 1824 175 1825 176 1826 176 1827 172 1828 171 1829 172 1830 176 1831 437 1832 437 1833 436 1834 172 1835 175 1836 484 1837 483 1838 483 1839 176 1840 175 1841 176 1842 483 1843 536 1844 536 1845 437 1846 176 1847 171 1848 172 1849 177 1850 177 1851 173 1852 171 1853 173 1854 177 1855 339 1856 339 1857 340 1858 173 1859 172 1860 436 1861 435 1862 435 1863 177 1864 172 1865 177 1866 435 1867 520 1868 520 1869 339 1870 177 1871 171 1872 173 1873 178 1874 178 1875 174 1876 171 1877 174 1878 178 1879 447 1880 447 1881 448 1882 174 1883 173 1884 340 1885 341 1886 341 1887 178 1888 173 1889 178 1890 341 1891 522 1892 522 1893 447 1894 178 1895 171 1896 174 1897 179 1898 179 1899 175 1900 171 1901 175 1902 179 1903 485 1904 485 1905 484 1906 175 1907 174 1908 448 1909 449 1910 449 1911 179 1912 174 1913 179 1914 449 1915 538 1916 538 1917 485 1918 179 1919 180 1920 184 1921 185 1922 185 1923 181 1924 180 1925 181 1926 185 1927 444 1928 444 1929 445 1930 181 1931 184 1932 301 1933 300 1934 300 1935 185 1936 184 1937 185 1938 300 1939 506 1940 506 1941 444 1942 185 1943 180 1944 181 1945 186 1946 186 1947 182 1948 180 1949 182 1950 186 1951 486 1952 486 1953 487 1954 182 1955 181 1956 445 1957 446 1958 446 1959 186 1960 181 1961 186 1962 446 1963 538 1964 538 1965 486 1966 186 1967 180 1968 182 1969 187 1970 187 1971 183 1972 180 1973 183 1974 187 1975 452 1976 452 1977 451 1978 183 1979 182 1980 487 1981 488 1982 488 1983 187 1984 182 1985 187 1986 488 1987 539 1988 539 1989 452 1990 187 1991 180 1992 183 1993 188 1994 188 1995 184 1996 180 1997 184 1998 188 1999 302 2000 302 2001 301 2002 184 2003 183 2004 451 2005 450 2006 450 2007 188 2008 183 2009 188 2010 450 2011 507 2012 507 2013 302 2014 188 2015 189 2016 193 2017 194 2018 194 2019 190 2020 189 2021 190 2022 194 2023 449 2024 449 2025 448 2026 190 2027 193 2028 487 2029 486 2030 486 2031 194 2032 193 2033 194 2034 486 2035 538 2036 538 2037 449 2038 194 2039 189 2040 190 2041 195 2042 195 2043 191 2044 189 2045 191 2046 195 2047 342 2048 342 2049 343 2050 191 2051 190 2052 448 2053 447 2054 447 2055 195 2056 190 2057 195 2058 447 2059 522 2060 522 2061 342 2062 195 2063 189 2064 191 2065 196 2066 196 2067 192 2068 189 2069 192 2070 196 2071 453 2072 453 2073 454 2074 192 2075 191 2076 343 2077 344 2078 344 2079 196 2080 191 2081 196 2082 344 2083 523 2084 523 2085 453 2086 196 2087 189 2088 192 2089 197 2090 197 2091 193 2092 189 2093 193 2094 197 2095 488 2096 488 2097 487 2098 193 2099 192 2100 454 2101 455 2102 455 2103 197 2104 192 2105 197 2106 455 2107 539 2108 539 2109 488 2110 197 2111 198 2112 202 2113 203 2114 203 2115 199 2116 198 2117 199 2118 203 2119 450 2120 450 2121 451 2122 199 2123 202 2124 307 2125 306 2126 306 2127 203 2128 202 2129 203 2130 306 2131 507 2132 507 2133 450 2134 203 2135 198 2136 199 2137 204 2138 204 2139 200 2140 198 2141 200 2142 204 2143 489 2144 489 2145 490 2146 200 2147 199 2148 451 2149 452 2150 452 2151 204 2152 199 2153 204 2154 452 2155 539 2156 539 2157 489 2158 204 2159 198 2160 200 2161 205 2162 205 2163 201 2164 198 2165 201 2166 205 2167 458 2168 458 2169 457 2170 201 2171 200 2172 490 2173 491 2174 491 2175 205 2176 200 2177 205 2178 491 2179 540 2180 540 2181 458 2182 205 2183 198 2184 201 2185 206 2186 206 2187 202 2188 198 2189 202 2190 206 2191 308 2192 308 2193 307 2194 202 2195 201 2196 457 2197 456 2198 456 2199 206 2200 201 2201 206 2202 456 2203 508 2204 508 2205 308 2206 206 2207 207 2208 211 2209 212 2210 212 2211 208 2212 207 2213 208 2214 212 2215 455 2216 455 2217 454 2218 208 2219 211 2220 490 2221 489 2222 489 2223 212 2224 211 2225 212 2226 489 2227 539 2228 539 2229 455 2230 212 2231 207 2232 208 2233 213 2234 213 2235 209 2236 207 2237 209 2238 213 2239 345 2240 345 2241 346 2242 209 2243 208 2244 454 2245 453 2246 453 2247 213 2248 208 2249 213 2250 453 2251 523 2252 523 2253 345 2254 213 2255 207 2256 209 2257 214 2258 214 2259 210 2260 207 2261 210 2262 214 2263 459 2264 459 2265 460 2266 210 2267 209 2268 346 2269 347 2270 347 2271 214 2272 209 2273 214 2274 347 2275 524 2276 524 2277 459 2278 214 2279 207 2280 210 2281 215 2282 215 2283 211 2284 207 2285 211 2286 215 2287 491 2288 491 2289 490 2290 211 2291 210 2292 460 2293 461 2294 461 2295 215 2296 210 2297 215 2298 461 2299 540 2300 540 2301 491 2302 215 2303 216 2304 220 2305 221 2306 221 2307 217 2308 216 2309 217 2310 221 2311 456 2312 456 2313 457 2314 217 2315 220 2316 313 2317 312 2318 312 2319 221 2320 220 2321 221 2322 312 2323 508 2324 508 2325 456 2326 221 2327 216 2328 217 2329 222 2330 222 2331 218 2332 216 2333 218 2334 222 2335 492 2336 492 2337 493 2338 218 2339 217 2340 457 2341 458 2342 458 2343 222 2344 217 2345 222 2346 458 2347 540 2348 540 2349 492 2350 222 2351 216 2352 218 2353 223 2354 223 2355 219 2356 216 2357 219 2358 223 2359 464 2360 464 2361 463 2362 219 2363 218 2364 493 2365 494 2366 494 2367 223 2368 218 2369 223 2370 494 2371 541 2372 541 2373 464 2374 223 2375 216 2376 219 2377 224 2378 224 2379 220 2380 216 2381 220 2382 224 2383 314 2384 314 2385 313 2386 220 2387 219 2388 463 2389 462 2390 462 2391 224 2392 219 2393 224 2394 462 2395 509 2396 509 2397 314 2398 224 2399 225 2400 229 2401 230 2402 230 2403 226 2404 225 2405 226 2406 230 2407 461 2408 461 2409 460 2410 226 2411 229 2412 493 2413 492 2414 492 2415 230 2416 229 2417 230 2418 492 2419 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427 1310 427 1311 126 1312 125 1313 126 1314 427 1315 559 1316 559 1317 409 1318 126 1319 122 1320 123 1321 127 1322 127 1323 124 1324 122 1325 124 1326 127 1327 424 1328 424 1329 425 1330 124 1331 123 1332 410 1333 411 1334 411 1335 127 1336 123 1337 127 1338 411 1339 560 1340 560 1341 424 1342 127 1343 122 1344 124 1345 128 1346 128 1347 125 1348 122 1349 125 1350 128 1351 429 1352 429 1353 428 1354 125 1355 124 1356 425 1357 426 1358 426 1359 128 1360 124 1361 128 1362 426 1363 561 1364 561 1365 429 1366 128 1367 129 1368 132 1369 133 1370 133 1371 130 1372 129 1373 130 1374 133 1375 403 1376 403 1377 404 1378 130 1379 132 1380 431 1381 430 1382 430 1383 133 1384 132 1385 133 1386 430 1387 558 1388 558 1389 403 1390 133 1391 129 1392 130 1393 134 1394 134 1395 131 1396 129 1397 131 1398 134 1399 427 1400 427 1401 428 1402 131 1403 130 1404 404 1405 405 1406 405 1407 134 1408 130 1409 134 1410 405 1411 559 1412 559 1413 427 1414 134 1415 129 1416 131 1417 135 1418 135 1419 132 1420 129 1421 132 1422 135 1423 432 1424 432 1425 431 1426 132 1427 131 1428 428 1429 429 1430 429 1431 135 1432 131 1433 135 1434 429 1435 561 1436 561 1437 432 1438 135 1439 136 1440 139 1441 140 1442 140 1443 137 1444 136 1445 137 1446 140 1447 400 1448 400 1449 401 1450 137 1451 139 1452 434 1453 433 1454 433 1455 140 1456 139 1457 140 1458 433 1459 557 1460 557 1461 400 1462 140 1463 136 1464 137 1465 141 1466 141 1467 138 1468 136 1469 138 1470 141 1471 430 1472 430 1473 431 1474 138 1475 137 1476 401 1477 402 1478 402 1479 141 1480 137 1481 141 1482 402 1483 558 1484 558 1485 430 1486 141 1487 136 1488 138 1489 142 1490 142 1491 139 1492 136 1493 139 1494 142 1495 435 1496 435 1497 434 1498 139 1499 138 1500 431 1501 432 1502 432 1503 142 1504 138 1505 142 1506 432 1507 561 1508 561 1509 435 1510 142 1511 143 1512 146 1513 147 1514 147 1515 144 1516 143 1517 144 1518 147 1519 394 1520 394 1521 395 1522 144 1523 146 1524 437 1525 436 1526 436 1527 147 1528 146 1529 147 1530 436 1531 556 1532 556 1533 394 1534 147 1535 143 1536 144 1537 148 1538 148 1539 145 1540 143 1541 145 1542 148 1543 433 1544 433 1545 434 1546 145 1547 144 1548 395 1549 396 1550 396 1551 148 1552 144 1553 148 1554 396 1555 557 1556 557 1557 433 1558 148 1559 143 1560 145 1561 149 1562 149 1563 146 1564 143 1565 146 1566 149 1567 438 1568 438 1569 437 1570 146 1571 145 1572 434 1573 435 1574 435 1575 149 1576 145 1577 149 1578 435 1579 561 1580 561 1581 438 1582 149 1583 150 1584 153 1585 154 1586 154 1587 151 1588 150 1589 151 1590 154 1591 388 1592 388 1593 389 1594 151 1595 153 1596 440 1597 439 1598 439 1599 154 1600 153 1601 154 1602 439 1603 555 1604 555 1605 388 1606 154 1607 150 1608 151 1609 155 1610 155 1611 152 1612 150 1613 152 1614 155 1615 436 1616 436 1617 437 1618 152 1619 151 1620 389 1621 390 1622 390 1623 155 1624 151 1625 155 1626 390 1627 556 1628 556 1629 436 1630 155 1631 150 1632 152 1633 156 1634 156 1635 153 1636 150 1637 153 1638 156 1639 441 1640 441 1641 440 1642 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- - - - - - - - - 1.0 0.0 0.0 0.0 - 0.0 1.0 0.0 0.0 - 0.0 0.0 1.0 0.0 - 0.0 0.0 0.0 1.0 - - - - - - - - - - - - - - - - - Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/arm_wrist.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/arm_wrist.stl differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/convex/arm_base_convex.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/convex/arm_base_convex.stl differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/convex/arm_flanche_angle_convex.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/convex/arm_flanche_angle_convex.stl differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/convex/arm_flanche_convex.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/convex/arm_flanche_convex.stl differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/convex/arm_segment_a_convex.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/convex/arm_segment_a_convex.stl differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/convex/arm_segment_b_convex.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/convex/arm_segment_b_convex.stl differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/convex/arm_segment_last_convex.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/convex/arm_segment_last_convex.stl differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/convex/arm_wrist_convex.stl and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/convex/arm_wrist_convex.stl differ diff -Nru bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/convex/README bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/convex/README --- bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/convex/README 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/convex/README 1970-01-01 00:00:00.000000000 +0000 @@ -1,4 +0,0 @@ -convex collision hulls, created using - -rosrun convex_decomposition convex_decomposition -v24 -p10 -s0.01 -rosrun ivcon ivcon \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/COPYRIGHT bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/COPYRIGHT --- bullet-2.86.1+dfsg/data/kuka_lwr/meshes_arm/COPYRIGHT 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/kuka_lwr/meshes_arm/COPYRIGHT 1970-01-01 00:00:00.000000000 +0000 @@ -1,12 +0,0 @@ -The meshes of the lightweight robot are based on a blender model -which was re-designed from scratch. (It can be downloaded at -http://toychest.in.tum.de/wiki/_media/projects:lwr-arm.blend) - -This blender model, as well as the meshes found in this folder -are licensed under CC-BY-3.0: - -Copyright (c) 2010 by Ingo Kresse . -This work is made available under the terms of the -Creative Commons Attribution 3.0 license, -http://creativecommons.org/licenses/by/3.0/. - diff -Nru bullet-2.86.1+dfsg/data/kuka_lwr/tools/jr3-stabilo.dae bullet-2.87+dfsg/data/kuka_lwr/tools/jr3-stabilo.dae --- bullet-2.86.1+dfsg/data/kuka_lwr/tools/jr3-stabilo.dae 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/kuka_lwr/tools/jr3-stabilo.dae 1970-01-01 00:00:00.000000000 +0000 @@ -1,1823 +0,0 @@ - - - - - Google SketchUp 8.0.14345 - - 2012-06-15T18:48:06Z - 2012-06-15T18:48:06Z - - Z_UP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0.1220880 -1.7576498 0.0000000 -0.1139918 -1.7674345 0.0000000 -0.1141325 -1.7576498 0.0000000 -0.0938201 -1.7691676 0.0000000 0.0220898 -1.7715158 0.0000000 0.1222287 -1.7669871 0.0000000 -0.1139918 -1.7547151 1.5748031 -0.1139918 -1.7674345 0.0000000 -0.1139918 -1.7674345 1.5748031 -0.1141325 -1.7576498 0.0000000 -0.1139918 -1.7547151 0.0000000 0.1220880 -1.7576498 0.0000000 0.1222287 -1.7669871 1.5748031 0.1222287 -1.7669871 0.0000000 0.1222287 -1.7547151 1.5748031 0.1222287 -1.7547151 0.0000000 0.1222287 -1.7669871 1.5748031 0.0220898 -1.7715158 0.0000000 0.1222287 -1.7669871 0.0000000 0.0220898 -1.7715158 1.5748031 -0.0938201 -1.7691676 0.0000000 -0.0938201 -1.7691676 1.5748031 -0.1139918 -1.7674345 0.0000000 -0.1139918 -1.7674345 1.5748031 -0.1141325 -1.7703692 0.0000000 -0.1139918 -1.8334553 1.5748031 -0.1139918 -1.8334553 0.0000000 -0.1139918 -1.7674345 1.5748031 -0.1139918 -1.7674345 0.0000000 -0.1139918 -1.7547151 1.5748031 0.1222287 -1.7547151 0.0000000 -0.1139918 -1.7547151 0.0000000 0.1222287 -1.7547151 1.5748031 0.1222287 -1.7669871 1.5748031 0.1222287 -1.8334553 0.0000000 0.1222287 -1.8334553 1.5748031 0.1220880 -1.7699218 0.0000000 0.1222287 -1.7669871 0.0000000 -0.0938201 -1.7691676 1.5748031 -0.1139918 -1.8334553 1.5748031 -0.1139918 -1.7674345 1.5748031 0.1222287 -1.8334553 1.5748031 0.0220898 -1.7715158 1.5748031 0.1222287 -1.7669871 1.5748031 - - - - - - - - - - 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 -0.9999982 -0.0018941 0.0000284 -0.9999982 -0.0018941 0.0000284 -0.9999982 -0.0018941 0.0000284 -0.9999982 -0.0018941 0.0000284 -0.9999982 -0.0018941 0.0000284 0.9999982 0.0019073 -0.0000285 0.9999982 0.0019073 -0.0000285 0.9999982 0.0019073 -0.0000285 0.9999982 0.0019073 -0.0000285 0.9999982 0.0019073 -0.0000285 0.0451784 -0.9989789 0.0000000 0.0124685 -0.9999223 0.0000000 0.0451784 -0.9989789 0.0000000 0.0124685 -0.9999223 0.0000000 -0.0529563 -0.9985968 0.0000000 -0.0529563 -0.9985968 0.0000000 -0.0856011 -0.9963295 0.0000000 -0.0856011 -0.9963295 0.0000000 0.9999998 0.0005685 -0.0000262 0.9999998 0.0005685 -0.0000262 0.9999998 0.0005685 -0.0000262 0.9999998 0.0005685 -0.0000262 0.9999998 0.0005685 -0.0000262 0.0000000 1.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 1.0000000 0.0000000 0.0000000 1.0000000 0.0000000 -0.9999998 -0.0005650 0.0000262 -0.9999998 -0.0005650 0.0000262 -0.9999998 -0.0005650 0.0000262 -0.9999998 -0.0005650 0.0000262 -0.9999998 -0.0005650 0.0000262 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 0.0000000 0.0000000 -1.0000000 - - - - - - - - - - - - - - -

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0 1 2 1 0 3 8 2 9 2 8 0 12 13 14 13 12 15 20 9 21 9 20 8 24 13 15 13 24 25 28 21 29 21 28 20 32 25 24 25 32 33 36 29 37 29 36 28 40 33 32 33 40 41 44 37 45 37 44 36 48 41 40 41 48 49 52 45 53 45 52 44 56 49 48 49 56 57 60 53 61 53 60 52 64 57 56 57 64 65 68 61 69 61 68 60 72 65 64 65 72 73 76 69 77 69 76 68 80 73 72 73 80 81 81 80 82 86 77 87 77 86 76 90 82 80 82 90 91 91 90 92 96 87 97 87 96 86 100 92 90 92 100 101 101 100 102 106 97 107 97 106 96 110 102 100 102 110 111 111 110 112 116 107 117 107 116 106 120 112 110 112 120 121 121 120 122 126 117 127 117 126 116 130 122 120 122 130 131 131 130 132 136 127 137 127 136 126 140 132 130 132 140 141 141 140 142 146 137 147 137 146 136 150 142 140 142 150 151 151 150 152 156 147 157 147 156 146 160 152 150 152 160 161 161 160 162 166 157 167 157 166 156 170 162 160 162 170 171 171 170 172 176 167 177 167 176 166 180 172 170 172 180 181 181 180 182 186 177 187 177 186 176 190 182 180 182 190 191 194 187 195 187 194 186 198 191 190 191 198 199 202 195 203 195 202 194 206 199 198 199 206 207 210 203 211 203 210 202 214 207 206 207 214 215 218 210 211 210 218 219 222 215 214 215 222 223 226 219 218 219 226 227 230 223 222 223 230 231 234 227 226 227 234 235 230 238 231 238 230 239 242 235 234 235 242 243 239 246 238 246 239 247 250 243 242 243 250 251 247 254 246 254 247 255 258 251 250 251 258 259 255 262 254 262 255 263 266 259 258 259 266 267 267 266 268 263 272 262 272 263 273 276 267 268 267 276 277 277 276 278 273 282 272 282 273 283 286 277 278 277 286 287 287 286 288 283 292 282 292 283 293 296 287 288 287 296 297 297 296 298 293 302 292 302 293 303 306 297 298 297 306 307 307 306 308 303 312 302 312 303 313 316 307 308 307 316 317 317 316 318 313 322 312 322 313 323 326 317 318 317 326 327 327 326 328 323 332 322 332 323 333 336 327 328 327 336 337 337 336 338 333 342 332 342 333 343 346 337 338 337 346 347 347 346 348 343 352 342 352 343 353 356 347 348 347 356 357 357 356 358 353 362 352 362 353 363 366 357 358 357 366 367 367 366 368 363 372 362 372 363 373 376 367 368 367 376 377 373 380 372 380 373 381 384 377 376 377 384 385 381 388 380 388 381 389 392 385 384 385 392 393 389 396 388 396 389 397 400 393 392 393 400 401 397 404 396 404 397 405 408 401 400 401 408 409 405 412 404 412 405 413 416 409 408 409 416 417 413 420 412 420 413 421 424 417 416 417 424 425 421 428 420 428 421 429 432 433 434 433 432 435 429 440 428 440 429 441 441 432 440 432 441 435

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4 5 6 7 6 5 5 10 7 11 7 10 16 17 18 19 18 17 10 22 11 23 11 22 26 27 18 16 18 27 22 30 23 31 23 30 34 35 26 27 26 35 30 38 31 39 31 38 42 43 34 35 34 43 38 46 39 47 39 46 50 51 42 43 42 51 46 54 47 55 47 54 58 59 50 51 50 59 54 62 55 63 55 62 66 67 58 59 58 67 62 70 63 71 63 70 74 75 66 67 66 75 70 78 71 79 71 78 83 84 85 85 84 74 75 74 84 78 88 79 89 79 88 93 94 95 95 94 83 84 83 94 88 98 89 99 89 98 103 104 105 105 104 93 94 93 104 98 108 99 109 99 108 113 114 115 115 114 103 104 103 114 108 118 109 119 109 118 123 124 125 125 124 113 114 113 124 118 128 119 129 119 128 133 134 135 135 134 123 124 123 134 128 138 129 139 129 138 143 144 145 145 144 133 134 133 144 138 148 139 149 139 148 153 154 155 155 154 143 144 143 154 148 158 149 159 149 158 163 164 165 165 164 153 154 153 164 158 168 159 169 159 168 173 174 175 175 174 163 164 163 174 168 178 169 179 169 178 183 184 185 185 184 173 174 173 184 178 188 179 189 179 188 192 193 183 184 183 193 188 196 189 197 189 196 200 201 192 193 192 201 196 204 197 205 197 204 208 209 200 201 200 209 204 212 205 213 205 212 216 217 208 209 208 217 220 221 212 213 212 221 224 225 216 217 216 225 228 229 220 221 220 229 232 233 224 225 224 233 236 237 228 229 228 237 240 233 241 232 241 233 244 245 236 237 236 245 248 240 249 241 249 240 252 253 244 245 244 253 256 248 257 249 257 248 260 261 252 253 252 261 264 256 265 257 265 256 269 270 271 271 270 260 261 260 270 274 264 275 265 275 264 279 280 281 281 280 271 269 271 280 284 274 285 275 285 274 289 290 291 291 290 281 279 281 290 294 284 295 285 295 284 299 300 301 301 300 291 289 291 300 304 294 305 295 305 294 309 310 311 311 310 301 299 301 310 314 304 315 305 315 304 319 320 321 321 320 311 309 311 320 324 314 325 315 325 314 329 330 331 331 330 321 319 321 330 334 324 335 325 335 324 339 340 341 341 340 331 329 331 340 344 334 345 335 345 334 349 350 351 351 350 341 339 341 350 354 344 355 345 355 344 359 360 361 361 360 351 349 351 360 364 354 365 355 365 354 369 370 371 371 370 361 359 361 370 374 364 375 365 375 364 378 379 371 369 371 379 382 374 383 375 383 374 386 387 378 379 378 387 390 382 391 383 391 382 394 395 386 387 386 395 398 390 399 391 399 390 402 403 394 395 394 403 406 398 407 399 407 398 410 411 402 403 402 411 414 406 415 407 415 406 418 419 410 411 410 419 422 414 423 415 423 414 426 427 418 419 418 427 430 422 431 423 431 422 436 437 438 439 438 437 442 430 443 431 443 430 436 442 437 443 437 442

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0 1 2 1 0 3 2 8 9 8 2 1 12 13 14 13 12 15 9 20 21 20 9 8 12 24 15 24 12 25 21 28 29 28 21 20 25 32 24 32 25 33 29 36 37 36 29 28 33 40 32 40 33 41 37 44 45 44 37 36 41 48 40 48 41 49 45 52 53 52 45 54 54 45 44 49 58 48 58 49 59 53 62 63 62 53 64 64 53 52 59 68 58 68 59 69 63 72 73 72 63 74 74 63 62 69 78 68 78 69 79 73 82 83 82 73 84 84 73 72 79 88 78 88 79 89 83 92 93 92 83 94 94 83 82 89 98 88 98 89 99 93 102 103 102 93 104 104 93 92 99 108 98 108 99 109 103 112 113 112 103 114 114 103 102 109 118 108 118 109 119 113 122 123 122 113 124 124 113 112 119 128 118 128 119 129 123 132 133 132 123 134 134 123 122 129 138 128 138 129 139 133 142 143 142 133 144 144 133 132 139 148 138 148 139 149 143 152 153 152 143 154 154 143 142 149 158 148 158 149 159 153 162 163 162 153 152 159 166 158 166 159 167 163 170 171 170 163 162 167 174 166 174 167 175 171 178 179 178 171 170 175 182 174 182 175 183 179 186 187 186 179 178 183 190 182 190 183 191 187 194 195 194 187 186 191 198 190 198 191 199 195 202 203 202 195 194 199 206 198 206 199 207 203 210 211 210 203 202 207 214 206 214 207 215 218 210 219 210 218 211 215 222 214 222 215 223 226 219 227 219 226 218 223 230 222 230 223 231 234 227 235 227 234 226 230 238 239 238 230 231 242 235 243 235 242 234 239 246 247 246 239 238 250 243 251 243 250 242 247 254 255 254 247 246 258 251 259 251 258 250 255 262 263 262 255 254 266 259 267 259 266 258 263 270 271 270 263 262 274 267 275 267 274 266 271 278 279 278 271 270 282 275 283 275 282 274 279 286 287 286 279 278 290 283 291 283 290 282 294 295 296 295 294 286 286 294 287 300 291 301 291 300 290 304 305 306 305 304 295 295 304 296 310 301 311 301 310 300 314 315 316 315 314 305 305 314 306 320 311 321 311 320 310 324 325 326 325 324 315 315 324 316 330 321 331 321 330 320 334 335 336 335 334 325 325 334 326 340 331 341 331 340 330 344 345 346 345 344 335 335 344 336 350 341 351 341 350 340 354 355 356 355 354 345 345 354 346 360 351 361 351 360 350 364 365 366 365 364 355 355 364 356 370 361 371 361 370 360 374 375 376 375 374 365 365 374 366 380 371 381 371 380 370 384 385 386 385 384 375 375 384 376 390 381 391 381 390 380 394 395 396 395 394 385 385 394 386 400 391 401 391 400 390 396 404 405 404 396 395 408 401 409 401 408 400 405 412 413 412 405 404 416 409 417 409 416 408 413 420 421 420 413 412 424 417 425 417 424 416 421 428 429 428 421 420 432 433 434 433 432 435 429 440 441 440 429 428 441 432 434 432 441 440

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4 5 6 7 6 5 6 7 10 11 10 7 16 17 18 19 18 17 10 11 22 23 22 11 26 17 27 16 27 17 22 23 30 31 30 23 34 26 35 27 35 26 30 31 38 39 38 31 42 34 43 35 43 34 38 39 46 47 46 39 50 42 51 43 51 42 46 47 55 55 47 56 57 56 47 60 50 61 51 61 50 56 57 65 65 57 66 67 66 57 70 60 71 61 71 60 66 67 75 75 67 76 77 76 67 80 70 81 71 81 70 76 77 85 85 77 86 87 86 77 90 80 91 81 91 80 86 87 95 95 87 96 97 96 87 100 90 101 91 101 90 96 97 105 105 97 106 107 106 97 110 100 111 101 111 100 106 107 115 115 107 116 117 116 107 120 110 121 111 121 110 116 117 125 125 117 126 127 126 117 130 120 131 121 131 120 126 127 135 135 127 136 137 136 127 140 130 141 131 141 130 136 137 145 145 137 146 147 146 137 150 140 151 141 151 140 146 147 155 155 147 156 157 156 147 160 150 161 151 161 150 156 157 164 165 164 157 168 160 169 161 169 160 164 165 172 173 172 165 176 168 177 169 177 168 172 173 180 181 180 173 184 176 185 177 185 176 180 181 188 189 188 181 192 184 193 185 193 184 188 189 196 197 196 189 200 192 201 193 201 192 196 197 204 205 204 197 208 200 209 201 209 200 204 205 212 213 212 205 216 208 217 209 217 208 213 220 212 221 212 220 224 216 225 217 225 216 220 228 221 229 221 228 232 224 233 225 233 224 228 236 229 237 229 236 232 233 240 241 240 233 236 244 237 245 237 244 240 241 248 249 248 241 244 252 245 253 245 252 248 249 256 257 256 249 252 260 253 261 253 260 256 257 264 265 264 257 260 268 261 269 261 268 264 265 272 273 272 265 268 276 269 277 269 276 272 273 280 281 280 273 276 284 277 285 277 284 280 281 288 289 288 281 284 292 285 293 285 292 289 297 288 288 297 298 299 298 297 292 302 293 303 293 302 299 307 298 298 307 308 309 308 307 302 312 303 313 303 312 309 317 308 308 317 318 319 318 317 312 322 313 323 313 322 319 327 318 318 327 328 329 328 327 322 332 323 333 323 332 329 337 328 328 337 338 339 338 337 332 342 333 343 333 342 339 347 338 338 347 348 349 348 347 342 352 343 353 343 352 349 357 348 348 357 358 359 358 357 352 362 353 363 353 362 359 367 358 358 367 368 369 368 367 362 372 363 373 363 372 369 377 368 368 377 378 379 378 377 372 382 373 383 373 382 379 387 378 378 387 388 389 388 387 382 392 383 393 383 392 389 397 388 388 397 398 399 398 397 392 402 393 403 393 402 398 399 406 407 406 399 402 410 403 411 403 410 406 407 414 415 414 407 410 418 411 419 411 418 414 415 422 423 422 415 418 426 419 427 419 426 422 423 430 431 430 423 436 437 438 439 438 437 430 431 442 443 442 431 442 443 437 439 437 443

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0 1 2 1 0 3 8 2 9 2 8 0 12 13 14 13 12 15 15 12 16 22 9 23 9 22 8 14 26 27 26 14 13 30 23 31 23 30 22 27 34 35 34 27 26 38 31 39 31 38 30 35 42 43 42 35 34 46 39 47 39 46 38 43 50 51 50 43 42 54 47 55 47 54 46 51 58 59 58 51 50 62 55 63 55 62 54 59 66 67 66 59 58 70 63 71 63 70 62 67 74 75 74 67 66 78 71 79 71 78 70 82 83 84 83 82 74 74 82 75 88 79 89 79 88 78 92 93 94 93 92 83 83 92 84 98 89 99 89 98 88 102 103 104 103 102 93 93 102 94 108 99 109 99 108 98 112 113 114 113 112 103 103 112 104 118 109 119 109 118 108 122 123 124 123 122 113 113 122 114 128 119 129 119 128 118 132 133 134 133 132 123 123 132 124 138 129 139 129 138 128 142 143 144 143 142 133 133 142 134 148 139 149 139 148 138 152 153 154 153 152 143 143 152 144 158 149 159 149 158 148 162 163 164 163 162 153 153 162 154 168 159 169 159 168 158 172 173 174 173 172 163 163 172 164 178 169 179 169 178 168 182 183 184 183 182 173 173 182 174 188 179 189 179 188 178 184 192 193 192 184 183 196 189 197 189 196 188 193 200 201 200 193 192 204 197 205 197 204 196 201 208 209 208 201 200 212 205 213 205 212 204 209 216 217 216 209 208 212 220 221 220 212 213 217 224 225 224 217 216 221 228 229 228 221 220 225 232 233 232 225 224 229 236 237 236 229 228 232 240 233 240 232 241 237 244 245 244 237 236 241 248 240 248 241 249 245 252 253 252 245 244 249 256 248 256 249 257 253 260 261 260 253 262 262 253 252 257 266 256 266 257 267 261 270 271 270 261 272 272 261 260 267 276 266 276 267 277 271 280 281 280 271 282 282 271 270 277 286 276 286 277 287 281 290 291 290 281 292 292 281 280 287 296 286 296 287 297 291 300 301 300 291 302 302 291 290 297 306 296 306 297 307 301 310 311 310 301 312 312 301 300 307 316 306 316 307 317 311 320 321 320 311 322 322 311 310 317 326 316 326 317 327 321 330 331 330 321 332 332 321 320 327 336 326 336 327 337 331 340 341 340 331 342 342 331 330 337 346 336 346 337 347 341 350 351 350 341 352 352 341 340 347 356 346 356 347 357 351 360 361 360 351 362 362 351 350 357 366 356 366 357 367 361 370 371 370 361 360 367 374 366 374 367 375 371 378 379 378 371 370 375 382 374 382 375 383 379 386 387 386 379 378 383 390 382 390 383 391 387 394 395 394 387 386 391 398 390 398 391 399 395 402 403 402 395 394 399 406 398 406 399 407 403 410 411 410 403 402 407 414 406 414 407 415 411 418 419 418 411 410 415 422 414 422 415 423 426 427 428 427 426 429 423 434 422 434 423 435 435 427 434 427 435 428

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4 5 6 7 6 5 5 10 7 11 7 10 17 18 19 19 18 20 21 20 18 10 24 11 25 11 24 20 21 28 29 28 21 24 32 25 33 25 32 28 29 36 37 36 29 32 40 33 41 33 40 36 37 44 45 44 37 40 48 41 49 41 48 44 45 52 53 52 45 48 56 49 57 49 56 52 53 60 61 60 53 56 64 57 65 57 64 60 61 68 69 68 61 64 72 65 73 65 72 68 69 76 77 76 69 72 80 73 81 73 80 77 85 76 76 85 86 87 86 85 80 90 81 91 81 90 87 95 86 86 95 96 97 96 95 90 100 91 101 91 100 97 105 96 96 105 106 107 106 105 100 110 101 111 101 110 107 115 106 106 115 116 117 116 115 110 120 111 121 111 120 117 125 116 116 125 126 127 126 125 120 130 121 131 121 130 127 135 126 126 135 136 137 136 135 130 140 131 141 131 140 137 145 136 136 145 146 147 146 145 140 150 141 151 141 150 147 155 146 146 155 156 157 156 155 150 160 151 161 151 160 157 165 156 156 165 166 167 166 165 160 170 161 171 161 170 167 175 166 166 175 176 177 176 175 170 180 171 181 171 180 177 185 176 176 185 186 187 186 185 180 190 181 191 181 190 186 187 194 195 194 187 190 198 191 199 191 198 194 195 202 203 202 195 198 206 199 207 199 206 202 203 210 211 210 203 206 214 207 215 207 214 210 211 218 219 218 211 215 214 222 223 222 214 218 219 226 227 226 219 222 223 230 231 230 223 226 227 234 235 234 227 230 231 238 239 238 231 242 234 243 235 243 234 238 239 246 247 246 239 250 242 251 243 251 242 246 247 254 255 254 247 258 250 259 251 259 250 254 255 263 263 255 264 265 264 255 268 258 269 259 269 258 264 265 273 273 265 274 275 274 265 278 268 279 269 279 268 274 275 283 283 275 284 285 284 275 288 278 289 279 289 278 284 285 293 293 285 294 295 294 285 298 288 299 289 299 288 294 295 303 303 295 304 305 304 295 308 298 309 299 309 298 304 305 313 313 305 314 315 314 305 318 308 319 309 319 308 314 315 323 323 315 324 325 324 315 328 318 329 319 329 318 324 325 333 333 325 334 335 334 325 338 328 339 329 339 328 334 335 343 343 335 344 345 344 335 348 338 349 339 349 338 344 345 353 353 345 354 355 354 345 358 348 359 349 359 348 354 355 363 363 355 364 365 364 355 368 358 369 359 369 358 364 365 372 373 372 365 376 368 377 369 377 368 372 373 380 381 380 373 384 376 385 377 385 376 380 381 388 389 388 381 392 384 393 385 393 384 388 389 396 397 396 389 400 392 401 393 401 392 396 397 404 405 404 397 408 400 409 401 409 400 404 405 412 413 412 405 416 408 417 409 417 408 412 413 420 421 420 413 424 416 425 417 425 416 430 431 432 433 432 431 436 424 437 425 437 424 433 436 432 437 432 436

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5 6 7 7 6 8 9 8 6 13 14 15 15 14 7 5 7 14 9 19 8 8 19 20 21 20 19 25 26 27 27 26 15 13 15 26 21 31 20 20 31 32 33 32 31 37 38 39 39 38 27 25 27 38 33 43 32 32 43 44 45 44 43 49 50 51 51 50 39 37 39 50 45 55 44 44 55 56 57 56 55 60 61 51 49 51 61 57 65 56 56 65 66 67 66 65 70 71 60 61 60 71 67 75 66 66 75 76 77 76 75 80 81 70 71 70 81 76 77 84 85 84 77 88 89 80 81 80 89 84 85 92 93 92 85 96 97 88 89 88 97 92 93 100 101 100 93 104 105 96 97 96 105 100 101 108 109 108 101 112 113 104 105 104 113 108 109 116 117 116 109 112 120 113 121 113 120 116 117 124 125 124 117 120 128 121 129 121 128 132 124 133 125 133 124 128 136 129 137 129 136 140 132 141 133 141 132 136 144 137 145 137 144 148 140 149 141 149 140 144 152 145 153 145 152 156 148 157 149 157 148 152 160 153 161 153 160 164 156 165 157 165 156 160 168 161 169 161 168 172 164 173 165 173 164 168 176 169 177 169 176 180 172 181 173 181 172 176 184 177 185 177 184 188 180 189 181 189 180 184 192 185 193 185 192 196 188 197 189 197 188 192 200 193 201 193 200 204 196 205 197 205 196 200 208 201 209 201 208 212 204 213 205 213 204 208 216 209 217 209 216 220 212 221 213 221 212 216 224 217 225 217 224 228 220 229 221 229 220 224 232 225 233 225 232 236 228 237 229 237 228 232 240 233 241 233 240 244 236 245 237 245 236 240 248 241 249 241 248 252 244 253 245 253 244 248 256 249 257 249 256 260 252 261 253 261 252 256 264 257 265 257 264 268 260 269 261 269 260 264 272 265 273 265 272 276 268 277 269 277 268 272 280 273 281 273 280 284 276 285 277 285 276 280 288 281 289 281 288 292 284 293 285 293 284 288 296 289 297 289 296 300 292 301 293 301 292 296 304 297 305 297 304 308 300 309 301 309 300 305 304 312 313 312 304 316 308 317 309 317 308 312 313 320 321 320 313 324 325 317 316 317 325 320 321 328 329 328 321 332 333 324 325 324 333 328 329 336 337 336 329 340 341 332 333 332 341 336 337 344 345 344 337 348 349 340 341 340 349 344 345 352 353 352 345 356 357 348 349 348 357 352 353 361 361 353 362 363 362 353 366 367 356 357 356 367 362 363 371 371 363 372 373 372 363 376 377 366 367 366 377 372 373 381 381 373 382 383 382 373 387 388 389 389 388 376 377 376 388 382 383 393 393 383 394 395 394 383 399 400 401 401 400 387 388 387 400 394 395 405 405 395 406 407 406 395 411 412 413 413 412 399 400 399 412 406 407 417 417 407 418 419 418 407 423 424 425 425 424 411 412 411 424 418 419 427 427 419 423 424 423 419

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4 5 6 7 6 5 5 10 7 11 7 10 14 4 15 6 15 4 10 18 11 19 11 18 22 14 23 15 23 14 18 26 19 27 19 26 30 22 31 23 31 22 26 34 27 35 27 34 34 38 35 39 35 38 38 42 39 43 39 42 42 46 43 47 43 46 50 51 46 47 46 51 54 55 50 51 50 55 58 59 54 55 54 59 62 63 58 59 58 63 66 67 62 63 62 67 70 71 66 67 66 71 74 75 70 71 70 75 78 79 74 75 74 79 83 84 85 85 84 78 79 78 84 89 90 91 91 90 85 83 85 90 95 96 97 97 96 91 89 91 96 101 102 103 103 102 97 95 97 102 108 109 110 109 111 110 110 111 103 101 103 111 115 116 117 117 116 110 108 110 116 121 122 123 123 122 117 115 117 122 127 128 129 129 128 123 121 123 128 133 134 135 135 134 129 127 129 134 139 140 141 141 140 135 133 135 140 144 145 141 139 141 145 148 149 144 145 144 149 152 153 148 149 148 153 156 157 152 153 152 157 160 161 156 157 156 161 164 165 160 161 160 165 164 168 165 169 165 168 168 172 169 173 169 172 172 176 173 177 173 176 176 180 177 181 177 180 180 184 181 185 181 184 184 188 185 189 185 188 188 192 189 193 189 192 192 196 193 197 193 196 196 200 197 201 197 200 200 204 201 205 201 204 204 208 205 209 205 208 208 212 209 213 209 212 212 216 213 217 213 216 216 220 217 221 217 220 220 224 221 225 221 224 224 228 225 229 225 228 228 232 229 233 229 232 232 236 233 237 233 236 236 240 237 241 237 240 240 244 241 245 241 244 244 248 245 249 245 248 248 252 249 253 249 252 252 256 253 257 253 256 256 260 257 261 257 260 261 260 264 265 264 260 264 265 268 269 268 265 268 269 272 273 272 269 272 273 276 277 276 273 276 277 280 281 280 277 280 281 284 285 284 281 284 285 288 289 288 285 288 289 292 293 292 289 292 293 297 297 293 298 299 298 293 298 299 303 303 299 304 305 304 299 304 305 309 309 305 310 311 310 305 310 311 315 315 311 316 317 316 311 316 317 321 321 317 322 323 322 317 322 323 328 328 323 329 329 323 330 331 330 323 330 331 335 335 331 336 337 336 331 336 337 341 341 337 342 343 342 337 342 343 347 347 343 348 349 348 343 348 349 353 353 349 354 355 354 349 354 355 358 359 358 355 358 359 362 363 362 359 362 363 366 367 366 363 366 367 370 371 370 367 370 371 374 375 374 371 374 375 378 379 378 375 379 382 378 383 378 382 382 386 383 387 383 386 386 390 387 391 387 390 390 394 391 395 391 394 394 398 395 399 395 398 398 402 399 403 399 402 402 406 403 407 403 406 406 410 407 411 407 410 410 414 411 415 411 414 414 418 415 419 415 418 418 422 419 423 419 422 422 426 423 427 423 426

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0 1 2 1 0 3 3 0 4 3 4 5 3 5 6 14 15 16 15 14 1 1 14 17 1 17 18 1 18 2 6 24 3 24 6 25 25 6 26 26 6 27 26 27 28 34 35 36 35 34 15 15 34 37 15 37 38 15 38 16 44 45 46 45 44 47 52 53 54 53 52 35 35 52 55 35 55 56 35 56 36 47 62 45 62 47 63 63 47 64 63 64 65 63 65 66 72 73 74 73 72 53 53 72 75 53 75 76 53 76 54 63 82 62 82 63 83 83 63 84 83 84 85 83 85 86 92 93 94 93 92 73 73 92 95 73 95 96 73 96 74 83 102 82 102 83 103 103 83 104 103 104 105 103 105 106 112 113 114 113 112 115 115 112 116 115 116 93 93 116 117 93 117 94 103 124 102 124 103 125 125 103 126 125 126 127 125 127 128 134 135 136 135 134 137 137 134 138 137 138 113 113 138 139 113 139 114 125 146 124 146 125 147 147 125 148 147 148 149 147 149 150 156 157 158 157 156 159 159 156 160 159 160 135 135 160 161 135 161 136 147 168 146 168 147 169 169 147 170 169 170 171 169 171 172 178 179 180 179 178 181 181 178 182 181 182 157 157 182 183 157 183 158 169 190 168 190 169 191 191 169 192 191 192 193 191 193 194 200 201 202 201 200 203 203 200 204 203 204 179 179 204 205 179 205 180 191 212 190 212 191 213 213 191 214 213 214 215 213 215 216 222 223 224 223 222 225 225 222 226 225 226 201 201 226 227 201 227 202 213 234 212 234 213 235 235 213 236 235 236 237 235 237 238 244 245 246 245 244 247 247 244 248 247 248 223 223 248 249 223 249 224 235 256 234 256 235 257 257 235 258 257 258 259 257 259 260 266 267 268 267 266 269 269 266 270 269 270 245 245 270 271 245 271 246 257 278 256 278 257 279 279 257 280 279 280 281 279 281 282 288 289 290 289 288 291 291 288 292 291 292 267 267 292 293 267 293 268 279 300 278 300 279 301 301 279 302 301 302 303 301 303 304 310 311 312 311 310 313 313 310 314 313 314 289 289 314 315 289 315 290 301 322 300 322 301 323 323 301 324 323 324 325 323 325 326 332 333 334 333 332 335 335 332 336 335 336 311 311 336 337 311 337 312 323 344 322 344 323 345 345 323 346 345 346 347 345 347 348 354 355 356 355 354 333 333 354 357 333 357 358 333 358 334 345 364 344 364 345 365 365 345 366 365 366 367 365 367 368 374 375 376 375 374 355 355 374 377 355 377 378 355 378 356 365 384 364 384 365 385 385 365 386 385 386 387 385 387 388 394 395 396 395 394 375 375 394 397 375 397 398 375 398 376 385 404 384 404 385 405 405 385 406 405 406 407 405 407 408 414 415 416 415 414 395 395 414 417 395 417 418 395 418 396 405 424 404 424 405 425 425 405 426 425 426 427 425 427 428 434 435 436 435 434 415 415 434 437 415 437 438 415 438 416 425 444 424 444 425 445 445 425 446 445 446 447 445 447 448 454 455 456 455 454 435 435 454 457 435 457 458 435 458 436 445 464 444 464 445 465 465 445 466 465 466 467 465 467 468 474 475 476 475 474 455 455 474 477 455 477 478 455 478 456 465 484 464 484 465 485 485 465 486 485 486 487 485 487 488 494 475 495 475 494 476 476 494 496 476 496 497 476 497 498 485 504 484 504 485 505 505 485 506 505 506 507 505 507 508 514 495 515 495 514 494 494 514 516 494 516 517 494 517 518 505 524 504 524 505 525 525 505 526 525 526 527 525 527 528 534 515 535 515 534 514 514 534 536 514 536 537 514 537 538 524 544 545 544 524 546 546 524 547 547 524 548 548 524 525 554 535 555 535 554 534 534 554 556 534 556 557 534 557 558 545 564 565 564 545 566 566 545 567 567 545 568 568 545 544 574 555 575 555 574 554 554 574 576 554 576 577 554 577 578 565 584 585 584 565 586 586 565 587 587 565 588 588 565 564 594 575 595 575 594 574 574 594 596 574 596 597 574 597 598 585 604 605 604 585 606 606 585 607 607 585 608 608 585 584 614 595 615 595 614 594 594 614 616 594 616 617 594 617 618 605 624 625 624 605 626 626 605 627 627 605 628 628 605 604 634 615 635 615 634 614 614 634 636 614 636 637 614 637 638 625 644 645 644 625 646 646 625 647 647 625 648 648 625 624 654 635 655 635 654 634 634 654 656 634 656 657 634 657 658 645 664 665 664 645 666 666 645 667 667 645 668 668 645 644 674 655 675 655 674 654 654 674 676 654 676 677 654 677 678 684 685 686 685 684 687 687 684 688 688 684 665 688 665 689 689 665 664 696 675 697 675 696 674 674 696 698 674 698 699 674 699 700 706 707 708 707 706 709 709 706 710 710 706 686 710 686 711 711 686 685 718 697 719 697 718 696 696 718 720 696 720 721 696 721 722 728 729 730 729 728 731 731 728 732 732 728 708 732 708 733 733 708 707 740 719 741 719 740 718 718 740 742 718 742 743 718 743 744 750 751 752 751 750 753 753 750 754 754 750 730 754 730 755 755 730 729 762 741 763 741 762 740 740 762 764 740 764 765 740 765 766 772 773 774 773 772 775 775 772 776 776 772 752 776 752 777 777 752 751 784 763 785 763 784 762 762 784 786 762 786 787 762 787 788 794 795 796 795 794 797 797 794 798 798 794 774 798 774 799 799 774 773 806 785 807 785 806 784 784 806 808 784 808 809 784 809 810 816 817 818 817 816 819 819 816 820 820 816 796 820 796 821 821 796 795 828 807 829 807 828 806 806 828 830 806 830 831 806 831 832 838 839 840 839 838 841 841 838 842 842 838 818 842 818 843 843 818 817 850 829 851 829 850 828 828 850 852 828 852 853 828 853 854 860 861 862 861 860 863 863 860 864 864 860 840 864 840 865 865 840 839 872 851 873 851 872 850 850 872 874 850 874 875 850 875 876 882 883 884 883 882 885 885 882 886 886 882 862 886 862 887 887 862 861 894 873 895 873 894 872 872 894 896 872 896 897 872 897 898 904 905 906 905 904 907 907 904 908 908 904 884 908 884 909 909 884 883 916 895 917 895 916 894 894 916 918 894 918 919 894 919 920 906 926 927 926 906 928 928 906 929 929 906 930 930 906 905 936 917 937 917 936 916 916 936 938 916 938 939 916 939 940 927 946 947 946 927 948 948 927 949 949 927 950 950 927 926 956 937 957 937 956 936 936 956 958 936 958 959 936 959 960 947 966 967 966 947 968 968 947 969 969 947 970 970 947 946 976 957 977 957 976 956 956 976 978 956 978 979 956 979 980 967 986 987 986 967 988 988 967 989 989 967 990 990 967 966 996 976 977 976 996 997 997 996 998 987 1002 1003 1002 987 1004 1004 987 1005 1005 987 1006 1006 987 986 1003 1012 1013 1012 1003 1002

- - - -

7 8 9 8 10 9 10 11 9 9 11 12 13 12 11 13 19 12 19 20 12 20 21 12 12 21 22 23 22 21 29 30 31 30 7 31 31 7 32 32 7 33 9 33 7 23 39 22 39 40 22 40 41 22 22 41 42 43 42 41 48 49 50 51 50 49 43 57 42 57 58 42 58 59 42 42 59 60 61 60 59 67 68 69 68 70 69 70 48 69 69 48 71 50 71 48 61 77 60 77 78 60 78 79 60 60 79 80 81 80 79 87 88 89 88 90 89 90 69 89 89 69 91 71 91 69 81 97 80 97 98 80 98 99 80 80 99 100 101 100 99 107 108 109 108 110 109 110 89 109 109 89 111 91 111 89 101 118 100 118 119 100 100 119 120 119 121 120 120 121 122 123 122 121 129 130 131 130 132 131 132 109 131 131 109 133 111 133 109 123 140 122 140 141 122 122 141 142 141 143 142 142 143 144 145 144 143 151 152 153 152 154 153 154 131 153 153 131 155 133 155 131 145 162 144 162 163 144 144 163 164 163 165 164 164 165 166 167 166 165 173 174 175 174 176 175 176 153 175 175 153 177 155 177 153 167 184 166 184 185 166 166 185 186 185 187 186 186 187 188 189 188 187 195 196 197 196 198 197 198 175 197 197 175 199 177 199 175 189 206 188 206 207 188 188 207 208 207 209 208 208 209 210 211 210 209 217 218 219 218 220 219 220 197 219 219 197 221 199 221 197 211 228 210 228 229 210 210 229 230 229 231 230 230 231 232 233 232 231 239 240 241 240 242 241 242 219 241 241 219 243 221 243 219 233 250 232 250 251 232 232 251 252 251 253 252 252 253 254 255 254 253 261 262 263 262 264 263 264 241 263 263 241 265 243 265 241 255 272 254 272 273 254 254 273 274 273 275 274 274 275 276 277 276 275 283 284 285 284 286 285 286 263 285 285 263 287 265 287 263 277 294 276 294 295 276 276 295 296 295 297 296 296 297 298 299 298 297 305 306 307 306 308 307 308 285 307 307 285 309 287 309 285 299 316 298 316 317 298 298 317 318 317 319 318 318 319 320 321 320 319 327 328 329 328 330 329 330 307 329 329 307 331 309 331 307 321 338 320 338 339 320 320 339 340 339 341 340 340 341 342 343 342 341 349 350 351 350 352 351 352 329 351 351 329 353 331 353 329 343 359 342 359 360 342 360 361 342 342 361 362 363 362 361 369 370 371 370 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511 539 540 522 540 541 522 541 542 522 522 542 523 543 523 542 531 533 549 549 533 550 550 533 551 551 533 552 553 552 533 559 560 542 560 561 542 561 562 542 542 562 543 563 543 562 552 553 569 569 553 570 570 553 571 571 553 572 573 572 553 579 580 562 580 581 562 581 582 562 562 582 563 583 563 582 572 573 589 589 573 590 590 573 591 591 573 592 593 592 573 599 600 582 600 601 582 601 602 582 582 602 583 603 583 602 592 593 609 609 593 610 610 593 611 611 593 612 613 612 593 619 620 602 620 621 602 621 622 602 602 622 603 623 603 622 612 613 629 629 613 630 630 613 631 631 613 632 633 632 613 639 640 622 640 641 622 641 642 622 622 642 623 643 623 642 632 633 649 649 633 650 650 633 651 651 633 652 653 652 633 659 660 642 660 661 642 661 662 642 642 662 643 663 643 662 652 653 669 669 653 670 670 653 671 671 653 672 673 672 653 679 680 662 680 681 662 681 682 662 662 682 663 683 663 682 672 673 690 690 673 691 673 692 691 691 692 693 693 692 694 695 694 692 701 702 682 702 703 682 703 704 682 682 704 683 705 683 704 694 695 712 712 695 713 695 714 713 713 714 715 715 714 716 717 716 714 723 724 704 724 725 704 725 726 704 704 726 705 727 705 726 716 717 734 734 717 735 717 736 735 735 736 737 737 736 738 739 738 736 745 746 726 746 747 726 747 748 726 726 748 727 749 727 748 738 739 756 756 739 757 739 758 757 757 758 759 759 758 760 761 760 758 767 768 748 768 769 748 769 770 748 748 770 749 771 749 770 760 761 778 778 761 779 761 780 779 779 780 781 781 780 782 783 782 780 789 790 770 790 791 770 791 792 770 770 792 771 793 771 792 782 783 800 800 783 801 783 802 801 801 802 803 803 802 804 805 804 802 811 812 792 812 813 792 813 814 792 792 814 793 815 793 814 804 805 822 822 805 823 805 824 823 823 824 825 825 824 826 827 826 824 833 834 814 834 835 814 835 836 814 814 836 815 837 815 836 826 827 844 844 827 845 827 846 845 845 846 847 847 846 848 849 848 846 855 856 836 856 857 836 857 858 836 836 858 837 859 837 858 848 849 866 866 849 867 849 868 867 867 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bullet-2.87+dfsg/data/mjcf/ant.xml --- bullet-2.86.1+dfsg/data/mjcf/ant.xml 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/mjcf/ant.xml 1970-01-01 00:00:00.000000000 +0000 @@ -1,80 +0,0 @@ - - - diff -Nru bullet-2.86.1+dfsg/data/mjcf/capsule.xml bullet-2.87+dfsg/data/mjcf/capsule.xml --- bullet-2.86.1+dfsg/data/mjcf/capsule.xml 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/mjcf/capsule.xml 1970-01-01 00:00:00.000000000 +0000 @@ -1,13 +0,0 @@ - - - - - - - - - - - \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/data/mjcf/hello_mjcf.xml bullet-2.87+dfsg/data/mjcf/hello_mjcf.xml --- bullet-2.86.1+dfsg/data/mjcf/hello_mjcf.xml 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/mjcf/hello_mjcf.xml 1970-01-01 00:00:00.000000000 +0000 @@ -1,13 +0,0 @@ - - - - - - - - - - - \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/data/mjcf/hopper.xml bullet-2.87+dfsg/data/mjcf/hopper.xml --- bullet-2.86.1+dfsg/data/mjcf/hopper.xml 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/mjcf/hopper.xml 1970-01-01 00:00:00.000000000 +0000 @@ -1,44 +0,0 @@ - - - - - - - - \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/data/mjcf/humanoid.xml bullet-2.87+dfsg/data/mjcf/humanoid.xml --- bullet-2.86.1+dfsg/data/mjcf/humanoid.xml 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/mjcf/humanoid.xml 1970-01-01 00:00:00.000000000 +0000 @@ -1,130 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/mjcf/inverted_double_pendulum.xml bullet-2.87+dfsg/data/mjcf/inverted_double_pendulum.xml --- bullet-2.86.1+dfsg/data/mjcf/inverted_double_pendulum.xml 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/mjcf/inverted_double_pendulum.xml 1970-01-01 00:00:00.000000000 +0000 @@ -1,47 +0,0 @@ - - - - - - - - - - - \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/data/mjcf/inverted_pendulum.xml bullet-2.87+dfsg/data/mjcf/inverted_pendulum.xml --- bullet-2.86.1+dfsg/data/mjcf/inverted_pendulum.xml 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/mjcf/inverted_pendulum.xml 1970-01-01 00:00:00.000000000 +0000 @@ -1,27 +0,0 @@ - - - - - - - - - \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/data/mjcf/reacher.xml bullet-2.87+dfsg/data/mjcf/reacher.xml --- bullet-2.86.1+dfsg/data/mjcf/reacher.xml 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/mjcf/reacher.xml 1970-01-01 00:00:00.000000000 +0000 @@ -1,39 +0,0 @@ - - - - - - - \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/data/mjcf/swimmer.xml bullet-2.87+dfsg/data/mjcf/swimmer.xml --- bullet-2.86.1+dfsg/data/mjcf/swimmer.xml 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/mjcf/swimmer.xml 1970-01-01 00:00:00.000000000 +0000 @@ -1,38 +0,0 @@ - - - diff -Nru bullet-2.86.1+dfsg/data/MPL/LICENSE.txt bullet-2.87+dfsg/data/MPL/LICENSE.txt --- bullet-2.86.1+dfsg/data/MPL/LICENSE.txt 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/MPL/LICENSE.txt 1970-01-01 00:00:00.000000000 +0000 @@ -1,19 +0,0 @@ - \ No newline at end of file Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/index0.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/index0.STL differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/index1.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/index1.STL differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/index2.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/index2.STL differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/index3.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/index3.STL differ Binary files 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/tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/ring3.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/ring3.STL differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/thumb0.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/thumb0.STL differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/thumb1.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/thumb1.STL differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/thumb2.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/thumb2.STL differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/thumb3.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/thumb3.STL differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/wristx.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/wristx.STL differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/wristy.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/wristy.STL differ Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/MPL/mesh/wristz.STL and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/MPL/mesh/wristz.STL differ diff -Nru bullet-2.86.1+dfsg/data/MPL/mpl2.xml bullet-2.87+dfsg/data/MPL/mpl2.xml --- bullet-2.86.1+dfsg/data/MPL/mpl2.xml 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/MPL/mpl2.xml 1970-01-01 00:00:00.000000000 +0000 @@ -1,471 +0,0 @@ - - - - - diff -Nru bullet-2.86.1+dfsg/data/MPL/MPL.xml bullet-2.87+dfsg/data/MPL/MPL.xml --- bullet-2.86.1+dfsg/data/MPL/MPL.xml 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/MPL/MPL.xml 1970-01-01 00:00:00.000000000 +0000 @@ -1,473 +0,0 @@ - - - - - Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/multibody.bullet and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/multibody.bullet differ diff -Nru bullet-2.86.1+dfsg/data/plane100.obj bullet-2.87+dfsg/data/plane100.obj --- bullet-2.86.1+dfsg/data/plane100.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/plane100.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -# Blender v2.66 (sub 1) OBJ File: '' -# www.blender.org -mtllib plane.mtl -o Plane -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 1/1 2/2 3/3 -f 1/1 3/3 4/4 - - diff -Nru bullet-2.86.1+dfsg/data/plane100.urdf bullet-2.87+dfsg/data/plane100.urdf --- bullet-2.86.1+dfsg/data/plane100.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/plane100.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/plane.mtl bullet-2.87+dfsg/data/plane.mtl --- bullet-2.86.1+dfsg/data/plane.mtl 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/plane.mtl 1970-01-01 00:00:00.000000000 +0000 @@ -1,15 +0,0 @@ -newmtl Material - 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-2.86.1+dfsg/data/plane.obj bullet-2.87+dfsg/data/plane.obj --- bullet-2.86.1+dfsg/data/plane.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/plane.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,18 +0,0 @@ -# Blender v2.66 (sub 1) OBJ File: '' -# www.blender.org -mtllib plane.mtl -o Plane -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 - 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37808/23692 37806/23689 37815/23701 -f 37812/23693 37810/23694 37817/23935 -f 37814/23698 37813/23700 37819/23711 -f 37819/23936 37820/23705 37814/23706 -f 37816/23692 37815/23701 37820/23705 -f 37812/23693 37817/23935 37822/23708 -f 37824/23707 37825/23709 37812/23693 -f 37820/23705 37819/23936 37826/23714 -f 37821/23692 37820/23705 37827/23713 -f 37824/23707 37822/23708 37799/23715 -f 37825/23709 37824/23707 37803/23937 -f 37803/23938 37805/23939 37825/23712 -f 37827/23713 37826/23714 37805/23691 -f 37828/23692 37827/23713 37807/23690 -usemtl Out_Temple:Out_Temple:lambert6SG -s off -f 19660/23940 19661/23941 19662/23942 -f 19663/23943 19664/23944 19665/23945 -f 19659/23946 19667/23947 19657/23948 -f 19668/23949 19669/23950 19670/23951 -f 19671/23952 19666/23953 19665/23954 -f 19672/23955 19670/23956 19669/23957 -f 19665/23958 19673/23959 19669/23950 -f 19657/23960 19662/23961 19661/23962 -f 19674/23963 19672/23964 19661/23965 -f 19657/23960 19661/23962 19673/23966 -f 19665/23967 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51240/49417 -f 51238/49412 51239/49418 51240/49417 -f 50812/49056 50813/49419 50811/49057 -f 50813/49419 50814/49420 50811/49057 -f 50814/49420 50815/49421 50811/49057 -f 50815/49421 50816/49422 50811/49057 -f 50816/49422 50817/49423 50811/49057 -f 50817/49423 50818/49424 50811/49057 -f 50955/49425 50956/49426 50954/49427 -f 50956/49426 50957/49428 50954/49427 -f 50957/49428 50958/49429 50954/49427 -f 50958/49429 50959/49430 50954/49427 -f 50959/49430 50960/49431 50954/49427 -f 50960/49431 50953/49432 50954/49427 -f 55449/49059 55450/49433 55447/49060 -f 55450/49433 55451/49434 55447/49060 -f 55451/49434 55452/49435 55447/49060 -f 55452/49435 55453/49436 55447/49060 -f 55453/49436 55444/49437 55447/49060 -f 55444/49437 55443/49438 55447/49060 -f 55443/49438 55445/49439 55446/49440 -f 55447/49060 55443/49438 55446/49440 -f 51395/49441 51394/49442 51392/49062 -f 51396/49443 51395/49441 51392/49062 -f 51396/49443 51392/49062 51400/49061 -f 51397/49444 51396/49443 51398/49445 -f 51396/49443 51400/49061 51398/49445 -f 51398/49445 51400/49061 51399/49446 -f 51096/49447 51097/49448 51088/49065 -f 51091/49449 51089/49064 51090/49450 -f 51092/49451 51089/49064 51091/49449 -f 51092/49451 51088/49065 51089/49064 -f 51095/49452 51096/49447 51094/49453 -f 51094/49453 51096/49447 51093/49454 -f 51096/49447 51088/49065 51093/49454 -f 51088/49065 51092/49451 51093/49454 -f 55548/49455 55549/49456 55547/49457 -f 55549/49456 55550/49458 55547/49457 -f 55550/49458 55551/49068 55547/49457 -f 55551/49068 55553/49067 55547/49457 -f 55553/49067 55545/49459 55547/49457 -f 55545/49459 55544/49460 55546/49461 -f 55547/49457 55545/49459 55546/49461 -f 55681/49462 55679/49463 55680/49464 -f 55675/49071 55674/49465 55683/49072 -f 55674/49465 55676/49466 55683/49072 -f 55676/49466 55677/49467 55683/49072 -f 55677/49467 55678/49468 55679/49463 -f 55683/49072 55677/49467 55682/49469 -f 55677/49467 55679/49463 55682/49469 -f 55679/49463 55681/49462 55682/49469 -usemtl SideTemple04:blinn6SG -f 46088/49470 46089/49471 46091/49472 -f 46092/49473 46093/49474 46094/49475 -f 46088/49476 46093/49477 46089/49478 -f 46094/49479 46093/49480 46091/49481 -f 46090/49482 46089/49483 46092/49484 -f 46091/49485 46090/49486 46095/49487 -f 46096/49488 46097/49489 46099/49490 -f 46100/49491 46101/49492 46102/49493 -f 46096/49494 46101/49495 46097/49496 -f 46102/49497 46101/49498 46099/49499 -f 46098/49500 46097/49501 46100/49502 -f 46099/49503 46098/49504 46103/49505 -f 46104/49506 46105/49507 46107/49508 -f 46108/49509 46109/49510 46110/49511 -f 46104/49512 46109/49513 46105/49514 -f 46110/49515 46109/49516 46104/49517 -f 46106/49518 46105/49519 46108/49520 -f 46107/49521 46106/49522 46111/49523 -f 46112/49524 46113/49525 46115/49526 -f 46116/49527 46117/49528 46118/49529 -f 46112/49530 46117/49531 46113/49532 -f 46118/49533 46117/49534 46115/49535 -f 46114/49536 46113/49537 46116/49538 -f 46115/49539 46114/49540 46119/49541 -f 46120/49542 46121/49543 46123/49544 -f 46124/49545 46125/49546 46126/49547 -f 46120/49548 46125/49549 46121/49550 -f 46126/49551 46125/49552 46123/49553 -f 46122/49554 46121/49555 46124/49556 -f 46123/49557 46122/49558 46127/49559 -f 46128/49560 46129/49561 46131/49562 -f 46132/49563 46133/49564 46134/49565 -f 46128/49566 46133/49567 46129/49568 -f 46134/49569 46133/49570 46131/49571 -f 46130/49572 46129/49573 46132/49574 -f 46131/49575 46130/49576 46135/49577 -f 46089/49471 46090/49578 46091/49472 -f 46095/49579 46092/49473 46094/49475 -f 46093/49477 46092/49580 46089/49478 -f 46093/49480 46088/49581 46091/49481 -f 46095/49582 46090/49482 46092/49484 -f 46094/49583 46091/49485 46095/49487 -f 46097/49489 46098/49584 46099/49490 -f 46103/49585 46100/49491 46102/49493 -f 46101/49495 46100/49586 46097/49496 -f 46101/49498 46096/49587 46099/49499 -f 46103/49588 46098/49500 46100/49502 -f 46102/49589 46099/49503 46103/49505 -f 46105/49507 46106/49590 46107/49508 -f 46111/49591 46108/49509 46110/49511 -f 46109/49513 46108/49592 46105/49514 -f 46107/49593 46110/49515 46104/49517 -f 46111/49594 46106/49518 46108/49520 -f 46110/49595 46107/49521 46111/49523 -f 46113/49525 46114/49596 46115/49526 -f 46119/49597 46116/49527 46118/49529 -f 46117/49531 46116/49598 46113/49532 -f 46117/49534 46112/49599 46115/49535 -f 46119/49600 46114/49536 46116/49538 -f 46118/49601 46115/49539 46119/49541 -f 46121/49543 46122/49602 46123/49544 -f 46127/49603 46124/49545 46126/49547 -f 46125/49549 46124/49604 46121/49550 -f 46125/49552 46120/49605 46123/49553 -f 46127/49606 46122/49554 46124/49556 -f 46126/49607 46123/49557 46127/49559 -f 46129/49561 46130/49608 46131/49562 -f 46135/49609 46132/49563 46134/49565 -f 46133/49567 46132/49610 46129/49568 -f 46133/49570 46128/49611 46131/49571 -f 46135/49612 46130/49572 46132/49574 -f 46134/49613 46131/49575 46135/49577 -usemtl MainEntrance:MainEntrance:lambert2SG -f 25397/49614 25398/49615 25400/49616 -f 25401/49617 25434/49618 25403/49619 -f 25405/49620 25406/49621 25404/49622 -f 25406/49621 25410/49623 25409/49624 -f 25409/49624 25410/49623 25413/49625 -f 25404/49622 25411/49626 25414/49627 -f 25411/49626 25407/49628 25415/49629 -f 25408/49630 25412/49631 25417/49632 -f 25412/49631 25409/49624 25418/49633 -f 25409/49624 25413/49625 25418/49633 -f 25413/49625 25410/49623 25418/49633 -f 25404/49622 25414/49627 25415/49629 -f 25408/49630 25416/49634 25415/49629 -f 25416/49634 25417/49632 25418/49633 -f 25418/49633 25410/49623 25419/49635 -f 25415/49629 25418/49633 25397/49614 -f 25445/49636 25424/49637 25425/49638 -f 25424/49637 25405/49620 25427/49639 -f 25422/49640 25423/49641 25471/49642 -f 25423/49641 25425/49638 25426/49643 -f 25427/49639 25404/49622 25415/49629 -f 25471/49642 25429/49644 25430/49645 -f 25427/49639 25415/49629 25426/49643 -f 25430/49645 25429/49644 25431/49646 -f 25431/49646 25429/49644 25433/49647 -f 25432/49648 25426/49643 25433/49647 -f 25434/49618 25415/49629 25435/49649 -f 25415/49629 25397/49614 25436/49650 -f 25462/49651 25441/49652 25471/49642 -f 25441/49652 25442/49653 25471/49642 -f 25442/49653 25443/49654 25471/49642 -f 25443/49654 25444/49655 25471/49642 -f 25444/49655 25445/49636 25471/49642 -f 25446/49656 25471/49642 25447/49657 -f 25447/49657 25433/49647 25448/49658 -f 25433/49647 25449/49659 25455/49660 -f 25449/49659 25415/49629 25401/49617 -f 25456/49661 25462/49651 25461/49662 -f 25458/49663 25459/49664 25464/49665 -f 25460/49666 25461/49662 25465/49667 -f 25457/49668 25458/49663 25467/49669 -f 25458/49663 25464/49665 25467/49669 -f 25460/49666 25465/49667 25469/49670 -f 25469/49670 25466/49671 25470/49672 -f 25470/49672 25471/49642 25469/49670 -f 25457/49668 25467/49669 25472/49673 -f 25469/49670 25471/49642 25473/49674 -f 25472/49673 25467/49669 25474/49675 -f 25473/49674 25446/49656 25474/49675 -f 25473/49674 25471/49642 25446/49656 -f 25474/49675 25448/49658 25475/49676 -f 25475/49676 25433/49647 25482/49677 -f 25482/49677 25450/49678 25484/49679 -f 25471/49642 25430/49645 25433/49647 -f 25398/49615 25399/49680 25400/49616 -f 25434/49618 25402/49681 25403/49619 -f 25406/49621 25407/49628 25404/49622 -f 25406/49621 25408/49630 25407/49628 -f 25406/49621 25409/49624 25408/49630 -f 25407/49628 25411/49626 25404/49622 -f 25408/49630 25409/49624 25412/49631 -f 25411/49626 25415/49629 25414/49627 -f 25407/49628 25408/49630 25415/49629 -f 25408/49630 25417/49632 25416/49634 -f 25412/49631 25418/49633 25417/49632 -f 25416/49634 25418/49633 25415/49629 -f 25419/49635 25421/49682 25418/49633 -f 25397/49614 25420/49683 25398/49615 -f 25418/49633 25421/49682 25397/49614 -f 25445/49636 25422/49640 25471/49642 -f 25445/49636 25423/49641 25422/49640 -f 25423/49641 25445/49636 25425/49638 -f 25425/49638 25424/49637 25426/49643 -f 25426/49643 25424/49637 25427/49639 -f 25405/49620 25404/49622 25427/49639 -f 25423/49641 25428/49684 25471/49642 -f 25423/49641 25426/49643 25428/49684 -f 25428/49684 25426/49643 25471/49642 -f 25471/49642 25426/49643 25429/49644 -f 25426/49643 25432/49648 25429/49644 -f 25429/49644 25432/49648 25433/49647 -f 25426/49643 25415/49629 25433/49647 -f 25415/49629 25436/49650 25435/49649 -f 25397/49614 25437/49685 25436/49650 -f 25397/49614 25439/49686 25438/49687 -f 25397/49614 25440/49688 25439/49686 -f 25471/49642 25433/49647 25447/49657 -f 25415/49629 25449/49659 25433/49647 -f 25433/49647 25451/49689 25450/49678 -f 25433/49647 25452/49690 25451/49689 -f 25433/49647 25453/49691 25452/49690 -f 25433/49647 25454/49692 25453/49691 -f 25433/49647 25455/49660 25454/49692 -f 25449/49659 25401/49617 25455/49660 -f 25456/49661 25458/49663 25457/49668 -f 25456/49661 25459/49664 25458/49663 -f 25456/49661 25460/49666 25459/49664 -f 25456/49661 25461/49662 25460/49666 -f 25462/49651 25469/49670 25461/49662 -f 25462/49651 25463/49693 25469/49670 -f 25459/49664 25460/49666 25464/49665 -f 25461/49662 25469/49670 25465/49667 -f 25463/49693 25466/49671 25469/49670 -f 25463/49693 25471/49642 25466/49671 -f 25464/49665 25460/49666 25467/49669 -f 25460/49666 25469/49670 25468/49694 -f 25466/49671 25471/49642 25470/49672 -f 25460/49666 25468/49694 25467/49669 -f 25468/49694 25469/49670 25467/49669 -f 25467/49669 25469/49670 25474/49675 -f 25469/49670 25473/49674 25474/49675 -f 25474/49675 25477/49695 25476/49696 -f 25474/49675 25478/49697 25477/49695 -f 25474/49675 25479/49698 25478/49697 -f 25474/49675 25480/49699 25479/49698 -f 25475/49676 25482/49677 25474/49675 -f 25462/49651 25471/49642 25463/49693 -f 25446/49656 25447/49657 25474/49675 -f 25447/49657 25448/49658 25474/49675 -f 25448/49658 25433/49647 25475/49676 -f 25433/49647 25450/49678 25482/49677 -f 25450/49678 25483/49700 25484/49679 -f 25430/49645 25431/49646 25433/49647 -f 25415/49629 25434/49618 25401/49617 -usemtl SideTemple03:SideTemple1:Material3SG -f 59828/49701 59829/49702 59830/49703 -f 59832/49704 59833/49705 59834/49706 -f 59831/49707 59830/49708 59834/49709 -f 59836/49710 59837/49711 59838/49712 -f 59840/49713 59841/49714 59842/49715 -f 59839/49716 59838/49717 59842/49718 -f 59844/49719 59845/49720 59846/49721 -f 59847/49722 59846/49723 59852/49724 -f 59852/49725 59855/49726 59853/49727 -f 59845/49728 59844/49729 59858/49730 -f 59864/49731 59860/49732 59863/49733 -f 59868/49734 59869/49735 59860/49736 -f 59868/49737 59873/49738 59869/49739 -f 59865/49740 59863/49741 59873/49742 -f 59876/49743 59877/49744 59879/49745 -f 59883/49746 59884/49747 59877/49748 -f 59883/49749 59886/49750 59884/49751 -f 59879/49752 59878/49753 59887/49754 -f 59891/49755 59889/49756 59892/49757 -f 59888/49758 59890/49759 59891/49760 -f 59893/49761 59891/49762 59892/49763 -f 59894/49764 59895/49765 59896/49766 -f 59898/49767 59899/49768 59897/49769 -f 59899/49770 59900/49771 59894/49772 -f 59901/49773 59900/49774 59898/49775 -f 59902/49776 59903/49777 59904/49778 -f 59904/49779 59906/49780 59907/49781 -f 59903/49782 59908/49783 59904/49784 -f 59906/49785 59908/49786 59907/49787 -f 59910/49788 59911/49789 59913/49790 -f 59914/49791 59915/49792 59913/49793 -f 59915/49794 59916/49795 59910/49796 -f 59917/49797 59916/49798 59915/49799 -f 59918/49800 59919/49801 59921/49802 -f 59920/49803 59922/49804 59923/49805 -f 59919/49806 59924/49807 59922/49808 -f 59922/49809 59924/49810 59925/49811 -f 59926/49812 59927/49813 59928/49814 -f 59928/49815 59930/49816 59931/49817 -f 59930/49818 59927/49819 59931/49820 -f 59933/49821 59934/49822 59936/49823 -f 59935/49824 59937/49825 59936/49826 -f 59934/49827 59939/49828 59937/49829 -f 59937/49830 59939/49831 59940/49832 -f 59941/49833 59942/49834 59943/49835 -f 59945/49836 59944/49837 59946/49838 -f 59941/49839 59945/49840 59947/49841 -f 59948/49842 59949/49843 59951/49844 -f 59952/49845 59951/49846 59950/49847 -f 59954/49848 59948/49849 59951/49850 -f 59954/49851 59952/49852 59953/49853 -f 59959/49854 59958/49855 59960/49856 -f 59964/49857 59963/49858 59962/49859 -f 59961/49860 59964/49861 59965/49862 -f 59970/49863 59969/49864 59968/49865 -f 59967/49866 59970/49867 59972/49868 -f 59973/49869 59974/49870 59976/49871 -f 59977/49872 59976/49873 59978/49874 -f 59979/49875 59973/49876 59976/49877 -f 59979/49878 59977/49879 59978/49880 -f 59981/49881 59982/49882 59984/49883 -f 59981/49884 59985/49885 59982/49886 -f 59984/49887 59983/49888 59987/49889 -f 59988/49890 59989/49891 59991/49892 -f 59992/49893 59991/49894 59993/49895 -f 59994/49896 59988/49897 59991/49898 -f 59994/49899 59992/49900 59993/49901 -f 59996/49902 59997/49903 59998/49904 -f 60000/49905 59999/49906 60001/49907 -f 60002/49908 59996/49909 59999/49910 -f 60002/49911 60000/49912 60003/49913 -f 60004/49914 60005/49915 60006/49916 -f 60008/49917 60007/49918 60006/49919 -f 60010/49920 60004/49921 60007/49922 -f 60010/49923 60008/49924 60011/49925 -f 60012/49926 60013/49927 60015/49928 -f 60016/49929 60015/49930 60014/49931 -f 60018/49932 60012/49933 60015/49934 -f 60018/49935 60016/49936 60017/49937 -f 60020/49938 60021/49939 60022/49940 -f 60024/49941 60023/49942 60022/49943 -f 60026/49944 60020/49945 60023/49946 -f 60026/49947 60024/49948 60027/49949 -f 60028/49950 60029/49951 60031/49952 -f 60032/49953 60031/49954 60033/49955 -f 60034/49956 60028/49957 60031/49958 -f 60034/49959 60032/49960 60033/49961 -f 60036/49962 60037/49963 60038/49964 -f 60038/49965 60040/49966 60039/49967 -f 60037/49968 60042/49969 60038/49970 -f 60040/49971 60042/49972 60041/49973 -f 60044/49974 60045/49975 60046/49976 -f 60048/49977 60049/49978 60047/49979 -f 60049/49980 60050/49981 60045/49982 -f 60051/49983 60050/49984 60048/49985 -f 60053/49986 60055/49987 60054/49988 -f 60052/49989 60057/49990 60055/49991 -f 60055/49992 60057/49993 60056/49994 -f 60059/49995 60060/49996 60062/49997 -f 60061/49998 60063/49999 60064/50000 -f 60060/50001 60065/50002 60061/50003 -f 60063/50004 60065/50005 60066/50006 -f 60067/50007 60068/50008 60070/50009 -f 60071/50010 60072/50011 60070/50012 -f 60072/50013 60073/50014 60068/50015 -f 60074/50016 60073/50017 60072/50018 -f 60075/50019 60076/50020 60077/50021 -f 60079/50022 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45579/31608 45582/63073 45603/63072 -f 45582/63073 45584/31612 45604/31623 -f 45597/31605 45599/31613 45587/31606 -f 45606/31618 45605/31616 45601/31615 -f 45607/31620 45606/31618 45602/31617 -f 45608/31621 45607/31622 45603/63072 -f 45609/31624 45608/31621 45603/63072 -f 45604/31627 45583/31625 45609/31891 -f 45611/31630 45612/31631 45613/31632 -f 45612/31631 45614/31633 45615/31651 -f 45614/31635 45616/31636 45617/31637 -f 45616/31636 45618/31638 45619/31639 -f 45618/31638 45620/31640 45621/31892 -f 45610/31642 45613/31643 45623/31647 -f 45624/31645 45623/31644 45615/31651 -f 45622/31641 45623/31647 45619/31648 -f 45623/31647 45624/31649 45617/31893 -f 45625/63112 45626/63076 45627/63075 -f 45626/63076 45628/63077 45629/31655 -f 45628/63077 45630/31656 45631/31896 -f 45630/31658 45632/31659 45633/31660 -f 45632/31659 45634/63078 45635/31897 -f 45634/63078 45637/63079 45638/31662 -f 45640/63081 45641/31666 45628/63082 -f 45641/31666 45642/31667 45630/31901 -f 45626/63080 45625/63113 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45679/31715 45681/31716 45682/31717 -f 45681/31716 45683/31718 45684/31719 -f 45683/31718 45685/63115 45686/63088 -f 45687/31722 45688/31723 45677/31912 -f 45679/31713 45677/31711 45689/31728 -f 45685/31725 45683/31726 45688/31723 -f 45683/31726 45681/31727 45689/31913 -f 45728/31731 45731/31732 45733/63089 -f 45735/31919 45736/31918 45737/62965 -f 45738/62962 45739/62964 45734/63116 -f 45740/63092 45739/63091 45733/63117 -f 45733/63117 45739/63091 45732/31740 -f 45740/63094 45737/63093 45742/31916 -f 45737/62965 45745/62967 45735/31919 -f 45733/63089 45731/31732 45737/63093 -f 45894/31742 45895/31743 45896/31744 -f 45898/31745 45893/31741 45897/31760 -f 45902/31748 45899/31746 45901/31758 -f 45897/31750 45896/31751 45901/31920 -f 45904/31753 45900/31747 45899/31746 -f 45897/31750 45900/31749 45905/31921 -f 45896/31756 45895/31757 45906/31922 -f 45907/31759 45902/31748 45906/31923 -f 45898/31745 45897/31760 45908/31924 -f 45936/31764 45933/31762 45935/31925 -f 45936/31764 45937/31765 45938/31926 -f 45940/31767 45941/31768 45942/31779 -f 45941/31771 45940/31769 45936/31927 -f 45939/31766 45943/31772 45940/31767 -f 45944/31774 45945/31775 45937/31770 -f 45946/31778 45941/31776 45935/31928 -f 45941/31768 45946/31780 45947/31929 -f 45945/31781 45948/31782 45938/31926 -f 45974/31784 45975/31785 45976/31795 -f 45979/31788 45977/31786 45976/31799 -f 45975/31791 45980/63095 45982/31804 -f 45982/31793 45983/31794 45984/31815 -f 46002/63104 46004/31818 46005/31819 -f 46004/31818 46006/31820 46007/31821 -f 46006/31820 46008/31822 46009/31823 -f 46008/31822 46010/63118 46011/31825 -f 46012/31826 46011/31825 46010/63118 -f 46015/31828 46017/31829 46018/63105 -f 46017/31829 46019/31831 46020/63106 -f 46022/31832 46020/63106 46021/31833 -f 46021/31833 46023/31834 46024/31835 -f 46023/31834 46025/31836 46026/31837 -f 46025/31836 46014/31838 46013/31931 -usemtl Arena_02:Arena:blinn3SG -f 66555/63119 66556/63120 66557/63121 -f 66556/63120 66559/63122 66557/63121 -f 67099/63123 67097/63124 67100/63125 -f 67693/63126 67690/63127 67694/63128 -f 67695/63129 67696/63130 67690/63127 -f 68004/63131 68005/63132 68003/63133 -f 66558/63134 66555/63119 66557/63121 -f 67097/63124 67098/63135 67100/63125 -f 67692/63136 67690/63127 67691/63137 -f 67690/63127 67692/63136 67694/63128 -f 67696/63130 67691/63137 67690/63127 -f 68002/63138 68004/63131 68003/63133 -usemtl MainEntrance:MainEntrance:blinn2SG -s off -f 25737/63139 25738/63140 25739/63141 -f 25741/63142 25742/63143 25743/63144 -f 25744/63145 25741/63146 25745/63147 -f 25746/63148 25744/63145 25747/63149 -f 25748/63150 25739/63151 25746/63148 -f 25749/63152 25737/63153 25748/63154 -f 25745/63155 25743/63156 25750/63157 -f 25747/63158 25745/63155 25749/63152 -f 25748/63154 25747/63158 25749/63152 -f 25746/63148 25738/63159 25751/63160 -f 25744/63145 25746/63148 25753/63161 -f 25741/63146 25744/63145 25754/63162 -f 25742/63143 25741/63142 25754/63163 -f 25750/63157 25742/63164 25756/63165 -f 25749/63152 25750/63157 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25823/63211 25824/63212 25825/63213 -f 25820/63209 25827/63214 25821/63215 -f 25828/63216 25823/63211 25826/63217 -f 25824/63212 25829/63218 25825/63213 -f 25830/63219 25819/63208 25822/63210 -f 25831/63220 25832/63221 25834/63222 -f 25835/63223 25836/63224 25838/63225 -f 25839/63226 25840/63227 25842/63228 -f 25843/63226 25844/63227 25845/63229 -f 25847/63230 25848/63222 25849/63220 -f 25851/63221 25852/63220 25853/63231 -f 25855/63223 25856/63224 25857/63232 -f 25859/63233 25860/63234 25861/63235 -f 25863/63236 25833/63237 25841/63238 -f 25838/63225 25843/63226 25846/63228 -f 25848/63239 25853/63231 25845/63240 -f 25864/63241 25840/63242 25865/63243 -f 25839/63226 25842/63228 25858/63225 -f 25833/63244 25863/63245 25866/63246 -f 25837/63242 25832/63241 25831/63243 -f 25841/63238 25836/63240 25842/63247 -f 25849/63243 25844/63248 25850/63241 -f 25853/63231 25848/63239 25854/63230 -f 25857/63248 25852/63243 25858/63242 -f 25845/63240 25856/63238 25855/63247 -f 25869/63249 25846/63250 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25888/63264 25917/63287 25916/63286 -f 25914/63289 25913/63290 25918/63287 -f 25911/63291 25904/63292 25903/63274 -f 25910/63289 25909/63285 25917/63287 -f 25819/63208 25830/63219 25824/63212 -f 25823/63211 25828/63216 25827/63214 -f 25867/63293 25855/63294 25842/63295 -f 25870/63252 25869/63296 25826/63217 -f 25826/63279 25821/63258 25828/63297 -f 25867/63293 25868/63298 25821/63215 -f 25822/63258 25825/63279 25829/63297 -f 25866/63222 25863/63230 25865/63220 -f 25853/63299 25852/63300 25856/63224 -f 25844/63227 25849/63301 25848/63302 -f 25914/63289 25918/63287 25922/63303 -f 25911/63291 25903/63274 25923/63304 -f 25910/63289 25917/63287 25924/63305 -f 25912/63291 25915/63274 25926/63306 -f 25922/63303 25921/63305 25927/63307 -f 25874/63259 25838/63308 25926/63306 -f 25925/63303 25924/63305 25911/63282 -f 25922/63303 25928/63309 25858/63225 -f 25874/63259 25926/63306 25871/63233 -f 25925/63303 25911/63282 25843/63226 -f 25914/63278 25858/63310 25862/63311 -f 25912/63283 25839/63226 25928/63309 -f 25918/63287 25880/63264 25921/63305 -f 25903/63274 25884/63261 25923/63304 -f 25917/63287 25888/63264 25887/63263 -f 25915/63274 25876/63261 25875/63260 -f 25864/63301 25863/63302 25841/63229 -f 25860/63234 25929/63312 25913/63284 -f 25883/63260 25859/63233 25862/63311 -f 25921/63305 25879/63263 25927/63307 -f 25824/63212 25823/63211 25820/63209 -f 25860/63234 25919/63273 25930/63313 -f 25883/63260 25886/63314 25920/63315 -f 25872/63234 25901/63273 25931/63313 -f 25875/63260 25878/63314 25902/63315 -f 25898/63269 25927/63307 25899/63268 -f 25892/63268 25895/63270 25932/63316 -f 25887/63263 25890/63265 25896/63276 -f 25900/63272 25899/63268 25908/63270 -f 25879/63263 25882/63265 25906/63267 -f 25892/63268 25905/63272 25904/63281 -f 25887/63263 25891/63267 25894/63307 -f 25888/63264 25916/63286 25931/63317 -f 25884/63261 25905/63275 25932/63318 -f 25880/63264 25929/63319 25881/63266 -f 25876/63261 25900/63275 25933/63318 -f 25872/63234 25916/63320 25873/63235 -f 25833/63299 25832/63300 25837/63232 -f 25880/63264 25918/63287 25929/63319 -f 25873/63235 25910/63278 25874/63259 -f 25893/63269 25911/63282 25894/63307 -f 25898/63269 25912/63283 25928/63309 -f 25861/63235 25914/63278 25862/63311 -f 25912/63291 25897/63288 25915/63274 -f 25916/63320 25909/63277 25873/63235 -f 25922/63303 25858/63225 25914/63289 -f 25923/63304 25843/63321 25911/63291 -f 25925/63303 25838/63225 25910/63289 -f 25926/63306 25839/63321 25912/63291 -f 26039/63322 26040/63323 26041/63324 -f 26042/63325 26043/63326 26044/63327 -f 26034/63328 26048/63329 26035/63330 -f 26040/63323 26049/63331 26041/63324 -f 26040/63323 26045/63332 26044/63327 -f 26039/63322 26041/63324 26050/63333 -f 26049/63334 26044/63335 26041/63336 -f 26036/63337 26051/63338 26037/63339 -f 26044/63335 26043/63340 26041/63336 -f 26047/63341 26053/63342 26046/63343 -f 26046/63343 26052/63344 26054/63345 -f 26043/63346 26042/63347 26050/63348 -f 26035/63330 26047/63349 26046/63350 -f 26051/63338 26039/63322 26038/63351 -f 26040/63323 26051/63338 26045/63332 -f 26048/63352 26034/63353 26039/63322 -f 26040/63323 26044/63327 26049/63331 -f 26046/63354 26054/63355 26038/63351 -f 26052/63356 26038/63351 26054/63355 -f 26053/63357 26037/63339 26052/63356 -f 26057/63358 26058/63359 26059/63360 -f 26058/63359 26060/63361 26059/63360 -f 26055/63362 26062/63363 26056/63364 -f 26058/63365 26057/63366 26055/63367 -f 26059/63368 26061/63369 26062/63370 -f 26056/63371 26063/63372 26058/63365 -f 26064/63141 26065/63373 26066/63139 -f 26067/63374 26068/63375 26066/63139 -f 26069/63144 26070/63143 26071/63142 -f 26072/63147 26069/63376 26071/63146 -f 26074/63149 26072/63147 26073/63377 -f 26075/63150 26074/63149 26073/63377 -f 26075/63154 26064/63378 26066/63379 -f 26076/63157 26070/63164 26069/63156 -f 26077/63380 26076/63157 26072/63155 -f 26066/63379 26077/63380 26074/63158 -f 26078/63381 26067/63382 26065/63383 -f 26079/63161 26078/63381 26073/63377 -f 26080/63162 26079/63161 26073/63377 -f 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76671/87695 -f 76673/87696 76669/87697 76672/87698 -f 76674/87699 76673/87700 76655/87701 -f 76670/87702 76674/87703 76654/87704 -f 76655/87681 76672/87705 76675/87706 -f 76670/87707 76669/87708 76673/87709 -f 76661/87710 76660/87685 76677/87711 -f 76659/87684 76658/87683 76678/87712 -f 76677/87711 76676/87713 76679/87714 -f 76680/87715 76678/87716 76682/87717 -f 76678/87712 76675/87718 76681/87719 -f 76675/87706 76672/87705 76683/87720 -f 76656/87721 76680/87722 76657/87723 -f 76668/87692 76667/87691 76656/87721 -f 77487/87724 77492/87725 77488/87726 -f 77490/87727 77491/87728 77492/87725 -f 77491/87729 77494/87730 77495/87731 -f 77496/87732 77497/87733 77498/87734 -f 77495/87735 77499/87736 77500/87737 -f 77498/87734 77497/87733 77502/87738 -f 77504/87739 77505/87740 77489/87741 -f 77506/87742 77507/87743 77504/87739 -f 77508/87744 77507/87743 77506/87742 -f 77503/87745 77502/87738 77500/87737 -f 77602/87746 77603/87747 77605/87748 -f 77606/87749 77605/87750 77604/87751 -f 77608/87752 77607/87753 77603/87754 -f 77609/87755 77602/87756 77605/87757 -f 77609/87758 77608/87759 77603/87760 -f 77609/87761 77606/87762 77608/87763 -f 77610/87764 77611/87765 77612/87766 -f 77614/87767 77611/87768 77615/87769 -f 77612/87770 77611/87771 77614/87772 -f 77615/87773 77610/87774 77617/87775 -f 77613/87776 77612/87777 77616/87778 -f 77616/87779 77614/87780 77615/87781 -f 79497/87782 79498/87783 79499/87784 -f 79504/87785 79505/87786 79503/87787 -f 79506/87788 79507/87789 79508/87790 -f 79505/87786 79509/87791 79510/87792 -f 79507/87789 79512/87793 79513/87794 -f 79514/87795 79499/87784 79498/87783 -f 79516/87796 79514/87795 79517/87797 -f 79518/87798 79516/87796 79517/87797 -f 79512/87793 79510/87792 79513/87794 -f 79500/87799 79502/87800 79501/87801 -f 79497/87802 79501/87803 79511/87804 -f 79511/87805 79503/87787 79505/87786 -f 79608/87806 79609/87807 79611/87808 -f 79612/87809 79613/87810 79610/87811 -f 79614/87812 79611/87813 79613/87814 -f 79615/87815 79612/87816 79609/87817 -f 79615/87818 79608/87819 79611/87820 -f 79615/87821 79614/87822 79612/87823 -f 79616/87824 79617/87825 79618/87826 -f 79620/87827 79621/87828 79619/87829 -f 79618/87830 79622/87831 79620/87832 -f 79621/87833 79623/87834 79616/87835 -f 79617/87836 79623/87837 79622/87838 -f 79622/87839 79623/87840 79620/87841 -f 74851/87636 74852/87660 74853/87637 -f 74857/87666 74854/87638 74856/87640 -f 74858/87641 74860/87643 74862/87645 -f 74861/87644 74862/87645 74864/87647 -f 74868/87842 74865/87648 74867/87650 -f 74865/87843 74869/87651 74866/87653 -f 74869/87844 74870/87654 74853/87656 -f 74870/87845 74868/87657 74850/87659 -f 74866/87676 74853/87637 74871/87661 -f 74865/87846 74868/87662 74869/87664 -f 74872/87665 74873/87669 74856/87640 -f 74874/87667 74871/87674 74854/87638 -f 74877/87671 74878/87847 74874/87672 -f 74878/87673 74879/87848 74871/87674 -f 74879/87675 74867/87849 74866/87676 -f 74851/87678 74877/87850 74876/87679 -f 74852/87677 74876/87679 74863/87646 -f 76655/87681 76656/87851 76657/87682 -f 76661/87710 76658/87683 76660/87685 -f 76666/87690 76663/87687 76662/87686 -f 76668/87692 76666/87690 76665/87689 -f 76672/87852 76669/87693 76671/87695 -f 76655/87853 76673/87696 76672/87698 -f 76654/87854 76674/87699 76655/87701 -f 76671/87855 76670/87702 76654/87704 -f 76656/87851 76655/87681 76675/87706 -f 76674/87856 76670/87707 76673/87709 -f 76660/87685 76676/87713 76677/87711 -f 76658/87683 76675/87718 76678/87712 -f 76678/87716 76681/87857 76682/87717 -f 76675/87718 76683/87858 76681/87719 -f 76672/87705 76671/87859 76683/87720 -f 76680/87722 76682/87860 76657/87723 -f 76667/87691 76680/87722 76656/87721 -f 77489/87741 77487/87724 77488/87726 -f 77495/87735 77494/87861 77493/87862 -f 77492/87863 77491/87729 77495/87731 -f 77501/87864 77495/87735 77500/87737 -f 77503/87745 77498/87734 77502/87738 -f 77488/87726 77504/87739 77489/87741 -f 77507/87743 77505/87740 77504/87739 -f 77502/87738 77501/87864 77500/87737 -f 77499/87865 77493/87866 77487/87867 -f 77493/87862 77499/87736 77495/87735 -f 77487/87724 77490/87727 77492/87725 -f 77490/87868 77487/87867 77493/87866 -f 77603/87747 77604/87869 77605/87748 -f 77607/87870 77606/87749 77604/87751 -f 77607/87753 77604/87871 77603/87754 -f 77606/87872 77609/87755 77605/87757 -f 77602/87873 77609/87758 77603/87760 -f 77606/87762 77607/87874 77608/87763 -f 77613/87875 77610/87764 77612/87766 -f 77611/87768 77610/87876 77615/87769 -f 77616/87877 77612/87770 77614/87772 -f 77610/87774 77613/87878 77617/87775 -f 77617/87879 77613/87776 77616/87778 -f 77617/87880 77616/87779 77615/87781 -f 79500/87799 79497/87782 79499/87784 -f 79504/87881 79502/87882 79505/87883 -f 79511/87805 79505/87786 79510/87792 -f 79508/87790 79507/87789 79513/87794 -f 79515/87884 79514/87795 79498/87783 -f 79514/87795 79515/87884 79517/87797 -f 79510/87792 79509/87791 79513/87794 -f 79497/87782 79500/87799 79501/87801 -f 79501/87803 79503/87885 79511/87804 -f 79500/87886 79505/87883 79502/87882 -f 79609/87807 79610/87887 79611/87808 -f 79609/87888 79612/87809 79610/87811 -f 79611/87813 79610/87889 79613/87814 -f 79608/87890 79615/87815 79609/87817 -f 79614/87891 79615/87818 79611/87820 -f 79614/87822 79613/87892 79612/87823 -f 79619/87893 79616/87824 79618/87826 -f 79621/87828 79616/87894 79619/87829 -f 79619/87895 79618/87830 79620/87832 -f 79623/87834 79617/87896 79616/87835 -f 79618/87897 79617/87836 79622/87838 -f 79623/87840 79621/87898 79620/87841 -usemtl Out_Temple:Out_Temple:lambert7SG -f 19735/87899 19736/87900 19738/87901 -f 19736/87900 19739/87902 19737/87903 -f 19739/87902 19741/87904 19740/87905 -f 19741/87904 19743/87906 19742/87907 -f 19746/87908 19747/87909 19748/87910 -f 19750/87911 19735/87899 19738/87901 -f 19751/87912 19752/87913 19754/87914 -f 19736/87900 19735/87899 19755/87915 -f 19752/87913 19756/87916 19753/87917 -f 19756/87916 19758/87918 19757/87919 -f 19758/87918 19761/87920 19759/87921 -f 19743/87906 19741/87904 19760/87922 -f 19761/87920 19763/87923 19762/87924 -f 19763/87923 19766/87925 19764/87926 -f 19745/87927 19744/87928 19765/87929 -f 19766/87925 19769/87930 19770/87931 -f 19746/87908 19745/87927 19771/87932 -f 19747/87909 19746/87908 19773/87933 -f 19769/87934 19774/87935 19775/87936 -f 19749/87937 19747/87938 19776/87939 -f 19774/87935 19777/87940 19778/87941 -f 19750/87911 19749/87937 19779/87942 -f 19777/87940 19751/87912 19754/87914 -f 19735/87899 19750/87911 19755/87915 -f 19780/87943 19781/87944 19782/87945 -f 19783/87946 19780/87943 19753/87917 -f 19785/87947 19783/87946 19784/87948 -f 19786/87949 19785/87947 19759/87921 -f 19787/87950 19786/87949 19762/87924 -f 19788/87951 19787/87950 19767/87952 -f 19789/87953 19788/87951 19770/87931 -f 19790/87954 19789/87953 19791/87955 -f 19792/87956 19790/87957 19775/87936 -f 19793/87958 19792/87956 19778/87941 -f 19781/87944 19793/87958 19782/87945 -f 19794/87959 19795/87960 19780/87943 -f 19796/87961 19794/87959 19783/87946 -f 19797/87962 19796/87961 19785/87947 -f 19798/87963 19797/87962 19786/87949 -f 19799/87964 19798/87963 19787/87950 -f 19800/87965 19799/87964 19788/87951 -f 19801/87966 19800/87965 19790/87954 -f 19802/87967 19801/87968 19792/87956 -f 19795/87960 19802/87967 19781/87944 -f 19752/87913 19738/87901 19737/87903 -f 19756/87916 19752/87913 19740/87905 -f 19758/87918 19756/87916 19742/87907 -f 19761/87920 19758/87918 19743/87906 -f 19763/87923 19761/87920 19744/87928 -f 19766/87925 19763/87923 19744/87928 -f 19748/87910 19769/87930 19746/87908 -f 19777/87940 19774/87935 19749/87937 -f 19738/87901 19777/87940 19750/87911 -f 19754/87914 19753/87917 19782/87945 -f 19778/87941 19754/87914 19782/87945 -f 19770/87931 19772/87969 19791/87955 -f 19757/87919 19759/87921 19784/87948 -f 19752/87913 19751/87912 19738/87901 -f 19751/87912 19777/87940 19738/87901 -f 19806/87904 19808/87970 19807/87971 -f 19809/87972 19811/87973 19810/87974 -f 19811/87973 19812/87975 19838/87976 -f 19812/87975 19813/87977 19814/87978 -f 19817/87979 19818/87980 19820/87914 -f 19804/87981 19803/87982 19821/87915 -f 19818/87980 19823/87983 19819/87984 -f 19805/87985 19804/87981 19822/87986 -f 19823/87983 19826/87987 19824/87919 -f 19806/87904 19805/87985 19825/87988 -f 19826/87987 19829/87989 19827/87990 -f 19808/87970 19806/87904 19828/87922 -f 19829/87989 19832/87991 19830/87992 -f 19809/87972 19808/87970 19831/87993 -f 19832/87991 19835/87994 19833/87995 -f 19811/87973 19809/87972 19837/87996 -f 19835/87994 19838/87976 19839/87997 -f 19812/87975 19811/87973 19840/87932 -f 19838/87976 19841/87998 19842/87999 -f 19841/88000 19843/88001 19844/88002 -f 19843/88001 19845/87940 19846/88003 -f 19816/88004 19815/88005 19847/87942 -f 19845/87940 19817/87979 19820/87914 -f 19803/87982 19816/88004 19821/87915 -f 19848/87943 19849/87944 19850/87945 -f 19852/87946 19848/87943 19851/88006 -f 19853/87947 19852/87946 19827/87990 -f 19854/87949 19853/87947 19827/87990 -f 19855/87950 19854/87949 19830/87992 -f 19856/87951 19855/87950 19833/87995 -f 19857/87953 19856/87951 19839/87997 -f 19858/87954 19857/87953 19842/87999 -f 19859/87956 19858/87957 19844/88002 -f 19860/87958 19859/87956 19846/88003 -f 19849/87944 19860/87958 19850/87945 -f 19861/87959 19862/87960 19848/87943 -f 19863/88007 19861/87959 19852/87946 -f 19864/88008 19863/88007 19853/87947 -f 19865/87962 19864/88008 19853/87947 -f 19866/87963 19865/87962 19854/87949 -f 19867/87964 19866/87963 19855/87950 -f 19868/87965 19867/87964 19856/87951 -f 19869/87966 19868/87965 19857/87953 -f 19870/88009 19869/88010 19859/87956 -f 19871/87967 19870/88009 19859/87956 -f 19862/87960 19871/87967 19860/87958 -f 19872/88011 19817/87979 19804/87981 -f 19873/88012 19872/88011 19805/87985 -f 19829/87989 19807/87971 19808/87970 -f 19835/87994 19810/87974 19811/87973 -f 19838/87976 19835/87994 19811/87973 -f 19843/88001 19841/88000 19814/88013 -f 19845/87940 19843/88001 19815/88005 -f 19817/87979 19845/87940 19816/88004 -f 19820/87914 19819/87984 19850/87945 -f 19846/88003 19820/87914 19850/87945 -f 19819/87984 19824/87919 19851/88006 -f 19823/87983 19818/87980 19872/88011 -f 19826/87987 19823/87983 19873/88012 -f 19829/87989 19826/87987 19807/87971 -f 19835/87994 19832/87991 19810/87974 -f 19875/87900 19877/88014 19876/88015 -f 19877/88014 19879/88016 19878/88017 -f 19883/88018 19884/87977 19885/87978 -f 19884/88019 19886/88020 19887/88021 -f 19886/88020 19888/88022 19889/88023 -f 19890/87979 19891/87980 19893/87914 -f 19875/87900 19874/88024 19894/87915 -f 19891/87980 19896/87983 19892/88025 -f 19877/88014 19875/87900 19895/87986 -f 19896/87983 19899/88026 19897/88027 -f 19879/88016 19877/88014 19898/87988 -f 19899/88026 19901/87989 19900/87921 -f 19901/87989 19904/88028 19902/88029 -f 19881/88030 19880/88031 19903/87993 -f 19904/88028 19907/88032 19905/87926 -f 19882/88033 19881/88030 19906/87929 -f 19907/88032 19910/88034 19927/88035 -f 19910/88034 19911/88036 19912/87969 -f 19911/87934 19913/88037 19914/88038 -f 19886/88020 19884/88019 19915/87939 -f 19913/88037 19916/88039 19917/88040 -f 19916/88039 19890/87979 19893/87914 -f 19874/88024 19888/88022 19894/87915 -f 19918/87943 19919/87944 19920/87945 -f 19921/87946 19918/87943 19892/88025 -f 19922/87947 19921/87946 19897/88027 -f 19923/87949 19922/87947 19900/87921 -f 19925/87950 19923/87949 19924/88041 -f 19926/87951 19925/87950 19908/88042 -f 19929/87956 19928/88043 19914/88038 -f 19930/87958 19929/87956 19931/88044 -f 19919/87944 19930/87958 19920/87945 -f 19932/87959 19933/87960 19919/87944 -f 19934/88007 19932/87959 19918/87943 -f 19935/88008 19934/88007 19922/87947 -f 19936/87962 19935/88008 19922/87947 -f 19937/87963 19936/87962 19923/87949 -f 19938/87964 19937/87963 19925/87950 -f 19939/87965 19938/87964 19926/87951 -f 19940/87966 19939/87965 19928/88045 -f 19941/88009 19940/88010 19928/88043 -f 19942/87967 19941/88009 19930/87958 -f 19933/87960 19942/87967 19930/87958 -f 19899/88026 19878/88017 19879/88016 -f 19901/87989 19899/88026 19880/88031 -f 19904/88028 19901/87989 19881/88030 -f 19943/88046 19904/88028 19882/88033 -f 19944/88047 19943/88046 19882/88033 -f 19945/88048 19944/88047 19883/88018 -f 19887/88021 19945/88049 19885/88013 -f 19893/87914 19892/88025 19920/87945 -f 19917/88040 19893/87914 19920/87945 -f 19914/88038 19917/88040 19931/88044 -f 19927/88035 19912/87969 19928/88045 -f 19902/88029 19905/87926 19924/88041 -f 19896/87983 19891/87980 19876/88015 -f 19899/88026 19896/87983 19878/88017 -f 19910/88034 19907/88032 19944/88047 -f 19911/88036 19910/88034 19945/88048 -f 19913/88037 19911/87934 19887/88021 -f 19916/88039 19913/88037 19889/88023 -f 19947/87900 19949/88050 19948/88015 -f 19950/88051 19952/88052 19951/87907 -f 19952/88052 19954/88053 19953/88054 -f 19955/87927 19957/87975 19958/88055 -f 19957/87975 19959/87909 19960/88056 -f 19959/87938 19961/88020 19986/88057 -f 19963/87979 19964/88058 19966/88059 -f 19947/87900 19946/88060 19967/87915 -f 19964/88058 19970/87987 19968/88061 -f 19950/88051 19949/88050 19969/87988 -f 19970/87987 19972/88062 19971/88063 -f 19972/88062 19975/88064 19973/88065 -f 19954/88053 19952/88052 19974/87993 -f 19975/88064 19978/88032 19979/88066 -f 19955/87927 19954/88053 19977/87929 -f 19978/88032 19981/88067 19982/88068 -f 19957/87975 19955/87927 19983/87932 -f 19959/87909 19957/87975 19985/87933 -f 19981/87934 19986/88057 19987/88069 -f 19961/88020 19959/87938 19985/88070 -f 19986/88057 19988/87940 19989/88040 -f 19962/88071 19961/88020 19990/87942 -f 19988/87940 19963/87979 19966/88059 -f 19946/88060 19962/88071 19967/87915 -f 19991/87943 19992/87944 19966/88059 -f 19994/87946 19991/87943 19993/88006 -f 19995/87947 19994/87946 19968/88061 -f 19996/87949 19995/87947 19971/88063 -f 19997/87950 19996/87949 19973/88065 -f 19998/87951 19997/87950 19979/88066 -f 19999/87953 19998/87951 20000/88072 -f 20001/87954 19999/87953 20000/88072 -f 20002/87956 20001/87957 20003/88073 -f 20004/87958 20002/87956 20003/88073 -f 19992/87944 20004/87958 19966/88059 -f 20005/87959 20006/87960 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19464/88582 19540/88589 19465/88583 -f 19638/88592 19639/88673 19640/88593 -f 19644/88597 19641/88594 19643/88596 -f 19638/88592 19637/88591 19644/88597 -f 19643/88599 19645/88674 19646/88600 -f 19648/88602 19639/88675 19638/88603 -f 19645/88605 19648/88676 19647/88606 -f 19646/88677 19647/88607 19644/88609 -f 24104/88678 24101/88610 24103/88612 -f 24106/88679 24104/88613 24105/88615 -f 24106/88619 24105/88616 24108/88618 -f 24108/88618 24109/88630 24110/88620 -f 24114/88621 24113/88631 24112/88622 -f 24112/88622 24111/88632 24115/88623 -f 24117/88680 24116/88624 24115/88626 -f 24119/88628 24116/88681 24117/88629 -f 24345/88678 24342/88610 24344/88612 -f 24347/88679 24345/88613 24346/88615 -f 24347/88619 24346/88616 24349/88630 -f 24354/88621 24353/88631 24351/88632 -f 24357/88680 24356/88624 24355/88626 -f 24359/88628 24356/88681 24357/88629 -f 24364/88678 24361/88610 24363/88612 -f 24366/88679 24364/88613 24365/88615 -f 24367/88617 24368/88630 24366/88619 -f 24371/88622 24370/88632 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274 54 323 80 55 105 275 40 324 80 55 105 70 43 70 70 43 70 80 55 105 274 54 323 69 39 69 156 56 181 275 40 324 275 40 324 156 56 181 80 55 105 155 38 180 80 55 105 4 22 4 4 22 4 80 55 105 156 56 181 9 47 14 164 57 193 157 59 183 157 59 183 164 57 193 81 58 106 14 60 23 165 61 194 164 57 193 164 57 193 165 61 194 81 58 106 166 63 195 81 58 106 15 62 24 15 62 24 81 58 106 165 61 194 157 59 183 81 58 106 10 50 15 10 50 15 81 58 106 166 63 195 166 63 195 82 64 107 10 50 15 10 50 15 82 64 107 159 51 186 15 62 24 167 65 196 166 63 195 166 63 195 167 65 196 82 64 107 168 67 197 82 64 107 16 66 25 16 66 25 82 64 107 167 65 196 11 52 16 159 51 186 168 67 197 168 67 197 159 51 186 82 64 107 12 68 17 169 69 198 162 71 190 162 71 190 169 69 198 83 70 108 170 73 199 83 70 108 17 72 33 17 72 33 83 70 108 169 69 198 18 74 34 171 75 200 170 73 199 170 73 199 171 75 200 83 70 108 13 45 18 162 71 190 171 75 200 171 75 200 162 71 190 83 70 108 171 75 200 84 76 109 13 45 18 13 45 18 84 76 109 163 46 192 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98 43 33 105 33 32 106 32 45 104 45 45 104 45 32 106 32 44 101 44 107 108 107 33 109 33 106 107 106 106 107 106 33 109 33 45 104 45 47 110 47 35 111 35 46 113 46 46 113 46 35 111 35 34 112 34 36 115 36 35 116 35 48 114 48 48 114 48 35 116 35 47 110 47 25 117 25 36 118 36 37 86 37 37 86 37 36 118 36 48 114 48 38 83 38 37 86 37 49 119 49 49 119 49 37 86 37 48 114 48 38 83 38 49 119 49 39 87 39 39 87 39 49 119 49 40 89 40 41 91 41 104 94 104 105 120 105 105 120 105 104 94 104 94 121 94 41 91 41 105 120 105 42 95 42 42 95 42 105 120 105 43 98 43 43 98 43 105 120 105 44 101 44 44 101 44 105 120 105 45 104 45 45 104 45 105 120 105 106 107 106 106 107 106 105 120 105 95 122 95 46 113 46 49 119 49 47 110 47 47 110 47 49 119 49 48 114 48 0 2 0 4 5 4 50 124 50 50 124 50 4 5 4 51 123 51 4 5 4 16 125 16 51 123 51 51 123 51 16 125 16 52 126 52 112 127 112 129 128 129 16 130 16 16 130 16 129 128 129 52 129 52 40 89 40 54 131 54 28 90 28 28 90 28 54 131 54 53 132 53 54 131 54 40 89 40 55 133 55 55 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- - - Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/spider.bullet and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/spider.bullet differ diff -Nru bullet-2.86.1+dfsg/data/sponza_closed.obj bullet-2.87+dfsg/data/sponza_closed.obj --- bullet-2.86.1+dfsg/data/sponza_closed.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/sponza_closed.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,174680 +0,0 @@ - -mtllib sponza_clean.mtl -# object arcs_floor -g arcs_floor -v 31.3613 -12.6826 6.80384 -v 31.3613 -11.8747 6.5521 -v 31.3613 -12.1293 5.88078 -v 31.3613 -12.8544 6.10673 -v 33.2567 -12.1293 5.88078 -v 33.2567 -12.8544 6.10673 -v 31.3613 -11.103 6.20481 -v 31.3613 -11.4367 5.56907 -v 33.2567 -11.4367 5.56907 -v 31.3613 -10.3789 5.76703 -v 31.3613 -10.7867 5.17615 -v 33.2567 -10.7867 5.17615 -v 31.3613 -9.71275 5.24517 -v 31.3613 -10.1889 4.70775 -v 33.2567 -10.1889 4.70775 -v 31.3613 -9.1144 4.64681 -v 31.3613 -9.65181 4.1707 -v 33.2567 -9.65182 4.1707 -v 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46173/12553/41970 44839/11579/41970 46174/12552/41970 -f 46174/12552/41971 46175/12554/41971 46173/12553/41971 -f 46176/11573/41972 46177/12556/41972 46178/12555/41972 -f 46178/12555/41972 46179/12557/41972 46176/11573/41972 -f 46180/11566/41973 46181/12559/41973 46182/12558/41973 -f 46182/12558/41974 46183/12560/41974 46180/11566/41974 -f 44896/11632/41318 44879/11630/41307 44901/11592/41322 -f 44901/11592/41975 43850/11323/41975 44896/11632/41975 -f 46184/12562/41976 46185/12561/41977 43843/11315/41976 -f 43843/11315/41976 43842/11316/41343 46184/12562/41976 -f 46186/12564/41978 46187/12563/41979 43846/11318/41978 -f 43846/11318/41978 43845/11319/41980 46186/12564/41978 -f 44948/12070/41981 43851/11318/40938 46188/12563/41981 -f 46188/12563/41981 46189/12601/41982 44948/12070/41981 -f 46190/12568/41983 46191/12567/41984 43849/11321/40811 -f 43849/11321/40811 43848/11322/40810 46190/12568/41983 -f 46192/12570/41985 46193/12569/41986 46190/12568/41983 -f 46190/12568/41983 46194/12571/41987 46192/12570/41985 -f 46189/12601/41988 46120/12569/41988 46119/12570/41988 -f 46119/12570/41936 46195/12602/41989 46189/12601/41982 -f 46124/12575/41937 46196/12603/41990 46197/12604/41991 -f 46197/12604/41991 46125/12570/41992 46124/12575/41937 -f 46198/12570/41993 46199/12577/41994 46200/12576/41994 -f 46200/12576/41994 46201/12575/41994 46198/12570/41993 -f 44950/11706/40941 44949/11704/40941 44658/11362/40941 -f 44658/11362/40941 44659/11363/40941 44950/11706/40941 -f 45876/12410/41995 45875/12408/41995 45464/12149/41995 -f 45464/12149/41995 45465/12150/41995 45876/12410/41995 -f 46202/12579/40941 46203/12578/40941 44975/11705/40941 -f 44975/11705/40941 44952/11707/40941 46202/12579/40941 -f 44999/12094/40805 45001/12096/40805 45659/12341/40805 -f 45659/12341/40805 45658/12340/40805 44999/12094/40805 -f 45003/11759/41996 45056/11785/41997 45033/11788/41996 -f 45033/11788/41996 45004/11760/41998 45003/11759/41996 -f 45057/11800/40941 45029/11758/40941 45006/11761/40941 -f 45006/11761/40941 45058/11801/40941 45057/11800/40941 -f 46204/12580/41999 46168/11478/41999 46167/11392/41999 -f 46167/11392/41968 46205/12581/42000 46204/12580/42000 -f 46206/12599/40805 46135/11392/40805 46134/11478/41949 -f 46134/11478/41949 46207/12600/40805 46206/12599/40805 -f 46208/12583/40941 45240/11932/40941 46209/12582/40941 -f 46209/12582/42001 46210/12584/42001 46208/12583/42001 -f 46211/12586/42002 46212/12585/42002 45234/12102/42002 -f 45234/12102/42002 46213/12587/42002 46211/12586/42002 -f 46214/12589/42003 46215/12588/42003 45227/12100/42003 -f 45227/12100/42004 46216/12590/42004 46214/12589/42004 -f 44901/11592/41322 45289/11960/41546 45291/11977/41548 -f 45291/11977/42005 43860/11334/42005 44901/11592/42005 -f 43852/11328/40821 46217/12592/40821 46218/12591/40821 -f 46218/12591/40821 43853/11327/40821 43852/11328/40821 -f 43855/11324/42006 46219/12565/42007 46220/12593/42006 -f 46220/12593/42006 43856/11330/42008 43855/11324/42006 -f 46221/12563/42009 43861/11318/40805 45333/12070/41570 -f 45333/12070/41570 46222/12601/42010 46221/12563/42009 -f 43858/11333/40816 46223/12595/40821 46224/12594/42011 -f 46224/12594/42011 43859/11332/40817 43858/11333/40816 -f 46224/12594/42011 46193/12569/41986 46192/12570/41985 -f 46192/12570/41985 46225/12596/42012 46224/12594/42011 -f 46159/12570/42013 46158/12569/42013 46222/12601/42013 -f 46222/12601/42010 46226/12602/42014 46159/12570/41962 -f 46227/12604/42015 46228/12603/42015 46161/12575/41963 -f 46161/12575/42016 46164/12570/42016 46227/12604/42016 -f 46229/12598/42017 46230/12597/42017 46198/12570/41993 -f 46198/12570/41994 46201/12575/41994 46229/12598/41994 -f 45030/11786/42018 45965/12454/42018 45967/12455/42018 -f 45967/12455/41997 45031/11787/41997 45030/11786/41997 -f 45494/12203/40941 45992/12544/40941 45994/12546/40941 -f 45994/12546/40941 45495/12204/40941 45494/12203/40941 -f 45367/12130/40821 45366/12129/40821 45349/12112/40821 -f 45349/12112/40821 45347/12110/40821 45367/12130/40821 -f 45521/12230/41995 45493/12202/41995 45470/12179/41995 -f 45470/12179/41995 45522/12231/41995 45521/12230/41995 -f 45439/12112/40941 45436/12111/40941 45569/12278/40941 -f 45569/12278/40941 45571/12280/40941 45439/12112/40941 -f 45614/12299/40821 45615/12278/40821 46231/12280/40821 -f 46231/12280/40821 46232/12605/40821 45614/12299/40821 -f 45615/12278/40821 45348/12111/40821 45349/12112/40821 -f 45349/12112/40821 46231/12280/40821 45615/12278/40821 -f 46233/12606/42019 46234/12202/42019 45604/12230/42019 -f 45604/12230/42019 46235/12231/42019 46233/12606/42019 -f 45610/12295/40821 46236/12607/40821 46235/12231/40821 -f 46235/12231/42020 45604/12230/42020 45610/12295/42020 -f 45368/12131/40821 45412/12175/40821 45389/12152/40821 -f 45389/12152/40821 45366/12129/40821 45368/12131/40821 -f 45466/12152/40941 45463/12175/40941 45437/12131/40941 -f 45437/12131/40941 45438/12129/40941 45466/12152/40941 -f 45467/12176/42021 45520/12229/42021 45497/12206/42021 -f 45497/12206/42021 45468/12177/42021 45467/12176/42021 -f 45621/12304/41707 45624/12307/41710 46237/12374/40938 -f 46237/12374/40938 46238/12608/40938 45621/12304/41707 -f 46239/12376/40938 45628/12311/40938 45625/12308/40938 -f 45625/12308/40938 46240/12609/40938 46239/12376/40938 -f 45735/12412/40805 45777/12453/40805 45766/12442/40805 -f 45766/12442/40805 45736/12413/40805 45735/12412/40805 -f 46241/12610/40821 46242/12611/40821 45804/12480/40821 -f 45804/12480/40821 45781/12457/40821 46241/12610/40821 -f 45847/12442/40938 45845/12453/40938 45828/12412/40938 -f 45828/12412/40938 45830/12413/41826 45847/12442/40938 -f 45871/11708/41831 45873/11709/41833 46064/12333/41886 -f 46064/12333/41886 46063/12327/41885 45871/11708/41831 -f 45941/12520/40805 45940/12519/41859 45925/12504/40805 -f 45925/12504/40805 45927/12506/40805 45941/12520/40805 -f 45966/12480/40941 46243/12611/40941 46244/12610/40941 -f 46244/12610/40941 45968/12457/40941 45966/12480/40941 -f 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44495/11929/42022 46257/12101/42022 -f 44499/11933/42023 46257/12101/42023 44497/11931/42023 -f 46257/12101/40821 44495/11929/40821 44497/11931/40821 -f 46258/11572/42024 44847/11569/42024 44836/11568/42024 -f 44836/11568/42025 44833/11577/42025 44838/11578/42025 -f 44838/11578/42026 44840/11574/42026 46258/11572/42026 -f 44836/11568/42027 44838/11578/42027 46258/11572/42027 -f 45761/12438/41801 45738/12415/41783 46259/12614/42028 -f 45761/12438/41801 46259/12614/42028 46260/12615/42028 -f 45734/12411/40821 45732/12409/40821 46260/12615/40821 -f 45734/12411/40821 46260/12615/40821 46259/12614/40821 -f 46022/12505/40938 45999/12507/40938 46261/12620/40938 -f 46022/12505/40938 46261/12620/40938 46262/12621/40938 -f 46262/12621/40941 46261/12620/40941 45995/12547/40941 -f 46262/12621/40941 45995/12547/40941 45993/12545/40941 -f 46263/12621/42029 46264/12620/42029 45831/12415/41825 -f 46263/12621/42029 45831/12415/42029 45829/12438/42029 -usemtl sp_00_prozor -f 46265/12622/40821 46266/12623/40821 46267/12624/40821 -f 46267/12624/40821 46268/12625/40821 46265/12622/40821 -f 46269/12626/42030 46270/12627/42030 46266/12623/42030 -f 46266/12623/42031 46265/12622/42031 46269/12626/42031 -usemtl sp_00_vrata_krug -f 46271/12628/42032 46272/12629/42033 46273/12630/42034 -f 46274/12631/42035 46275/12632/42036 46276/12633/42037 -f 46277/12634/42038 46278/12635/42039 46279/12636/42040 -f 46272/12629/42033 46271/12628/42032 46280/12637/42041 -f 46281/12638/42042 46282/12639/42043 46283/12640/42044 -f 46284/12641/42045 46285/12642/42046 46286/12643/42047 -f 46287/12644/42048 46288/12645/42049 46289/12646/42050 -f 46290/12647/42051 46291/12648/42052 46292/12649/42053 -f 46293/12650/40805 46294/12651/40805 46295/12652/40805 -f 46294/12651/40805 46296/12653/40805 46295/12652/40805 -f 46297/12654/40805 46298/12655/40805 46299/12656/40805 -f 46298/12655/40805 46295/12652/40805 46299/12656/40805 -f 46295/12652/40805 46296/12653/40805 46300/12657/40805 -f 46296/12653/40805 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46382/12711/42088 -f 46386/12715/42092 46382/12711/42088 46385/12714/42091 -f 46385/12714/42091 46387/12716/42093 46386/12715/42092 -f 46388/12717/42094 46389/12718/42095 46390/12719/42096 -f 46390/12719/42096 46391/12720/42097 46388/12717/42094 -f 46381/12710/42087 46380/12709/42086 46392/12721/42098 -f 46392/12721/42098 46393/12722/42099 46381/12710/42087 -f 46394/12723/42100 46381/12710/42087 46393/12722/42099 -f 46393/12722/42099 46395/12724/42101 46394/12723/42100 -f 46385/12714/42091 46384/12713/42090 46396/12725/42102 -f 46396/12725/42102 46397/12726/42103 46385/12714/42091 -f 46387/12716/42093 46385/12714/42091 46397/12726/42103 -f 46397/12726/42103 46398/12727/42104 46387/12716/42093 -f 46399/12728/42105 46391/12720/42097 46400/12729/42106 -f 46400/12729/42106 46401/12730/42107 46399/12728/42105 -f 46393/12722/42099 46392/12721/42098 46402/12731/42108 -f 46402/12731/42108 46403/12732/42109 46393/12722/42099 -f 46395/12724/42101 46393/12722/42099 46403/12732/42109 -f 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48387/14250/44254 -# object Cylinder09 -g Cylinder09 -v -32.3782 4.89714 -6.04582 -v -32.4284 4.89714 -6.04582 -v -32.3937 4.87456 -6.08619 -v -32.3376 4.88319 -6.07077 -v -32.3376 4.9111 -6.02086 -v -32.3937 4.91972 -6.00544 -v -32.4284 2.03962 -4.44784 -v -32.3937 2.01704 -4.48821 -v -32.3376 2.02566 -4.47279 -v -32.3376 2.05357 -4.42288 -v -32.3937 2.0622 -4.40746 -v -32.3782 2.03962 -4.44784 -v -32.3937 4.91972 -6.00544 -v -32.3937 4.91972 -6.00544 -v -32.3937 2.0622 -4.40746 -v -32.3937 4.91972 -6.00544 -v -32.3937 2.0622 -4.40746 -# 17 verticies -vt 0.5 0 -vt 0.55 0 -vt 0.75 0 -vt 0.35 0 -vt 0.15 0 -vt -0.05 0 -vt 0.95 0 -vt 0.55 1 -vt 0.75 1 -vt 0.35 1 -vt 0.15 1 -vt -0.05 1 -vt 0.95 1 -vt 0.5 1 -# 14 texture verticies -vn 7.31432e-007 0.872798 -0.488081 -vn 2.72403e-006 0.872798 -0.488082 -vn 0 0.872799 -0.488079 -vn 3.85415e-006 0.872796 -0.488085 -vn -8.95452e-007 0.872797 -0.488083 -vn -4.05113e-006 0.8728 -0.488079 -vn 0 0.8728 -0.488078 -vn -0.970201 -0.118264 -0.21148 -vn -0.516912 -0.417819 -0.747148 -vn -0.9702 0.118265 0.211483 -vn -0.079224 -0.48655 -0.870053 -vn 0.642886 -0.373854 -0.668529 -vn 0.923756 -0.186927 -0.334265 -vn 0.923756 0.186927 0.334264 -vn 0.642886 0.373854 0.668529 -vn 0.300521 0.465523 0.832452 -vn 0.300519 0.465523 0.832452 -vn -0.800292 0.29266 0.523337 -vn -0.800291 0.292661 0.523339 -vn 0 -0.872796 0.488085 -vn 0 -0.872796 0.488085 -vn 5.38395e-007 -0.872796 0.488085 -vn 5.38395e-007 -0.872796 0.488084 -vn -5.38395e-007 -0.872796 0.488084 -vn -1.07679e-006 -0.872796 0.488085 -# 25 normals -f 48388/14251/44255 48390/14252/44256 48389/14253/44257 -f 48388/14251/44255 48391/14254/44258 48390/14252/44256 -f 48388/14251/44255 48392/14255/44259 48391/14254/44258 -f 48388/14251/44255 48393/14256/44260 48392/14255/44259 -f 48388/14251/44255 48389/14253/44257 48400/14257/44261 -f 48389/14253/44262 48395/14258/44263 48394/14259/44264 -f 48389/14253/44262 48390/14252/44265 48395/14258/44263 -f 48390/14252/44265 48396/14260/44266 48395/14258/44263 -f 48390/14252/44265 48391/14254/44267 48396/14260/44266 -f 48391/14254/44267 48397/14261/44268 48396/14260/44266 -f 48391/14254/44267 48392/14255/44269 48397/14261/44268 -f 48392/14255/44269 48398/14262/44270 48397/14261/44268 -f 48392/14255/44269 48393/14256/44271 48398/14262/44270 -f 48401/14257/44272 48394/14259/44264 48402/14263/44272 -f 48403/14257/44273 48389/14253/44262 48394/14259/44264 -f 48399/14264/44274 48394/14259/44275 48395/14258/44276 -f 48399/14264/44274 48395/14258/44276 48396/14260/44277 -f 48399/14264/44274 48396/14260/44277 48397/14261/44278 -f 48399/14264/44274 48397/14261/44278 48398/14262/44279 -f 48399/14264/44274 48404/14263/44275 48394/14259/44275 diff -Nru bullet-2.86.1+dfsg/data/sponza.mtl bullet-2.87+dfsg/data/sponza.mtl --- bullet-2.86.1+dfsg/data/sponza.mtl 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/sponza.mtl 1970-01-01 00:00:00.000000000 +0000 @@ -1,326 +0,0 @@ -# Blender MTL File: 'None' -# Material Count: 36 - -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 - -newmtl sp_00_luk_mali -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 - -newmtl sp_00_luk_mali_V -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 - -newmtl sp_00_luk_veliki -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 - -newmtl sp_00_lukveliki_V -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 - -newmtl sp_00_pod -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 - -newmtl sp_00_prozor -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 - -newmtl sp_00_stup -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 - -newmtl sp_00_stup_kapitel -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 - -newmtl sp_00_stup_kapitel_kut -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 - -newmtl sp_00_stup_kut -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 - -newmtl sp_00_svod -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 - -newmtl sp_00_svod_zid -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 - -newmtl sp_00_vrata_kocka -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 - -newmtl sp_00_vrata_krug -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 - -newmtl sp_00_zid -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 - -newmtl sp_01_luk_Va -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 - -newmtl sp_01_luk_a -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 - -newmtl sp_01_luk_veliki -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 - -newmtl sp_01_luk_veliki_V -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 - -newmtl sp_01_stub -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 - -newmtl sp_01_stub_baza -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 - -newmtl sp_01_stub_baza_kut -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 - -newmtl sp_01_stub_kapitel -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 - -newmtl sp_01_stub_kapitel_kut -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 - -newmtl sp_01_stub_kut -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 - -newmtl sp_01_stup -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 - -newmtl sp_01_stup_baza -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 - -newmtl sp_01_stup_kapitel -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 - -newmtl sp_02_prozor -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 - -newmtl sp_02_prozor_krug -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 - -newmtl sp_02_reljef -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 - -newmtl sp_svod_kapitel -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 - -newmtl sp_vijenac -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 - -newmtl sp_vijenac_ploha -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 - -newmtl sp_zid_vani -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-2.86.1+dfsg/data/table/table.mtl bullet-2.87+dfsg/data/table/table.mtl --- bullet-2.86.1+dfsg/data/table/table.mtl 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/table/table.mtl 1970-01-01 00:00:00.000000000 +0000 @@ -1,16 +0,0 @@ -newmtl table - 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 table.tga - map_Kd table.png - - - diff -Nru bullet-2.86.1+dfsg/data/table/table.obj bullet-2.87+dfsg/data/table/table.obj --- bullet-2.86.1+dfsg/data/table/table.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/table/table.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,48 +0,0 @@ -# table.obj -# - -o table -mtllib table.mtl - -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 table -usemtl table -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 - Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/table/table.png and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/table/table.png differ diff -Nru bullet-2.86.1+dfsg/data/table/table.urdf bullet-2.87+dfsg/data/table/table.urdf --- bullet-2.86.1+dfsg/data/table/table.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/table/table.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,56 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/table_square/checker_grid.jpg and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/table_square/checker_grid.jpg differ diff -Nru bullet-2.86.1+dfsg/data/table_square/table.mtl bullet-2.87+dfsg/data/table_square/table.mtl --- bullet-2.86.1+dfsg/data/table_square/table.mtl 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/table_square/table.mtl 1970-01-01 00:00:00.000000000 +0000 @@ -1,16 +0,0 @@ -newmtl table - 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 table.tga - map_Kd checker_grid.jpg - - - diff -Nru bullet-2.86.1+dfsg/data/table_square/table.obj bullet-2.87+dfsg/data/table_square/table.obj --- bullet-2.86.1+dfsg/data/table_square/table.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/table_square/table.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,48 +0,0 @@ -# table.obj -# - -o table -mtllib table.mtl - -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 table -usemtl table -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 4 5 -f 5 4 6 -s 3 -f 5 6 7 -f 7 6 8 -s 4 -f 7 8 1 -f 1 8 2 -s 5 -f 2 8 4 -f 4 8 6 -s 6 -f 7 1 5 -f 5 1 3 - diff -Nru bullet-2.86.1+dfsg/data/table_square/table_square.urdf bullet-2.87+dfsg/data/table_square/table_square.urdf --- bullet-2.86.1+dfsg/data/table_square/table_square.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/table_square/table_square.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,61 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/teddy2_VHACD_CHs.obj bullet-2.87+dfsg/data/teddy2_VHACD_CHs.obj --- bullet-2.86.1+dfsg/data/teddy2_VHACD_CHs.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/teddy2_VHACD_CHs.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,3725 +0,0 @@ -# Blender v2.66 (sub 1) OBJ File: '' -# www.blender.org -o ShapeIndexedFaceSet.014_ShapeIndexedFaceSet -v 0.679197 0.660988 0.323349 -v 0.449811 0.343578 0.299284 -v 0.450606 0.341982 0.300381 -v 0.451916 0.339393 0.302200 -v 0.451401 0.363899 0.276177 -v 0.453463 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881/952/888 880/950/886 10/995/35 11/967/39 diff -Nru bullet-2.86.1+dfsg/data/torus/plane_only.mtl bullet-2.87+dfsg/data/torus/plane_only.mtl --- bullet-2.86.1+dfsg/data/torus/plane_only.mtl 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/torus/plane_only.mtl 1970-01-01 00:00:00.000000000 +0000 @@ -1,10 +0,0 @@ -# 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-2.86.1+dfsg/data/torus/plane_only.obj bullet-2.87+dfsg/data/torus/plane_only.obj --- bullet-2.86.1+dfsg/data/torus/plane_only.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/torus/plane_only.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,7913 +0,0 @@ -# Blender v2.77 (sub 0) OBJ File: '' -# www.blender.org -mtllib plane_only.mtl -o Plane -v -2.312398 -6.126618 0.566384 -v 6.032325 -2.575601 0.280679 -v -5.874205 2.203907 0.074895 -v 2.470518 5.754926 -0.210810 -v -5.804365 2.040563 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00:00:00.000000000 +0000 @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/torus/torus_with_plane.mtl bullet-2.87+dfsg/data/torus/torus_with_plane.mtl --- bullet-2.86.1+dfsg/data/torus/torus_with_plane.mtl 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/torus/torus_with_plane.mtl 1970-01-01 00:00:00.000000000 +0000 @@ -1,10 +0,0 @@ -# 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-2.86.1+dfsg/data/torus/torus_with_plane.obj bullet-2.87+dfsg/data/torus/torus_with_plane.obj --- bullet-2.86.1+dfsg/data/torus/torus_with_plane.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/torus/torus_with_plane.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,9384 +0,0 @@ -# Blender v2.77 (sub 0) OBJ File: '' -# www.blender.org -mtllib torus_with_plane.mtl -o Plane -v -2.312398 -6.126618 0.566384 -v 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23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/torus/torus_with_plane.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/torus/torus_with_separate_plane.urdf bullet-2.87+dfsg/data/torus/torus_with_separate_plane.urdf --- bullet-2.86.1+dfsg/data/torus/torus_with_separate_plane.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/torus/torus_with_separate_plane.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,48 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/tray/traybox.urdf bullet-2.87+dfsg/data/tray/traybox.urdf --- bullet-2.86.1+dfsg/data/tray/traybox.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/tray/traybox.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/tray/tray.jpg and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/tray/tray.jpg differ diff -Nru bullet-2.86.1+dfsg/data/tray/tray_textured2.mtl bullet-2.87+dfsg/data/tray/tray_textured2.mtl --- bullet-2.86.1+dfsg/data/tray/tray_textured2.mtl 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/tray/tray_textured2.mtl 1970-01-01 00:00:00.000000000 +0000 @@ -1,13 +0,0 @@ -# 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-2.86.1+dfsg/data/tray/tray_textured2.obj bullet-2.87+dfsg/data/tray/tray_textured2.obj --- bullet-2.86.1+dfsg/data/tray/tray_textured2.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/tray/tray_textured2.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,255 +0,0 @@ -# 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 -v -0.419960 0.426691 -0.001860 -v -0.580000 0.590083 0.250354 -v 0.580000 0.573309 0.261247 -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 -vt 0.1480 0.9187 -vt 0.8346 0.9129 -vt 0.7623 0.8574 -vt 0.1480 0.9129 -vt 0.7623 0.8511 -vt 0.2203 0.8511 -vn 0.0004 0.8386 -0.5448 -vn 0.0001 0.8391 -0.5439 -vn -0.0000 0.8393 -0.5437 -vn 0.8823 -0.2564 -0.3948 -vn -0.0004 -0.8392 0.5439 -vn -0.0001 -0.8386 0.5447 -vn 0.0000 -0.8385 0.5449 -vn -0.8826 -0.2560 -0.3942 -vn 0.0008 -0.5446 -0.8387 -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 -f 4/4/4 7/7/4 5/5/4 -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 -v 0.590083 0.580000 0.250354 -v 0.409917 0.420060 0.009390 -v 0.573309 0.580000 0.261247 -v 0.590083 -0.580000 0.250354 -v 0.426691 0.420060 -0.001503 -v 0.573309 -0.580000 0.261247 -v 0.426691 -0.419158 -0.002053 -v 0.409917 -0.419158 0.008840 -vt 0.9410 0.8520 -vt 0.7523 0.8566 -vt 0.9234 0.8524 -vt 0.8896 0.1426 -vt 0.7698 0.8562 -vt 0.8721 0.1430 -vt 0.7185 0.1468 -vt 0.7009 0.1472 -vn -0.2561 0.8826 -0.3943 -vn 0.8394 0.0003 -0.5435 -vn 0.8390 0.0001 -0.5441 -vn 0.8389 0.0000 -0.5442 -vn -0.2569 -0.8818 -0.3956 -vn -0.8390 -0.0003 0.5441 -vn -0.8394 -0.0001 0.5436 -vn -0.8395 -0.0000 0.5434 -vn -0.5446 0.0005 -0.8387 -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 -f 9/9/13 10/10/13 11/11/13 -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 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19/19/27 -f 20/20/28 21/21/28 17/17/28 -f 22/22/29 23/23/30 20/20/31 -f 19/19/32 24/24/32 22/22/32 -f 21/21/33 24/24/33 18/18/33 -f 20/20/34 19/19/34 22/22/34 -f 17/17/25 21/21/35 18/18/26 -f 20/20/28 23/23/28 21/21/28 -f 22/22/29 24/24/36 23/23/30 -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 -v -0.153309 0.580000 0.261247 -v -0.006691 0.419400 -0.002214 -v -0.170083 0.580000 0.250354 -v -0.153309 -0.580000 0.261247 -v 0.010083 0.419400 0.008679 -v -0.170083 -0.580000 0.250354 -v 0.010083 -0.419883 0.009732 -v -0.006691 -0.419883 -0.001161 -vt 0.0506 0.8517 -vt 0.1935 0.8492 -vt 0.0342 0.8520 -vt 0.0164 0.1914 -vt 0.2099 0.8489 -vt 0.0001 0.1917 -vt 0.1757 0.1886 -vt 0.1594 0.1889 -vn 0.2565 0.8821 -0.3950 -vn 0.8387 0.0005 0.5446 -vn 0.8394 0.0001 0.5434 -vn 0.8396 0.0000 0.5432 -vn 0.2565 -0.8822 -0.3950 -vn -0.8395 -0.0005 -0.5434 -vn -0.8388 -0.0001 -0.5445 -vn -0.8386 -0.0000 -0.5448 -vn 0.5446 -0.0011 -0.8387 -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 -f 28/28/38 31/31/47 29/29/39 -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 -v -0.573309 0.580000 0.261247 -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 -v -0.409917 -0.419400 0.009162 -v -0.426691 -0.419400 -0.001731 -vt 0.9046 0.2397 -vt 0.7929 0.2434 -vt 0.9174 0.2393 -vt 0.9537 0.7559 -vt 0.7801 0.2438 -vt 0.9664 0.7554 -vt 0.8291 0.7599 -vt 0.8419 0.7595 -vn 0.2565 0.8821 -0.3950 -vn 0.8392 0.0002 0.5438 -vn 0.8395 0.0000 0.5433 -vn 0.8396 0.0000 0.5432 -vn 0.2568 -0.8819 -0.3954 -vn -0.8396 -0.0002 -0.5433 -vn -0.8392 -0.0000 -0.5438 -vn -0.8391 -0.0000 -0.5439 -vn 0.5446 -0.0005 -0.8387 -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 -f 37/37/57 40/40/57 34/34/57 -f 36/36/58 35/35/58 38/38/58 -f 33/33/49 37/37/49 34/34/49 -f 36/36/50 39/39/59 37/37/51 -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 -o base_Cube.004 -v 0.420000 0.420000 0.010000 -v -0.420000 0.420000 -0.010000 -v -0.420000 0.420000 0.010000 -v 0.420000 -0.420000 0.010000 -v 0.420000 0.420000 -0.010000 -v -0.420000 -0.420000 0.010000 -v 0.420000 -0.420000 -0.010000 -v -0.420000 -0.420000 -0.010000 -vt 0.7524 0.8072 -vt -0.3038 0.8371 -vt -0.3038 0.8371 -vt 0.7012 0.1905 -vt 0.7524 0.8072 -vt -0.3550 0.2204 -vt 0.7012 0.1905 -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-2.86.1+dfsg/data/tray/tray_textured2.urdf bullet-2.87+dfsg/data/tray/tray_textured2.urdf --- bullet-2.86.1+dfsg/data/tray/tray_textured2.urdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/tray/tray_textured2.urdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff -Nru bullet-2.86.1+dfsg/data/tray/tray_textured.mtl bullet-2.87+dfsg/data/tray/tray_textured.mtl --- bullet-2.86.1+dfsg/data/tray/tray_textured.mtl 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/tray/tray_textured.mtl 1970-01-01 00:00:00.000000000 +0000 @@ -1,13 +0,0 @@ -# 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-2.86.1+dfsg/data/tray/tray_textured.obj bullet-2.87+dfsg/data/tray/tray_textured.obj --- bullet-2.86.1+dfsg/data/tray/tray_textured.obj 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/tray/tray_textured.obj 1970-01-01 00:00:00.000000000 +0000 @@ -1,213 +0,0 @@ -# Blender v2.78 (sub 0) OBJ File: '' -# www.blender.org -mtllib tray_textured.mtl -o edge_4_Cube.001 -v -0.573309 0.580000 0.261247 -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 -v -0.409917 -0.419400 0.009162 -v -0.426691 -0.419400 -0.001731 -vt 0.9046 0.2397 -vt 0.7929 0.2434 -vt 0.9174 0.2393 -vt 0.9537 0.7559 -vt 0.7801 0.2438 -vt 0.9664 0.7554 -vt 0.8291 0.7599 -vt 0.8419 0.7595 -vn 0.2565 0.8821 -0.3950 -vn 0.8392 0.0002 0.5438 -vn 0.8395 0.0000 0.5433 -vn 0.8396 -0.0000 0.5432 -vn 0.2568 -0.8819 -0.3954 -vn -0.8396 -0.0002 -0.5433 -vn -0.8392 -0.0000 -0.5438 -vn -0.8391 0.0000 -0.5439 -vn 0.5446 -0.0005 -0.8387 -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 1/1/1 2/2/1 3/3/1 -f 4/4/2 5/5/3 1/1/4 -f 6/6/5 7/7/5 4/4/5 -f 3/3/6 8/8/7 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 5/5/1 2/2/1 -f 4/4/2 7/7/11 5/5/3 -f 6/6/5 8/8/5 7/7/5 -f 3/3/6 2/2/12 8/8/7 -f 5/5/9 7/7/9 8/8/9 -f 4/4/10 1/1/10 3/3/10 -o edge_1_Cube.003 -v 0.580000 0.590083 0.250354 -v -0.419960 0.426691 -0.001860 -v -0.580000 0.590083 0.250354 -v 0.580000 0.573309 0.261247 -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 -vt 0.1480 0.9187 -vt 0.8346 0.9129 -vt 0.7623 0.8574 -vt 0.1480 0.9129 -vt 0.7623 0.8511 -vt 0.2203 0.8511 -vn 0.0004 0.8386 -0.5448 -vn 0.0001 0.8391 -0.5439 -vn 0.0000 0.8393 -0.5437 -vn 0.8823 -0.2564 -0.3948 -vn -0.0004 -0.8392 0.5439 -vn -0.0001 -0.8386 0.5447 -vn 0.0000 -0.8385 0.5449 -vn -0.8826 -0.2560 -0.3942 -vn 0.0008 -0.5446 -0.8387 -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 9/9/13 10/10/14 11/11/15 -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 -f 13/13/21 16/16/21 10/10/21 -f 12/12/22 11/11/22 14/14/22 -f 9/9/13 13/13/23 10/10/14 -f 12/12/16 15/15/16 13/13/16 -f 14/14/17 16/16/24 15/15/18 -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 -v 0.590083 0.580000 0.250354 -v 0.409917 0.420060 0.009390 -v 0.573309 0.580000 0.261247 -v 0.590083 -0.580000 0.250354 -v 0.426691 0.420060 -0.001503 -v 0.573309 -0.580000 0.261247 -v 0.426691 -0.419158 -0.002053 -v 0.409917 -0.419158 0.008840 -vt 0.9410 0.8520 -vt 0.7523 0.8566 -vt 0.9234 0.8524 -vt 0.8896 0.1426 -vt 0.7698 0.8562 -vt 0.8721 0.1430 -vt 0.7185 0.1468 -vt 0.7009 0.1472 -vn -0.2561 0.8826 -0.3943 -vn 0.8394 0.0003 -0.5435 -vn 0.8390 0.0001 -0.5441 -vn 0.8389 0.0000 -0.5443 -vn -0.2569 -0.8818 -0.3956 -vn -0.8390 -0.0003 0.5441 -vn -0.8394 -0.0001 0.5436 -vn -0.8395 -0.0000 0.5434 -vn -0.5446 0.0005 -0.8387 -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 -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 -f 19/19/30 24/24/31 22/22/32 -f 21/21/33 24/24/33 18/18/33 -f 20/20/34 19/19/34 22/22/34 -f 17/17/25 21/21/25 18/18/25 -f 20/20/26 23/23/35 21/21/27 -f 22/22/29 24/24/29 23/23/29 -f 19/19/30 18/18/36 24/24/31 -f 21/21/33 23/23/33 24/24/33 -f 20/20/34 17/17/34 19/19/34 -o base_Cube.004 -v 0.420000 0.420000 0.010000 -v -0.420000 0.420000 -0.010000 -v -0.420000 0.420000 0.010000 -v 0.420000 -0.420000 0.010000 -v 0.420000 0.420000 -0.010000 -v -0.420000 -0.420000 0.010000 -v 0.420000 -0.420000 -0.010000 -v -0.420000 -0.420000 -0.010000 -vt 0.7524 0.8072 -vt -0.3038 0.8371 -vt -0.3038 0.8371 -vt 0.7012 0.1905 -vt 0.7524 0.8072 -vt -0.3550 0.2204 -vt 0.7012 0.1905 -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 25/25/37 26/26/37 27/27/37 -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 -f 29/29/41 32/32/41 26/26/41 -f 28/28/42 27/27/42 30/30/42 -f 25/25/37 29/29/37 26/26/37 -f 28/28/38 31/31/38 29/29/38 -f 30/30/39 32/32/39 31/31/39 -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 -v 0.580000 -0.573309 0.261247 -v -0.419400 -0.409917 0.008678 -v -0.580000 -0.573309 0.261247 -v 0.580000 -0.590083 0.250354 -v 0.419883 -0.409917 0.009162 -v -0.580000 -0.590083 0.250354 -v 0.419883 -0.426691 -0.001731 -v -0.419400 -0.426691 -0.002215 -vt 0.8690 0.1040 -vt 0.1365 0.1739 -vt 0.0188 0.1040 -vt 0.8690 0.0968 -vt 0.7517 0.1739 -vt 0.0188 0.0968 -vt 0.7517 0.1668 -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-2.86.1+dfsg/data/two_cubes.sdf bullet-2.87+dfsg/data/two_cubes.sdf --- bullet-2.86.1+dfsg/data/two_cubes.sdf 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/two_cubes.sdf 1970-01-01 00:00:00.000000000 +0000 @@ -1,240 +0,0 @@ - - - - 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 - - - - Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/data/uvmap.png and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/data/uvmap.png differ diff -Nru bullet-2.86.1+dfsg/data/xacro_standalone.py bullet-2.87+dfsg/data/xacro_standalone.py --- bullet-2.86.1+dfsg/data/xacro_standalone.py 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/data/xacro_standalone.py 1970-01-01 00:00:00.000000000 +0000 @@ -1,705 +0,0 @@ -#! /usr/bin/env python -# Copyright (c) 2013, Willow Garage, Inc. -# Copyright (c) 2014, Open Source Robotics Foundation, Inc. -# 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 Open Source Robotics Foundation, Inc. -# 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. - -# Author: Stuart Glaser -# Maintainer: William Woodall - -from __future__ import print_function - -import getopt -import glob -import os -import re -import string -import sys -import xml - -from xml.dom.minidom import parse - -try: - _basestr = basestring -except NameError: - _basestr = str - -# Dictionary of subtitution args -substitution_args_context = {} - - -class XacroException(Exception): - pass - - -def isnumber(x): - return hasattr(x, '__int__') - - -# Better pretty printing of xml -# Taken from http://ronrothman.com/public/leftbraned/xml-dom-minidom-toprettyxml-and-silly-whitespace/ -def fixed_writexml(self, writer, indent="", addindent="", newl=""): - # indent = current indentation - # addindent = indentation to add to higher levels - # newl = newline string - writer.write(indent + "<" + self.tagName) - - attrs = self._get_attributes() - a_names = list(attrs.keys()) - a_names.sort() - - for a_name in a_names: - writer.write(" %s=\"" % a_name) - xml.dom.minidom._write_data(writer, attrs[a_name].value) - writer.write("\"") - if self.childNodes: - if len(self.childNodes) == 1 \ - and self.childNodes[0].nodeType == xml.dom.minidom.Node.TEXT_NODE: - writer.write(">") - self.childNodes[0].writexml(writer, "", "", "") - writer.write("%s" % (self.tagName, newl)) - return - writer.write(">%s" % (newl)) - for node in self.childNodes: - # skip whitespace-only text nodes - if node.nodeType == xml.dom.minidom.Node.TEXT_NODE and \ - not node.data.strip(): - continue - node.writexml(writer, indent + addindent, addindent, newl) - writer.write("%s%s" % (indent, self.tagName, newl)) - else: - writer.write("/>%s" % (newl)) -# replace minidom's function with ours -xml.dom.minidom.Element.writexml = fixed_writexml - - -class Table: - def __init__(self, parent=None): - self.parent = parent - self.table = {} - - def __getitem__(self, key): - if key in self.table: - return self.table[key] - elif self.parent: - return self.parent[key] - else: - raise KeyError(key) - - def __setitem__(self, key, value): - self.table[key] = value - - def __contains__(self, key): - return \ - key in self.table or \ - (self.parent and key in self.parent) - - -class QuickLexer(object): - def __init__(self, **res): - self.str = "" - self.top = None - self.res = [] - for k, v in res.items(): - self.__setattr__(k, len(self.res)) - self.res.append(v) - - def lex(self, str): - self.str = str - self.top = None - self.next() - - def peek(self): - return self.top - - def next(self): - result = self.top - self.top = None - for i in range(len(self.res)): - m = re.match(self.res[i], self.str) - if m: - self.top = (i, m.group(0)) - self.str = self.str[m.end():] - break - return result - - -def first_child_element(elt): - c = elt.firstChild - while c: - if c.nodeType == xml.dom.Node.ELEMENT_NODE: - return c - c = c.nextSibling - return None - - -def next_sibling_element(elt): - c = elt.nextSibling - while c: - if c.nodeType == xml.dom.Node.ELEMENT_NODE: - return c - c = c.nextSibling - return None - - -# Pre-order traversal of the elements -def next_element(elt): - child = first_child_element(elt) - if child: - return child - while elt and elt.nodeType == xml.dom.Node.ELEMENT_NODE: - next = next_sibling_element(elt) - if next: - return next - elt = elt.parentNode - return None - - -# Pre-order traversal of all the nodes -def next_node(node): - if node.firstChild: - return node.firstChild - while node: - if node.nextSibling: - return node.nextSibling - node = node.parentNode - return None - - -def child_nodes(elt): - c = elt.firstChild - while c: - yield c - c = c.nextSibling - -all_includes = [] - -# Deprecated message for tags that don't have prepended: -deprecated_include_msg = """DEPRECATED IN HYDRO: - The tag should be prepended with 'xacro' if that is the intended use - of it, such as . Use the following script to fix incorrect - xacro includes: - sed -i 's/ extensions - is_include = False - if elt.tagName == 'xacro:include' or elt.tagName == 'include': - - is_include = True - # Temporary fix for ROS Hydro and the xacro include scope problem - if elt.tagName == 'include': - - # check if there is any element within the tag. mostly we are concerned - # with Gazebo's element, but it could be anything. also, make sure the child - # nodes aren't just a single Text node, which is still considered a deprecated - # instance - if elt.childNodes and not (len(elt.childNodes) == 1 and - elt.childNodes[0].nodeType == elt.TEXT_NODE): - # this is not intended to be a xacro element, so we can ignore it - is_include = False - else: - # throw a deprecated warning - print(deprecated_include_msg, file=sys.stderr) - - # Process current element depending on previous conditions - if is_include: - filename_spec = eval_text(elt.getAttribute('filename'), {}) - if not os.path.isabs(filename_spec): - filename_spec = os.path.join(base_dir, filename_spec) - - if re.search('[*[?]+', filename_spec): - # Globbing behaviour - filenames = sorted(glob.glob(filename_spec)) - if len(filenames) == 0: - print(include_no_matches_msg.format(filename_spec), file=sys.stderr) - else: - # Default behaviour - filenames = [filename_spec] - - for filename in filenames: - global all_includes - all_includes.append(filename) - try: - with open(filename) as f: - try: - included = parse(f) - except Exception as e: - raise XacroException( - "included file \"%s\" generated an error during XML parsing: %s" - % (filename, str(e))) - except IOError as e: - raise XacroException("included file \"%s\" could not be opened: %s" % (filename, str(e))) - - # Replaces the include tag with the elements of the included file - for c in child_nodes(included.documentElement): - elt.parentNode.insertBefore(c.cloneNode(deep=True), elt) - - # Grabs all the declared namespaces of the included document - for name, value in included.documentElement.attributes.items(): - if name.startswith('xmlns:'): - namespaces[name] = value - - elt.parentNode.removeChild(elt) - elt = None - else: - previous = elt - - elt = next_element(previous) - - # Makes sure the final document declares all the namespaces of the included documents. - for k, v in namespaces.items(): - doc.documentElement.setAttribute(k, v) - - -# Returns a dictionary: { macro_name => macro_xml_block } -def grab_macros(doc): - macros = {} - - previous = doc.documentElement - elt = next_element(previous) - while elt: - if elt.tagName == 'macro' or elt.tagName == 'xacro:macro': - name = elt.getAttribute('name') - - macros[name] = elt - macros['xacro:' + name] = elt - - elt.parentNode.removeChild(elt) - elt = None - else: - previous = elt - - elt = next_element(previous) - return macros - - -# Returns a Table of the properties -def grab_properties(doc): - table = Table() - - previous = doc.documentElement - elt = next_element(previous) - while elt: - if elt.tagName == 'property' or elt.tagName == 'xacro:property': - name = elt.getAttribute('name') - value = None - - if elt.hasAttribute('value'): - value = elt.getAttribute('value') - else: - name = '**' + name - value = elt # debug - - bad = string.whitespace + "${}" - has_bad = False - for b in bad: - if b in name: - has_bad = True - break - - if has_bad: - sys.stderr.write('Property names may not have whitespace, ' + - '"{", "}", or "$" : "' + name + '"') - else: - table[name] = value - - elt.parentNode.removeChild(elt) - elt = None - else: - previous = elt - - elt = next_element(previous) - return table - - -def eat_ignore(lex): - while lex.peek() and lex.peek()[0] == lex.IGNORE: - lex.next() - - -def eval_lit(lex, symbols): - eat_ignore(lex) - if lex.peek()[0] == lex.NUMBER: - return float(lex.next()[1]) - if lex.peek()[0] == lex.SYMBOL: - try: - key = lex.next()[1] - value = symbols[key] - except KeyError as ex: - raise XacroException("Property wasn't defined: %s" % str(ex)) - if not (isnumber(value) or isinstance(value, _basestr)): - if value is None: - raise XacroException("Property %s recursively used" % key) - raise XacroException("WTF2") - try: - return int(value) - except: - try: - return float(value) - except: - # prevent infinite recursion - symbols[key] = None - result = eval_text(value, symbols) - # restore old entry - symbols[key] = value - return result - raise XacroException("Bad literal") - - -def eval_factor(lex, symbols): - eat_ignore(lex) - - neg = 1 - if lex.peek()[1] == '-': - lex.next() - neg = -1 - - if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL]: - return neg * eval_lit(lex, symbols) - if lex.peek()[0] == lex.LPAREN: - lex.next() - eat_ignore(lex) - result = eval_expr(lex, symbols) - eat_ignore(lex) - if lex.next()[0] != lex.RPAREN: - raise XacroException("Unmatched left paren") - eat_ignore(lex) - return neg * result - - raise XacroException("Misplaced operator") - - -def eval_term(lex, symbols): - eat_ignore(lex) - - result = 0 - if lex.peek()[0] in [lex.NUMBER, lex.SYMBOL, lex.LPAREN] \ - or lex.peek()[1] == '-': - result = eval_factor(lex, symbols) - - eat_ignore(lex) - while lex.peek() and lex.peek()[1] in ['*', '/']: - op = lex.next()[1] - n = eval_factor(lex, symbols) - - if op == '*': - result = float(result) * float(n) - elif op == '/': - result = float(result) / float(n) - else: - raise XacroException("WTF") - eat_ignore(lex) - return result - - -def eval_expr(lex, symbols): - eat_ignore(lex) - - op = None - if lex.peek()[0] == lex.OP: - op = lex.next()[1] - if not op in ['+', '-']: - raise XacroException("Invalid operation. Must be '+' or '-'") - - result = eval_term(lex, symbols) - if op == '-': - result = -float(result) - - eat_ignore(lex) - while lex.peek() and lex.peek()[1] in ['+', '-']: - op = lex.next()[1] - n = eval_term(lex, symbols) - - if op == '+': - result = float(result) + float(n) - if op == '-': - result = float(result) - float(n) - eat_ignore(lex) - return result - - -def eval_text(text, symbols): - def handle_expr(s): - lex = QuickLexer(IGNORE=r"\s+", - NUMBER=r"(\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?", - SYMBOL=r"[a-zA-Z_]\w*", - OP=r"[\+\-\*/^]", - LPAREN=r"\(", - RPAREN=r"\)") - lex.lex(s) - return eval_expr(lex, symbols) - - def handle_extension(s): - return ("$(%s)" % s) - - results = [] - lex = QuickLexer(DOLLAR_DOLLAR_BRACE=r"\$\$+\{", - EXPR=r"\$\{[^\}]*\}", - EXTENSION=r"\$\([^\)]*\)", - TEXT=r"([^\$]|\$[^{(]|\$$)+") - lex.lex(text) - while lex.peek(): - if lex.peek()[0] == lex.EXPR: - results.append(handle_expr(lex.next()[1][2:-1])) - elif lex.peek()[0] == lex.EXTENSION: - results.append(handle_extension(lex.next()[1][2:-1])) - elif lex.peek()[0] == lex.TEXT: - results.append(lex.next()[1]) - elif lex.peek()[0] == lex.DOLLAR_DOLLAR_BRACE: - results.append(lex.next()[1][1:]) - return ''.join(map(str, results)) - - -# Expands macros, replaces properties, and evaluates expressions -def eval_all(root, macros, symbols): - # Evaluates the attributes for the root node - for at in root.attributes.items(): - result = eval_text(at[1], symbols) - root.setAttribute(at[0], result) - - previous = root - node = next_node(previous) - while node: - if node.nodeType == xml.dom.Node.ELEMENT_NODE: - if node.tagName in macros: - body = macros[node.tagName].cloneNode(deep=True) - params = body.getAttribute('params').split() - - # Parse default values for any parameters - defaultmap = {} - for param in params[:]: - splitParam = param.split(':=') - - if len(splitParam) == 2: - defaultmap[splitParam[0]] = splitParam[1] - params.remove(param) - params.append(splitParam[0]) - - elif len(splitParam) != 1: - raise XacroException("Invalid parameter definition") - - # Expands the macro - scoped = Table(symbols) - for name, value in node.attributes.items(): - if not name in params: - raise XacroException("Invalid parameter \"%s\" while expanding macro \"%s\"" % - (str(name), str(node.tagName))) - params.remove(name) - scoped[name] = eval_text(value, symbols) - - # Pulls out the block arguments, in order - cloned = node.cloneNode(deep=True) - eval_all(cloned, macros, symbols) - block = cloned.firstChild - for param in params[:]: - if param[0] == '*': - while block and block.nodeType != xml.dom.Node.ELEMENT_NODE: - block = block.nextSibling - if not block: - raise XacroException("Not enough blocks while evaluating macro %s" % str(node.tagName)) - params.remove(param) - scoped[param] = block - block = block.nextSibling - - # Try to load defaults for any remaining non-block parameters - for param in params[:]: - if param[0] != '*' and param in defaultmap: - scoped[param] = defaultmap[param] - params.remove(param) - - if params: - raise XacroException("Parameters [%s] were not set for macro %s" % - (",".join(params), str(node.tagName))) - eval_all(body, macros, scoped) - - # Replaces the macro node with the expansion - for e in list(child_nodes(body)): # Ew - node.parentNode.insertBefore(e, node) - node.parentNode.removeChild(node) - - node = None - elif node.tagName == 'arg' or node.tagName == 'xacro:arg': - name = node.getAttribute('name') - if not name: - raise XacroException("Argument name missing") - default = node.getAttribute('default') - if default and name not in substitution_args_context['arg']: - substitution_args_context['arg'][name] = default - - node.parentNode.removeChild(node) - node = None - - elif node.tagName == 'insert_block' or node.tagName == 'xacro:insert_block': - name = node.getAttribute('name') - - if ("**" + name) in symbols: - # Multi-block - block = symbols['**' + name] - - for e in list(child_nodes(block)): - node.parentNode.insertBefore(e.cloneNode(deep=True), node) - node.parentNode.removeChild(node) - elif ("*" + name) in symbols: - # Single block - block = symbols['*' + name] - - node.parentNode.insertBefore(block.cloneNode(deep=True), node) - node.parentNode.removeChild(node) - else: - raise XacroException("Block \"%s\" was never declared" % name) - - node = None - elif node.tagName in ['if', 'xacro:if', 'unless', 'xacro:unless']: - value = eval_text(node.getAttribute('value'), symbols) - try: - if value == 'true': keep = True - elif value == 'false': keep = False - else: keep = float(value) - except ValueError: - raise XacroException("Xacro conditional evaluated to \"%s\". Acceptable evaluations are one of [\"1\",\"true\",\"0\",\"false\"]" % value) - if node.tagName in ['unless', 'xacro:unless']: keep = not keep - if keep: - for e in list(child_nodes(node)): - node.parentNode.insertBefore(e.cloneNode(deep=True), node) - - node.parentNode.removeChild(node) - else: - # Evals the attributes - for at in node.attributes.items(): - result = eval_text(at[1], symbols) - node.setAttribute(at[0], result) - previous = node - elif node.nodeType == xml.dom.Node.TEXT_NODE: - node.data = eval_text(node.data, symbols) - previous = node - else: - previous = node - - node = next_node(previous) - return macros - - -# Expands everything except includes -def eval_self_contained(doc): - macros = grab_macros(doc) - symbols = grab_properties(doc) - eval_all(doc.documentElement, macros, symbols) - - -def print_usage(exit_code=0): - print("Usage: %s [-o ] " % 'xacro.py') - print(" %s --deps Prints dependencies" % 'xacro.py') - print(" %s --includes Only evalutes includes" % 'xacro.py') - sys.exit(exit_code) - - -def set_substitution_args_context(context={}): - substitution_args_context['arg'] = context - -def open_output(output_filename): - if output_filename is None: - return sys.stdout - else: - return open(output_filename, 'w') - -def main(): - try: - opts, args = getopt.gnu_getopt(sys.argv[1:], "ho:", ['deps', 'includes']) - except getopt.GetoptError as err: - print(str(err)) - print_usage(2) - - just_deps = False - just_includes = False - - output_filename = None - for o, a in opts: - if o == '-h': - print_usage(0) - elif o == '-o': - output_filename = a - elif o == '--deps': - just_deps = True - elif o == '--includes': - just_includes = True - - if len(args) < 1: - print("No input given") - print_usage(2) - - # Process substitution args - # set_substitution_args_context(load_mappings(sys.argv)) - set_substitution_args_context((sys.argv)) - - f = open(args[0]) - doc = None - try: - doc = parse(f) - except xml.parsers.expat.ExpatError: - sys.stderr.write("Expat parsing error. Check that:\n") - sys.stderr.write(" - Your XML is correctly formed\n") - sys.stderr.write(" - You have the xacro xmlns declaration: " + - "xmlns:xacro=\"http://www.ros.org/wiki/xacro\"\n") - sys.stderr.write("\n") - raise - finally: - f.close() - - process_includes(doc, os.path.dirname(args[0])) - if just_deps: - for inc in all_includes: - sys.stdout.write(inc + " ") - sys.stdout.write("\n") - elif just_includes: - doc.writexml(open_output(output_filename)) - print() - else: - eval_self_contained(doc) - banner = [xml.dom.minidom.Comment(c) for c in - [" %s " % ('=' * 83), - " | This document was autogenerated by xacro from %-30s | " % args[0], - " | EDITING THIS FILE BY HAND IS NOT RECOMMENDED %-30s | " % "", - " %s " % ('=' * 83)]] - first = doc.firstChild - for comment in banner: - doc.insertBefore(comment, first) - - open_output(output_filename).write(doc.toprettyxml(indent=' ')) - print() - -if __name__ == '__main__': - main() diff -Nru bullet-2.86.1+dfsg/debian/changelog bullet-2.87+dfsg/debian/changelog --- bullet-2.86.1+dfsg/debian/changelog 2017-02-21 02:37:35.000000000 +0000 +++ bullet-2.87+dfsg/debian/changelog 2017-11-07 09:34:13.000000000 +0000 @@ -1,8 +1,33 @@ -bullet (2.86.1+dfsg-1+openmw~xenial1) xenial; urgency=medium +bullet (2.87+dfsg-1~ubuntu16.04.1~ppa2) xenial; urgency=medium - * Backport to Ubuntu + * No-change backport to trusty - -- Bret Curtis Tue, 21 Feb 2017 03:37:35 +0100 + -- Bret Curtis Tue, 07 Nov 2017 10:34:13 +0100 + +bullet (2.87+dfsg-1) experimental; urgency=medium + + * New upstream version 2.87+dfsg. + * Use dh_missing override instead of dh_install. + * Declare compliance with Debian Policy 4.1.1. + * Exclude pybullet pdf because we don't have the source for it. + * Rename binary packages because of the SONAME bump. + * New build-dependencies: python3 and python3-dev. + * Remove data and examples directory completely because we don't build the + examples. It is tedious to check the copyright for files which are not + actively used and supported later. + * Add disable-Extra-modules.patch. BulletRobotics and obj2sdf are currently + not supported. + * Add README.source and explain why we repack the tarball. + + -- Markus Koschany Sat, 07 Oct 2017 17:30:13 +0200 + +bullet (2.86.1+dfsg-2) unstable; urgency=medium + + * Upload to unstable. + * Declare compliance with Debian Policy 4.0.0. + * Use https for Format field. + + -- Markus Koschany Mon, 17 Jul 2017 17:29:30 +0200 bullet (2.86.1+dfsg-1) experimental; urgency=medium diff -Nru bullet-2.86.1+dfsg/debian/control bullet-2.87+dfsg/debian/control --- bullet-2.86.1+dfsg/debian/control 2017-02-21 02:37:35.000000000 +0000 +++ bullet-2.87+dfsg/debian/control 2017-11-07 09:34:13.000000000 +0000 @@ -8,14 +8,16 @@ cmake, debhelper, freeglut3-dev, - libtinyxml-dev, + libtinyxml-dev (>= 2.6.2-2), + python3, + python3-dev, zlib1g-dev Build-Depends-Indep: doxygen, graphviz, rdfind, symlinks -Standards-Version: 3.9.8 +Standards-Version: 4.1.1 Homepage: http://www.bulletphysics.org/ Vcs-Git: https://anonscm.debian.org/git/pkg-games/bullet.git Vcs-Browser: https://anonscm.debian.org/cgit/pkg-games/bullet.git @@ -25,7 +27,7 @@ Section: libdevel Multi-Arch: same Depends: - libbullet2.86 (= ${binary:Version}), + libbullet2.87 (= ${binary:Version}), ${misc:Depends} Description: professional 3D Game Multiphysics Library -- development files Bullet professional 3D Game Multiphysics Library provides state of the art @@ -74,7 +76,7 @@ Section: libdevel Multi-Arch: same Depends: - libbullet-extras2.86 (= ${binary:Version}), + libbullet-extras2.87 (= ${binary:Version}), ${misc:Depends} Description: professional 3D Game Multiphysics Library -- extra development Bullet professional 3D Game Multiphysics Library provides state of the art @@ -84,7 +86,7 @@ . For more information about Bullet, please refer to the libbullet-dev package. -Package: libbullet-extras2.86 +Package: libbullet-extras2.87 Architecture: any Multi-Arch: same Depends: @@ -99,7 +101,7 @@ . For more information about Bullet, please refer to the libbullet-dev package. -Package: libbullet2.86 +Package: libbullet2.87 Architecture: any Multi-Arch: same Depends: diff -Nru bullet-2.86.1+dfsg/debian/copyright bullet-2.87+dfsg/debian/copyright --- bullet-2.86.1+dfsg/debian/copyright 2017-02-21 02:37:35.000000000 +0000 +++ bullet-2.87+dfsg/debian/copyright 2017-10-07 15:30:13.000000000 +0000 @@ -1,14 +1,15 @@ -Format: http://www.debian.org/doc/packaging-manuals/copyright-format/1.0/ +Format: https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/ Upstream-Name: Bullet Upstream-Contact: Erwin Coumans Source: http://www.bulletphysics.org Files-Excluded: build3 - data/unittest_data.zip + data + examples docs/Bullet_User_Manual.pdf docs/GPU_rigidbody_using_OpenCL.pdf + docs/pybullet_quickstartguide.pdf Extras/Serialize/BulletXmlWorldImporter/tiny* - examples/ThirdPartyLibs Comment: The source tarball was repacked because it contained files without source or software which has already been packaged for Debian. Please use @@ -41,17 +42,10 @@ 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/* -Copyright: 1998, S Melax -License: Melax-License - anyone is free to use, inspect, learn from, or ignore - the code here as they see fit. - Files: src/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h src/Bullet3OpenCL/NarrowphaseCollision/kernels/mprKernels.h src/BulletCollision/NarrowPhaseCollision/btMprPenetration.h @@ -69,8 +63,6 @@ test/Bullet2/vectormath/sse/vec_aos.h 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 @@ -89,7 +81,6 @@ 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. @@ -107,16 +98,10 @@ License: Expat Files: Extras/Serialize/makesdna/makesdna.cpp - examples/Importers/ImportBsp/BspLoader.* Copyright: 2001-2002, NaN Holding BV 1999-2005, Id Software Inc License: GPL-2+ -Files: examples/OpenGLWindow/stb_image* -Copyright: 2011 -License: public-domain - These files are granted to the Public Domain. - Files: src/clew/clew.c Copyright: 2009, Organic Vectory B.V, George van Venrooij License: BSL-1.0 @@ -130,10 +115,6 @@ representations about the suitability of this software for any purpose. It is provided "as is" without express or implied warranty. -Files: data/*.dae -Copyright: 2006 Sony Computer Entertainment, Inc. -License: SCEA-Shared-Source-License-1.0 - Files: src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp src/Bullet3OpenCL/NarrowphaseCollision/b3VoronoiSimplexSolver.cpp Copyright: 2003-2006, Erwin Coumans @@ -141,7 +122,7 @@ License: Zlib and Elsevier-CDROM-License Files: debian/* -Copyright: 2013-2016, Markus Koschany +Copyright: 2013-2017, Markus Koschany License: Zlib License: Zlib @@ -276,137 +257,6 @@ ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. -License: SCEA-Shared-Source-License-1.0 - Terms and Conditions: - 1. Definitions: - . - "Software" shall mean the software and related documentation, whether in - Source or Object Form, made available under this SCEA Shared Source license - ("License"), that is indicated by a copyright notice file included in the - source files o r attached or accompanying the source files. - . - "Licensor" shall mean Sony Computer Entertainment America, Inc. (herein - "SCEA") - . - "Object Code" or "Object Form" shall mean any form that results from - translation or transformation of Source Code, including but not limited to - compiled object code or conversions to other forms intended for machine - execution. - . - "Source Code" or "Source Form" shall have the plain meaning generally accepted - in the software industry, including but not limited to software source code, - documentation source, header and configuration files. - . - "You" or "Your" shall mean you as an individual or as a company, or whichever - form under which you are exercising rights under this License. - . - 2. License Grant. - . - Licensor hereby grants to You, free of charge subject to the terms and - conditions of this License, an irrevocable, non-exclusive, worldwide, - perpetual, and royalty-free license to use, modify, reproduce, distribute, - publicly perform or display the Software in Object or Source Form . - . - 3. No Right to File for Patent. - . - In exchange for the rights that are granted to You free of charge under this - License, You agree that You will not file for any patent application, seek - copyright protection or take any other action that might otherwise impair the - ownership rights in and to the Software that may belong to SCEA or any of the - other contributors/authors of the Software. - . - 4. Contributions. - . - SCEA welcomes contributions in form of modifications, optimizations, tools or - documentation designed to improve or expand the performance and scope of the - Software (collectively "Contributions"). Per the terms of this License You are - free to modify the Software and those modifications would belong to You. You - may however wish to donate Your Contributions to SCEA for consideration for - inclusion into the Software. For the avoidance of doubt, if You elect to send - Your Contributions to SCEA, You are doing so voluntarily and are giving the - Contributions to SCEA and its parent company Sony Computer Entertainment, Inc., - free of charge, to use, modify or distribute in any form or in any manner. SCEA - acknowledges that if You make a donation of Your Contributions to SCEA, such - Contributions shall not exclusively belong to SCEA or its parent company and - such donation shall not be to Your exclusion. SCEA, in its sole discretion, - shall determine whether or not to include Your donated Contributions into the - Software, in whole, in part, or as modified by SCEA. Should SCEA elect to - include any such Contributions into the Software, it shall do so at its own - risk and may elect to give credit or special thanks to any such contributors in - the attached copyright notice. However, if any of Your contributions are - included into the Software, they will become part of the Software and will be - distributed under the terms and conditions of this License. Further, if Your - donated Contributions are integrated into the Software then Sony Computer - Entertainment, Inc. shall become the copyright owner of the Software now - containing Your contributions and SCEA would be the Licensor. - . - 5. Redistribution in Source Form - . - You may redistribute copies of the Software, modifications or derivatives - thereof in Source Code Form, provided that You: - . - a. Include a copy of this License and any copyright notices with source - . - b. Identify modifications if any were made to the Software - . - c. Include a copy of all documentation accompanying the Software and - modifications made by You - . - 6. Redistribution in Object Form - . - If You redistribute copies of the Software, modifications or derivatives - thereof in Object Form only (as incorporated into finished goods, i.e. end user - applications) then You will not have a duty to include any copies of the code, - this License, copyright notices, other attributions or documentation. - . - 7. No Warranty - . - THE SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT ANY REPRESENTATIONS OR - WARRANTIES OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING, WITHOUT - LIMITATION, ANY WARRANTIES OF TITLE, NON-INFRINGEMENT, MERCHANTABILITY, OR - FITNESS FOR A PARTICULAR PURPOSE. YOU ARE SOLELY RESPONSIBLE FOR DETERMINING - THE APPROPRIATENESS OF USING, MODIFYING OR REDISTRIBUTING THE SOFTWARE AND - ASSUME ANY RISKS ASSOCIATED WITH YOUR EXERCISE OF PERMISSIONS UNDER THIS - LICENSE. - . - 8. Limitation of Liability - . - UNDER NO CIRCUMSTANCES AND UNDER NO LEGAL THEORY WILL EITHER PARTY BE LIABLE TO - THE OTHER PARTY OR ANY THIRD PARTY FOR ANY DIRECT, INDIRECT, CONSEQUENTIAL, - SPECIAL, INCIDENTAL, OR EXEMPLARY DAMAGES WITH RESPECT TO ANY INJURY, LOSS, OR - DAMAGE, ARISING UNDER OR IN CONNECTION WITH THIS LETTER AGREEMENT, WHETHER - FORESEEABLE OR UNFORESEEABLE, EVEN IF SUCH PARTY HAS BEEN ADVISED OF THE - POSSIBILITY OF SUCH INJURY, LOSS, OR DAMAGE. THE LIMITATIONS OF LIABILITY SET - FORTH IN THIS SECTION SHALL APPLY TO THE FULLEST EXTENT PERMISSIBLE AT LAW OR - ANY GOVERMENTAL REGULATIONS. - . - 9. Governing Law and Consent to Jurisdiction - . - This Agreement shall be governed by and interpreted in accordance with the laws - of the State of California, excluding that body of law related to choice of - laws, and of the United States of America. Any action or proceeding brought to - enforce the terms of this Agreement or to adjudicate any dispute arising - hereunder shall be brought in the Superior Court of the County of San Mateo, - State of California or the United States District Court for the Northern - District of California. Each of the parties hereby submits itself to the - exclusive jurisdiction and venue of such courts for purposes of any such - action. In addition, each party hereby waives the right to a jury trial in any - action or proceeding related to this Agreement. - . - 10. Copyright Notice for Redistribution of Source Code - . - Copyright 2005 Sony Computer Entertainment Inc. - . - Licensed under the SCEA Shared Source License, Version 1.0 (the "License"); you - may not use this file except in compliance with the License. You may obtain a - copy of the License at: - http://research.scea.com/scea_shared_source_license.html - . - Unless required by applicable law or agreed to in writing, software distributed - under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR - CONDITIONS OF ANY KIND, either express or implied. See the License for the - specific language governing permissions and limitations under the License. - License: Elsevier-CDROM-License Elsevier CDROM license agreements grants nonexclusive license to use the software for any purpose, commercial or non-commercial as long as the diff -Nru bullet-2.86.1+dfsg/debian/libbullet2.86.install bullet-2.87+dfsg/debian/libbullet2.86.install --- bullet-2.86.1+dfsg/debian/libbullet2.86.install 2017-02-21 02:37:35.000000000 +0000 +++ bullet-2.87+dfsg/debian/libbullet2.86.install 1970-01-01 00:00:00.000000000 +0000 @@ -1,9 +0,0 @@ -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-2.86.1+dfsg/debian/libbullet2.86.lintian-overrides bullet-2.87+dfsg/debian/libbullet2.86.lintian-overrides --- bullet-2.86.1+dfsg/debian/libbullet2.86.lintian-overrides 2017-02-21 02:37:35.000000000 +0000 +++ bullet-2.87+dfsg/debian/libbullet2.86.lintian-overrides 1970-01-01 00:00:00.000000000 +0000 @@ -1,3 +0,0 @@ -# We install all Bullet libraries into one binary package and no longer into -# separate ones. -package-name-doesnt-match-sonames diff -Nru bullet-2.86.1+dfsg/debian/libbullet2.87.install bullet-2.87+dfsg/debian/libbullet2.87.install --- bullet-2.86.1+dfsg/debian/libbullet2.87.install 1970-01-01 00:00:00.000000000 +0000 +++ bullet-2.87+dfsg/debian/libbullet2.87.install 2017-10-07 15:30:13.000000000 +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-2.86.1+dfsg/debian/libbullet2.87.lintian-overrides bullet-2.87+dfsg/debian/libbullet2.87.lintian-overrides --- bullet-2.86.1+dfsg/debian/libbullet2.87.lintian-overrides 1970-01-01 00:00:00.000000000 +0000 +++ bullet-2.87+dfsg/debian/libbullet2.87.lintian-overrides 2017-10-07 15:30:13.000000000 +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-2.86.1+dfsg/debian/libbullet-extras2.86.install bullet-2.87+dfsg/debian/libbullet-extras2.86.install --- bullet-2.86.1+dfsg/debian/libbullet-extras2.86.install 2017-02-21 02:37:35.000000000 +0000 +++ bullet-2.87+dfsg/debian/libbullet-extras2.86.install 1970-01-01 00:00:00.000000000 +0000 @@ -1,9 +0,0 @@ -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-2.86.1+dfsg/debian/libbullet-extras2.86.lintian-overrides bullet-2.87+dfsg/debian/libbullet-extras2.86.lintian-overrides --- bullet-2.86.1+dfsg/debian/libbullet-extras2.86.lintian-overrides 2017-02-21 02:37:35.000000000 +0000 +++ bullet-2.87+dfsg/debian/libbullet-extras2.86.lintian-overrides 1970-01-01 00:00:00.000000000 +0000 @@ -1,3 +0,0 @@ -# We install all Bullet libraries into one binary package and no longer into -# separate ones. -package-name-doesnt-match-sonames diff -Nru bullet-2.86.1+dfsg/debian/libbullet-extras2.87.install bullet-2.87+dfsg/debian/libbullet-extras2.87.install --- bullet-2.86.1+dfsg/debian/libbullet-extras2.87.install 1970-01-01 00:00:00.000000000 +0000 +++ bullet-2.87+dfsg/debian/libbullet-extras2.87.install 2017-10-07 15:30:13.000000000 +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-2.86.1+dfsg/debian/libbullet-extras2.87.lintian-overrides bullet-2.87+dfsg/debian/libbullet-extras2.87.lintian-overrides --- bullet-2.86.1+dfsg/debian/libbullet-extras2.87.lintian-overrides 1970-01-01 00:00:00.000000000 +0000 +++ bullet-2.87+dfsg/debian/libbullet-extras2.87.lintian-overrides 2017-10-07 15:30:13.000000000 +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-2.86.1+dfsg/debian/patches/disable-Extra-modules.patch bullet-2.87+dfsg/debian/patches/disable-Extra-modules.patch --- bullet-2.86.1+dfsg/debian/patches/disable-Extra-modules.patch 1970-01-01 00:00:00.000000000 +0000 +++ bullet-2.87+dfsg/debian/patches/disable-Extra-modules.patch 2017-10-07 15:30:13.000000000 +0000 @@ -0,0 +1,23 @@ +From: Markus Koschany +Date: Sat, 7 Oct 2017 16:34:28 +0200 +Subject: disable Extra modules + +BulletRobotics and obj2sdf require ThirdParty libs. Remove the Files-Excluded +lines in debian/copyright and run debian/rules get-orig-source, if you want to +build those modules locally. + +Forwarded: not-needed +--- + Extras/CMakeLists.txt | 2 +- + 1 file changed, 1 insertion(+), 1 deletion(-) + +diff --git a/Extras/CMakeLists.txt b/Extras/CMakeLists.txt +index 6b35357..91610d6 100644 +--- a/Extras/CMakeLists.txt ++++ b/Extras/CMakeLists.txt +@@ -1,4 +1,4 @@ +-SUBDIRS( InverseDynamics BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils ) ++SUBDIRS( InverseDynamics Serialize ConvexDecomposition HACD GIMPACTUtils ) + + + diff -Nru bullet-2.86.1+dfsg/debian/patches/do-not-build-with-embedded-tinyxml-library.patch bullet-2.87+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 2017-02-09 08:37:48.000000000 +0000 +++ bullet-2.87+dfsg/debian/patches/do-not-build-with-embedded-tinyxml-library.patch 2017-10-07 15:30:13.000000000 +0000 @@ -11,7 +11,7 @@ 2 files changed, 17 insertions(+), 8 deletions(-) diff --git a/Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt b/Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt -index f453421..f8a467d 100644 +index 3a96062..540134e 100644 --- a/Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt +++ b/Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt @@ -10,19 +10,28 @@ ADD_LIBRARY( @@ -51,7 +51,7 @@ IF (INSTALL_EXTRA_LIBS) diff --git a/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp b/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp -index f3615d6..06e51e5 100644 +index e58dbc1..a1c7fb2 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-2.86.1+dfsg/debian/patches/series bullet-2.87+dfsg/debian/patches/series --- bullet-2.86.1+dfsg/debian/patches/series 2017-02-09 08:37:48.000000000 +0000 +++ bullet-2.87+dfsg/debian/patches/series 2017-10-07 15:30:13.000000000 +0000 @@ -1 +1,2 @@ do-not-build-with-embedded-tinyxml-library.patch +disable-Extra-modules.patch diff -Nru bullet-2.86.1+dfsg/debian/README.source bullet-2.87+dfsg/debian/README.source --- bullet-2.86.1+dfsg/debian/README.source 1970-01-01 00:00:00.000000000 +0000 +++ bullet-2.87+dfsg/debian/README.source 2017-10-07 15:30:13.000000000 +0000 @@ -0,0 +1,14 @@ +Bullet for Debian +================= + +The data and examples directories were removed from the original tarball. +We don't build the examples and reviewing countless files for each new +release is tedious. I prefer to support the essential part, the libraries, +only. + +The removed pdf files cannot be modified and no source files were provided. See +Debian bug #725493 for more information. + +If you are interested in those files and want to build the examples, you can +easily recreate the original sources by removing the Files-Excluded lines in +debian/copyright and running debian/rules get-orig-source. diff -Nru bullet-2.86.1+dfsg/debian/rules bullet-2.87+dfsg/debian/rules --- bullet-2.86.1+dfsg/debian/rules 2017-02-09 08:37:48.000000000 +0000 +++ bullet-2.87+dfsg/debian/rules 2017-10-07 15:30:13.000000000 +0000 @@ -30,8 +30,8 @@ override_dh_compress: dh_compress --exclude=.pdf -override_dh_install: - dh_install --fail-missing +override_dh_missing: + dh_missing --fail-missing override_dh_clean: dh_clean diff -Nru bullet-2.86.1+dfsg/docs/latex/helloworld.tex bullet-2.87+dfsg/docs/latex/helloworld.tex --- bullet-2.86.1+dfsg/docs/latex/helloworld.tex 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/docs/latex/helloworld.tex 2017-09-29 23:20:39.000000000 +0000 @@ -6,6 +6,8 @@ As you can see in \ref{helloworld_includefiles} you can include a convenience header file \path{btBulletDynamicsCommon.h}. +While linking to Bullet Physics make sure the link order is: BulletSoftBody, BulletDynamics, BulletCollision and LinearMath. + \lstinputlisting[caption=HelloWorld.cpp include header, label=helloworld_includefiles,linerange=includes_start-includes_end]{../../examples/HelloWorld/HelloWorld.cpp} Now we create the dynamics world: \lstinputlisting[caption=HelloWorld.cpp initialize world, label=stepsimulation,linerange=initialization_start-initialization_end]{../../examples/HelloWorld/HelloWorld.cpp} Binary files /tmp/tmpneXWeu/qNdjWALaji/bullet-2.86.1+dfsg/docs/pybullet_quickstartguide.pdf and /tmp/tmpneXWeu/jzNS9kwscq/bullet-2.87+dfsg/docs/pybullet_quickstartguide.pdf differ diff -Nru bullet-2.86.1+dfsg/examples/BasicDemo/BasicExample.cpp bullet-2.87+dfsg/examples/BasicDemo/BasicExample.cpp --- bullet-2.86.1+dfsg/examples/BasicDemo/BasicExample.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/BasicDemo/BasicExample.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,151 +0,0 @@ -/* -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 "BasicExample.h" - -#include "btBulletDynamicsCommon.h" -#define ARRAY_SIZE_Y 5 -#define ARRAY_SIZE_X 5 -#define ARRAY_SIZE_Z 5 - -#include "LinearMath/btVector3.h" -#include "LinearMath/btAlignedObjectArray.h" - -#include "../CommonInterfaces/CommonRigidBodyBase.h" - - -struct BasicExample : public CommonRigidBodyBase -{ - BasicExample(struct GUIHelperInterface* helper) - :CommonRigidBodyBase(helper) - { - } - virtual ~BasicExample(){} - virtual void initPhysics(); - virtual void renderScene(); - void resetCamera() - { - float dist = 4; - float pitch = 52; - float yaw = 35; - float targetPos[3]={0,0,0}; - m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } -}; - -void BasicExample::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - createEmptyDynamicsWorld(); - //m_dynamicsWorld->setGravity(btVector3(0,0,0)); - 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.))); - - - //groundShape->initializePolyhedralFeatures(); - //btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),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)); - - - //btCollisionShape* colShape = new btSphereShape(btScalar(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 k=0;kautogenerateGraphicsObjects(m_dynamicsWorld); - -} - - -void BasicExample::renderScene() -{ - CommonRigidBodyBase::renderScene(); - -} - - - - - - - -CommonExampleInterface* BasicExampleCreateFunc(CommonExampleOptions& options) -{ - return new BasicExample(options.m_guiHelper); - -} - - -B3_STANDALONE_EXAMPLE(BasicExampleCreateFunc) - - - diff -Nru bullet-2.86.1+dfsg/examples/BasicDemo/BasicExample.h bullet-2.87+dfsg/examples/BasicDemo/BasicExample.h --- bullet-2.86.1+dfsg/examples/BasicDemo/BasicExample.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/BasicDemo/BasicExample.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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 BASIC_EXAMPLE_H -#define BASIC_EXAMPLE_H - -class CommonExampleInterface* BasicExampleCreateFunc(struct CommonExampleOptions& options); - - -#endif //BASIC_DEMO_PHYSICS_SETUP_H diff -Nru bullet-2.86.1+dfsg/examples/BasicDemo/CMakeLists.txt bullet-2.87+dfsg/examples/BasicDemo/CMakeLists.txt --- bullet-2.86.1+dfsg/examples/BasicDemo/CMakeLists.txt 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/BasicDemo/CMakeLists.txt 1970-01-01 00:00:00.000000000 +0000 @@ -1,103 +0,0 @@ -# App_BasicExample is a minimal sample creating, stepping and deleting a Bullet dynamics world - -INCLUDE_DIRECTORIES( -${BULLET_PHYSICS_SOURCE_DIR}/src -) - -LINK_LIBRARIES( - BulletDynamics BulletCollision LinearMath -) - -IF (WIN32) - ADD_EXECUTABLE(App_BasicExample - BasicExample.cpp - main.cpp - ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc - ) -ELSE() - ADD_EXECUTABLE(App_BasicExample - BasicExample.cpp - main.cpp - ) -ENDIF() - - - - -IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES) - 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) - - - - - -################# -# 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-2.86.1+dfsg/examples/BasicDemo/main.cpp bullet-2.87+dfsg/examples/BasicDemo/main.cpp --- bullet-2.86.1+dfsg/examples/BasicDemo/main.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/BasicDemo/main.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,47 +0,0 @@ -/* -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 "BasicExample.h" - -#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[]) -{ - - DummyGUIHelper noGfx; - - CommonExampleOptions options(&noGfx); - CommonExampleInterface* example = BasicExampleCreateFunc(options); - - example->initPhysics(); - example->stepSimulation(1.f/60.f); - example->exitPhysics(); - - delete example; - - return 0; -} - - diff -Nru bullet-2.86.1+dfsg/examples/BasicDemo/premake4.lua bullet-2.87+dfsg/examples/BasicDemo/premake4.lua --- bullet-2.86.1+dfsg/examples/BasicDemo/premake4.lua 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/BasicDemo/premake4.lua 1970-01-01 00:00:00.000000000 +0000 @@ -1,209 +0,0 @@ - -project "App_BasicExample" - -if _OPTIONS["ios"] then - kind "WindowedApp" -else - kind "ConsoleApp" -end - -includedirs {"../../src"} - -links { - "BulletDynamics","BulletCollision", "LinearMath" -} - -language "C++" - -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-2.86.1+dfsg/examples/Benchmarks/BenchmarkDemo.cpp bullet-2.87+dfsg/examples/Benchmarks/BenchmarkDemo.cpp --- bullet-2.86.1+dfsg/examples/Benchmarks/BenchmarkDemo.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Benchmarks/BenchmarkDemo.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,1318 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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. -*/ - - - -// Collision Radius -#define COLLISION_RADIUS 0.0f - -#include "BenchmarkDemo.h" - - -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" -#include //printf debugging -#include "TaruData.h" -#include "landscapeData.h" -#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h" - -#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" - -#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; -class btCollisionShape; -class btOverlappingPairCache; -class btCollisionDispatcher; -class btConstraintSolver; -struct btCollisionAlgorithmCreateFunc; -class btDefaultCollisionConfiguration; - - -#include "../MultiThreadedDemo/CommonRigidBodyMTBase.h" - - - -class BenchmarkDemo : public CommonRigidBodyMTBase -{ - - //keep the collision shapes, for deletion/cleanup - - btAlignedObjectArray m_ragdolls; - - int m_benchmark; - - void myinit() - { - //?? - } - - void setCameraDistance(btScalar dist) - { - } - void createTest1(); - void createTest2(); - void createTest3(); - void createTest4(); - void createTest5(); - void createTest6(); - void createTest7(); - - void createWall(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize); - void createPyramid(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize); - void createTowerCircle(const btVector3& offsetPosition,int stackSize,int rotSize,const btVector3& boxSize); - void createLargeMeshBody(); - - - class SpuBatchRaycaster* m_batchRaycaster; - class btThreadSupportInterface* m_batchRaycasterThreadSupport; - - void castRays(); - void initRays(); - - public: - - BenchmarkDemo(struct GUIHelperInterface* helper, int benchmark) - :CommonRigidBodyMTBase(helper), - m_benchmark(benchmark) - { - } - virtual ~BenchmarkDemo() - { - exitPhysics(); - } - void initPhysics(); - - void exitPhysics(); - - void stepSimulation(float deltaTime); - - void resetCamera() - { - float dist = 120; - float pitch = 52; - float yaw = 35; - float targetPos[3]={0,10.46,0}; - m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } -}; - - - - -class btRaycastBar2 -{ -public: - btVector3 source[NUMRAYS]; - btVector3 dest[NUMRAYS]; - btVector3 direction[NUMRAYS]; - btVector3 hit[NUMRAYS]; - btVector3 normal[NUMRAYS]; - struct GUIHelperInterface* m_guiHelper; - - int frame_counter; - int ms; - int sum_ms; - int sum_ms_samples; - int min_ms; - int max_ms; - -#ifdef USE_BT_CLOCK - btClock frame_timer; -#endif //USE_BT_CLOCK - - btScalar dx; - btScalar min_x; - btScalar max_x; - btScalar max_y; - btScalar sign; - - btRaycastBar2 () - { - m_guiHelper = 0; - ms = 0; - max_ms = 0; - min_ms = 9999; - sum_ms_samples = 0; - sum_ms = 0; - } - - - - btRaycastBar2 (btScalar ray_length, btScalar z,btScalar max_y,struct GUIHelperInterface* guiHelper) - { - m_guiHelper = guiHelper; - frame_counter = 0; - ms = 0; - max_ms = 0; - min_ms = 9999; - sum_ms_samples = 0; - sum_ms = 0; - dx = 10.0; - min_x = 0; - max_x = 0; - this->max_y = max_y; - sign = 1.0; - btScalar dalpha = 2*SIMD_2_PI/NUMRAYS; - for (int i = 0; i < NUMRAYS; i++) - { - btScalar alpha = dalpha * i; - // rotate around by alpha degrees y - btQuaternion q(btVector3(0.0, 1.0, 0.0), alpha); - direction[i] = btVector3(1.0, 0.0, 0.0); - direction[i] = quatRotate(q , direction[i]); - direction[i] = direction[i] * ray_length; - - - source[i] = btVector3(min_x, max_y, z); - dest[i] = source[i] + direction[i]; - dest[i][1]=-1000; - normal[i] = btVector3(1.0, 0.0, 0.0); - } - } - - void move (btScalar dt) - { - if (dt > btScalar(1.0/60.0)) - dt = btScalar(1.0/60.0); - for (int i = 0; i < NUMRAYS; i++) - { - source[i][0] += dx * dt * sign; - dest[i][0] += dx * dt * sign; - } - if (source[0][0] < min_x) - sign = 1.0; - else if (source[0][0] > max_x) - sign = -1.0; - } - - 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 - -#ifdef BATCH_RAYCASTER - if (!gBatchRaycaster) - return; - - gBatchRaycaster->clearRays (); - for (int i = 0; i < NUMRAYS; i++) - { - gBatchRaycaster->addRay (source[i], dest[i]); - } - gBatchRaycaster->performBatchRaycast (); - for (int i = 0; i < gBatchRaycaster->getNumRays (); i++) - { - const SpuRaycastTaskWorkUnitOut& out = (*gBatchRaycaster)[i]; - hit[i].setInterpolate3(source[i],dest[i],out.hitFraction); - normal[i] = out.hitNormal; - normal[i].normalize (); - } -#else -#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 - frame_counter++; - if (frame_counter > 50) - { - min_ms = ms < min_ms ? ms : min_ms; - max_ms = ms > max_ms ? ms : max_ms; - sum_ms += ms; - sum_ms_samples++; - btScalar mean_ms = (btScalar)sum_ms/(btScalar)sum_ms_samples; - printf("%d rays in %d ms %d %d %f\n", NUMRAYS * frame_counter, ms, min_ms, max_ms, mean_ms); - ms = 0; - frame_counter = 0; - } -#endif - } - - void draw () - { - - if (m_guiHelper) - { - btAlignedObjectArray indices; - btAlignedObjectArray points; - - - float lineColor[4]={1,0.4,.4,1}; - - for (int i = 0; i < NUMRAYS; i++) - { - btVector3FloatData s,h; - for (int w=0;w<4;w++) - { - s.m_floats[w] = source[i][w]; - h.m_floats[w] = hit[i][w]; - } - - points.push_back(s); - points.push_back(h); - indices.push_back(indices.size()); - indices.push_back(indices.size()); - } - - m_guiHelper->getRenderInterface()->drawLines(&points[0].m_floats[0],lineColor,points.size(),sizeof(btVector3FloatData),&indices[0],indices.size(),1); - } - -#if 0 - glDisable (GL_LIGHTING); - glColor3f (0.0, 1.0, 0.0); - glBegin (GL_LINES); - int i; - - for (i = 0; i < NUMRAYS; i++) - { - glVertex3f (source[i][0], source[i][1], source[i][2]); - glVertex3f (hit[i][0], hit[i][1], hit[i][2]); - } - glEnd (); - glColor3f (1.0, 1.0, 1.0); - glBegin (GL_LINES); - for (i = 0; i < NUMRAYS; i++) - { - glVertex3f (hit[i][0], hit[i][1], hit[i][2]); - glVertex3f (hit[i][0] + normal[i][0], hit[i][1] + normal[i][1], hit[i][2] + normal[i][2]); - } - glEnd (); - glColor3f (0.0, 1.0, 1.0); - glBegin (GL_POINTS); - for ( i = 0; i < NUMRAYS; i++) - { - glVertex3f (hit[i][0], hit[i][1], hit[i][2]); - } - glEnd (); - glEnable (GL_LIGHTING); -#endif //USE_GRAPHICAL_BENCHMARK - - } -}; - - -static btRaycastBar2 raycastBar; - -void BenchmarkDemo::stepSimulation(float deltaTime) -{ - if (m_dynamicsWorld) - { - m_dynamicsWorld->stepSimulation(deltaTime); - } - - if (m_benchmark==7) - { - castRays(); - - raycastBar.draw(); - - } - -} - - - - - -void BenchmarkDemo::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - setCameraDistance(btScalar(100.)); - - 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); -// 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; - - - //m_solver = sol; - - //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 - m_dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations - //m_defaultContactProcessingThreshold = 0.f;//used when creating bodies: body->setContactProcessingThreshold(...); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - - m_dynamicsWorld->setGravity(btVector3(0,-10,0)); - - if (m_benchmark<5) - { - ///create a few basic rigid bodies - btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(250.),btScalar(50.),btScalar(250.))); - // btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),0); - - m_collisionShapes.push_back(groundShape); - - btTransform groundTransform; - groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0,-50,0)); - - //We can also use DemoApplication::createRigidBody, but for clarity it is provided here: - { - btScalar mass(0.); - - //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) - groundShape->calculateLocalInertia(mass,localInertia); - - //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects - btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); - btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia); - btRigidBody* body = new btRigidBody(rbInfo); - - //add the body to the dynamics world - m_dynamicsWorld->addRigidBody(body); - } - } - - switch (m_benchmark) - { - case 1: - { - createTest1(); - break; - } - case 2: - { - createTest2(); - break; - } - case 3: - { - createTest3(); - break; - } - case 4: - { - createTest4(); - break; - } - case 5: - { - createTest5(); - break; - } - case 6: - { - createTest6(); - break; - } - case 7: - { - createTest7(); - break; - } - - - default: - { - } - } - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); - -} - - -void BenchmarkDemo::createTest1() -{ - // 3000 - int size = 8; - const float cubeSize = 1.0f; - float spacing = cubeSize; - btVector3 pos(0.0f, cubeSize * 2,0.f); - float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f; - - btBoxShape* blockShape = new btBoxShape(btVector3(cubeSize-COLLISION_RADIUS,cubeSize-COLLISION_RADIUS,cubeSize-COLLISION_RADIUS)); - btVector3 localInertia(0,0,0); - float mass = 2.f; - blockShape->calculateLocalInertia(mass,localInertia); - - btTransform trans; - trans.setIdentity(); - - for(int k=0;k<47;k++) { - for(int j=0;jcalculateLocalInertia(mass,localInertia); - -// btScalar diffX = boxSize[0] * 1.0f; - btScalar diffY = boxSize[1] * 1.0f; - btScalar diffZ = boxSize[2] * 1.0f; - - btScalar offset = -stackSize * (diffZ * 2.0f) * 0.5f; - btVector3 pos(0.0f, diffY, 0.0f); - - btTransform trans; - trans.setIdentity(); - - while(stackSize) { - for(int i=0;icalculateLocalInertia(mass,localInertia); - - - btScalar diffX = boxSize[0]*1.02f; - btScalar diffY = boxSize[1]*1.02f; - btScalar diffZ = boxSize[2]*1.02f; - - btScalar offsetX = -stackSize * (diffX * 2.0f + space) * 0.5f; - btScalar offsetZ = -stackSize * (diffZ * 2.0f + space) * 0.5f; - while(stackSize) { - for(int j=0;jcreateRigidBody(mass,trans,blockShape); - - - } - } - offsetX += diffX; - offsetZ += diffZ; - pos[1] += (diffY * 2.0f + space); - stackSize--; - } - -} - - const btVector3 rotate( const btQuaternion& quat, const btVector3 & vec ) -{ - float tmpX, tmpY, tmpZ, tmpW; - tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) ); - tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) ); - tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) ); - tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) ); - return btVector3( - ( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ), - ( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ), - ( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) ) - ); -} - -void BenchmarkDemo::createTowerCircle(const btVector3& offsetPosition,int stackSize,int rotSize,const btVector3& boxSize) -{ - - btBoxShape* blockShape = new btBoxShape(btVector3(boxSize[0]-COLLISION_RADIUS,boxSize[1]-COLLISION_RADIUS,boxSize[2]-COLLISION_RADIUS)); - - btTransform trans; - trans.setIdentity(); - - float mass = 1.f; - btVector3 localInertia(0,0,0); - blockShape->calculateLocalInertia(mass,localInertia); - - - float radius = 1.3f * rotSize * boxSize[0] / SIMD_PI; - - // create active boxes - btQuaternion rotY(0,1,0,0); - float posY = boxSize[1]; - - for(int i=0;icalculateLocalInertia(mass,localInertia); - - btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); - - btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia); - btRigidBody* body = new btRigidBody(rbInfo); - - m_ownerWorld->addRigidBody(body); - - return body; - } - -public: - RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset,btScalar scale) - : m_ownerWorld (ownerWorld) - { - // Setup the geometry - m_shapes[BODYPART_PELVIS] = new btCapsuleShape(btScalar(0.15)*scale, btScalar(0.20)*scale); - m_shapes[BODYPART_SPINE] = new btCapsuleShape(btScalar(0.15)*scale, btScalar(0.28)*scale); - m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(0.10)*scale, btScalar(0.05)*scale); - m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07)*scale, btScalar(0.45)*scale); - m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05)*scale, btScalar(0.37)*scale); - m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07)*scale, btScalar(0.45)*scale); - m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05)*scale, btScalar(0.37)*scale); - m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05)*scale, btScalar(0.33)*scale); - m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04)*scale, btScalar(0.25)*scale); - m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05)*scale, btScalar(0.33)*scale); - m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04)*scale, btScalar(0.25)*scale); - - // Setup all the rigid bodies - btTransform offset; offset.setIdentity(); - offset.setOrigin(positionOffset); - - btTransform transform; - transform.setIdentity(); - transform.setOrigin(scale*btVector3(btScalar(0.), btScalar(1.), btScalar(0.))); - m_bodies[BODYPART_PELVIS] = createRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]); - - transform.setIdentity(); - transform.setOrigin(scale*btVector3(btScalar(0.), btScalar(1.2), btScalar(0.))); - m_bodies[BODYPART_SPINE] = createRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]); - - transform.setIdentity(); - transform.setOrigin(scale*btVector3(btScalar(0.), btScalar(1.6), btScalar(0.))); - m_bodies[BODYPART_HEAD] = createRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]); - - transform.setIdentity(); - transform.setOrigin(scale*btVector3(btScalar(-0.18), btScalar(0.65), btScalar(0.))); - m_bodies[BODYPART_LEFT_UPPER_LEG] = createRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]); - - transform.setIdentity(); - transform.setOrigin(scale*btVector3(btScalar(-0.18), btScalar(0.2), btScalar(0.))); - m_bodies[BODYPART_LEFT_LOWER_LEG] = createRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]); - - transform.setIdentity(); - transform.setOrigin(scale*btVector3(btScalar(0.18), btScalar(0.65), btScalar(0.))); - m_bodies[BODYPART_RIGHT_UPPER_LEG] = createRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]); - - transform.setIdentity(); - transform.setOrigin(scale*btVector3(btScalar(0.18), btScalar(0.2), btScalar(0.))); - m_bodies[BODYPART_RIGHT_LOWER_LEG] = createRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]); - - transform.setIdentity(); - transform.setOrigin(scale*btVector3(btScalar(-0.35), btScalar(1.45), btScalar(0.))); - transform.getBasis().setEulerZYX(0,0,M_PI_2); - m_bodies[BODYPART_LEFT_UPPER_ARM] = createRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]); - - transform.setIdentity(); - transform.setOrigin(scale*btVector3(btScalar(-0.7), btScalar(1.45), btScalar(0.))); - transform.getBasis().setEulerZYX(0,0,M_PI_2); - m_bodies[BODYPART_LEFT_LOWER_ARM] = createRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]); - - transform.setIdentity(); - transform.setOrigin(scale*btVector3(btScalar(0.35), btScalar(1.45), btScalar(0.))); - transform.getBasis().setEulerZYX(0,0,-M_PI_2); - m_bodies[BODYPART_RIGHT_UPPER_ARM] = createRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]); - - transform.setIdentity(); - transform.setOrigin(scale*btVector3(btScalar(0.7), btScalar(1.45), btScalar(0.))); - transform.getBasis().setEulerZYX(0,0,-M_PI_2); - m_bodies[BODYPART_RIGHT_LOWER_ARM] = createRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]); - - // Setup some damping on the m_bodies - for (int i = 0; i < BODYPART_COUNT; ++i) - { - m_bodies[i]->setDamping(btScalar(0.05), btScalar(0.85)); - m_bodies[i]->setDeactivationTime(btScalar(0.8)); - m_bodies[i]->setSleepingThresholds(btScalar(1.6), btScalar(2.5)); - } - - // Now setup the constraints - btHingeConstraint* hingeC; - btConeTwistConstraint* coneC; - - btTransform localA, localB; - - localA.setIdentity(); localB.setIdentity(); - localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.15), btScalar(0.))); - localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.15), btScalar(0.))); - hingeC = new btHingeConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB); - hingeC->setLimit(btScalar(-M_PI_4), btScalar(M_PI_2)); - m_joints[JOINT_PELVIS_SPINE] = hingeC; - m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true); - - - localA.setIdentity(); localB.setIdentity(); - localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.30), btScalar(0.))); - localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.))); - coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB); - coneC->setLimit(M_PI_4, M_PI_4, M_PI_2); - m_joints[JOINT_SPINE_HEAD] = coneC; - m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true); - - - localA.setIdentity(); localB.setIdentity(); - localA.getBasis().setEulerZYX(0,0,-M_PI_4*5); localA.setOrigin(scale*btVector3(btScalar(-0.18), btScalar(-0.10), btScalar(0.))); - localB.getBasis().setEulerZYX(0,0,-M_PI_4*5); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.225), btScalar(0.))); - coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB); - coneC->setLimit(M_PI_4, M_PI_4, 0); - m_joints[JOINT_LEFT_HIP] = coneC; - m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true); - - localA.setIdentity(); localB.setIdentity(); - localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.))); - localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.185), btScalar(0.))); - hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB); - hingeC->setLimit(btScalar(0), btScalar(M_PI_2)); - m_joints[JOINT_LEFT_KNEE] = hingeC; - m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true); - - - localA.setIdentity(); localB.setIdentity(); - localA.getBasis().setEulerZYX(0,0,M_PI_4); localA.setOrigin(scale*btVector3(btScalar(0.18), btScalar(-0.10), btScalar(0.))); - localB.getBasis().setEulerZYX(0,0,M_PI_4); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.225), btScalar(0.))); - coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB); - coneC->setLimit(M_PI_4, M_PI_4, 0); - m_joints[JOINT_RIGHT_HIP] = coneC; - m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true); - - localA.setIdentity(); localB.setIdentity(); - localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.))); - localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.185), btScalar(0.))); - hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB); - hingeC->setLimit(btScalar(0), btScalar(M_PI_2)); - m_joints[JOINT_RIGHT_KNEE] = hingeC; - m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true); - - - localA.setIdentity(); localB.setIdentity(); - localA.getBasis().setEulerZYX(0,0,M_PI); localA.setOrigin(scale*btVector3(btScalar(-0.2), btScalar(0.15), btScalar(0.))); - localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.))); - coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB); - coneC->setLimit(M_PI_2, M_PI_2, 0); - m_joints[JOINT_LEFT_SHOULDER] = coneC; - m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true); - - localA.setIdentity(); localB.setIdentity(); - localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.18), btScalar(0.))); - localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.))); - hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB); - hingeC->setLimit(btScalar(-M_PI_2), btScalar(0)); - m_joints[JOINT_LEFT_ELBOW] = hingeC; - m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true); - - - - localA.setIdentity(); localB.setIdentity(); - localA.getBasis().setEulerZYX(0,0,0); localA.setOrigin(scale*btVector3(btScalar(0.2), btScalar(0.15), btScalar(0.))); - localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.))); - coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB); - coneC->setLimit(M_PI_2, M_PI_2, 0); - m_joints[JOINT_RIGHT_SHOULDER] = coneC; - m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true); - - localA.setIdentity(); localB.setIdentity(); - localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.18), btScalar(0.))); - localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.))); - hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB); - hingeC->setLimit(btScalar(-M_PI_2), btScalar(0)); - m_joints[JOINT_RIGHT_ELBOW] = hingeC; - m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true); - } - - virtual ~RagDoll () - { - 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; - } - } -}; - -void BenchmarkDemo::createTest3() -{ - setCameraDistance(btScalar(50.)); - - int size = 16; - - float sizeX = 1.f; - float sizeY = 1.f; - - //int rc=0; - - btScalar scale(3.5); - btVector3 pos(0.0f, sizeY, 0.0f); - while(size) { - float offset = -size * (sizeX * 6.0f) * 0.5f; - for(int i=0;isetLocalScaling(btVector3(scaling,scaling,scaling)); - - for (int i=0;iaddPoint(vtx*btScalar(1./scaling)); - } - - //this will enable polyhedral contact clipping, better quality, slightly slower - //convexHullShape->initializePolyhedralFeatures(); - - btTransform trans; - trans.setIdentity(); - - float mass = 1.f; - btVector3 localInertia(0,0,0); - convexHullShape->calculateLocalInertia(mass,localInertia); - - for(int k=0;k<15;k++) { - for(int j=0;jaddIndexedMesh(part,PHY_SHORT); - - bool useQuantizedAabbCompression = true; - btBvhTriangleMeshShape* trimeshShape = new btBvhTriangleMeshShape(meshInterface,useQuantizedAabbCompression); - btVector3 localInertia(0,0,0); - trans.setOrigin(btVector3(0,-25,0)); - - btRigidBody* body = createRigidBody(0,trans,trimeshShape); - body->setFriction (btScalar(0.9)); - - } - -} - - -void BenchmarkDemo::createTest5() -{ - setCameraDistance(btScalar(250.)); - btVector3 boxSize(1.5f,1.5f,1.5f); - float boxMass = 1.0f; - float sphereRadius = 1.5f; - float sphereMass = 1.0f; - float capsuleHalf = 2.0f; - float capsuleRadius = 1.0f; - float capsuleMass = 1.0f; - - { - int size = 10; - int height = 10; - - const float cubeSize = boxSize[0]; - float spacing = 2.0f; - btVector3 pos(0.0f, 20.0f, 0.0f); - float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f; - - int numBodies = 0; - - for(int k=0;kaddPoint(vtx); - } - - btTransform trans; - trans.setIdentity(); - - float mass = 1.f; - btVector3 localInertia(0,0,0); - convexHullShape->calculateLocalInertia(mass,localInertia); - - - { - int size = 10; - int height = 10; - - const float cubeSize = boxSize[0]; - float spacing = 2.0f; - btVector3 pos(0.0f, 20.0f, 0.0f); - float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f; - - - for(int k=0;kcreateCollisionWorld( 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-2.86.1+dfsg/examples/Collision/CollisionSdkC_Api.h bullet-2.87+dfsg/examples/Collision/CollisionSdkC_Api.h --- bullet-2.86.1+dfsg/examples/Collision/CollisionSdkC_Api.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Collision/CollisionSdkC_Api.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,111 +0,0 @@ -#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-2.86.1+dfsg/examples/Collision/CollisionTutorialBullet2.cpp bullet-2.87+dfsg/examples/Collision/CollisionTutorialBullet2.cpp --- bullet-2.86.1+dfsg/examples/Collision/CollisionTutorialBullet2.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Collision/CollisionTutorialBullet2.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,391 +0,0 @@ - -#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-2.86.1+dfsg/examples/Collision/CollisionTutorialBullet2.h bullet-2.87+dfsg/examples/Collision/CollisionTutorialBullet2.h --- bullet-2.86.1+dfsg/examples/Collision/CollisionTutorialBullet2.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Collision/CollisionTutorialBullet2.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,12 +0,0 @@ -#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-2.86.1+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.cpp bullet-2.87+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.cpp --- bullet-2.86.1+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,279 +0,0 @@ -#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-2.86.1+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.h bullet-2.87+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.h --- bullet-2.86.1+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Collision/Internal/Bullet2CollisionSdk.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,56 +0,0 @@ -#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-2.86.1+dfsg/examples/Collision/Internal/CollisionSdkInterface.h bullet-2.87+dfsg/examples/Collision/Internal/CollisionSdkInterface.h --- bullet-2.86.1+dfsg/examples/Collision/Internal/CollisionSdkInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Collision/Internal/CollisionSdkInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,55 +0,0 @@ -#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-2.86.1+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp bullet-2.87+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp --- bullet-2.86.1+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,492 +0,0 @@ -#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-2.86.1+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.h bullet-2.87+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.h --- bullet-2.86.1+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Collision/Internal/RealTimeBullet3CollisionSdk.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,55 +0,0 @@ -#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-2.86.1+dfsg/examples/CommonInterfaces/Common2dCanvasInterface.h bullet-2.87+dfsg/examples/CommonInterfaces/Common2dCanvasInterface.h --- bullet-2.86.1+dfsg/examples/CommonInterfaces/Common2dCanvasInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/CommonInterfaces/Common2dCanvasInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,17 +0,0 @@ -#ifndef COMMON_2D_CANVAS_INTERFACE_H -#define COMMON_2D_CANVAS_INTERFACE_H - -struct Common2dCanvasInterface -{ - virtual ~Common2dCanvasInterface() {} - virtual int createCanvas(const char* canvasName, int width, int height)=0; - virtual void destroyCanvas(int canvasId)=0; - virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)=0; - virtual void getPixel(int canvasId, int x, int y, unsigned char& red, unsigned char& green,unsigned char& blue, unsigned char& alpha)=0; - - virtual void refreshImageData(int canvasId)=0; - -}; - -#endif //COMMON_2D_CANVAS_INTERFACE_H - diff -Nru bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonCameraInterface.h bullet-2.87+dfsg/examples/CommonInterfaces/CommonCameraInterface.h --- bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonCameraInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/CommonInterfaces/CommonCameraInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,45 +0,0 @@ -#ifndef COMMON_CAMERA_INTERFACE_H -#define COMMON_CAMERA_INTERFACE_H - -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; - - virtual void getCameraTargetPosition(double pos[3]) const = 0; - virtual void getCameraPosition(double pos[3]) const = 0; - - virtual void setCameraTargetPosition(float x,float y,float z) = 0; - virtual void setCameraDistance(float dist) = 0; - virtual float getCameraDistance() const = 0; - - virtual void setCameraUpVector(float x,float y, float z) = 0; - virtual void getCameraUpVector(float up[3]) const = 0; - ///the setCameraUpAxis will call the 'setCameraUpVector' and 'setCameraForwardVector' - virtual void setCameraUpAxis(int axis) = 0; - virtual int getCameraUpAxis() const = 0; - - virtual void setCameraYaw(float yaw) = 0; - virtual float getCameraYaw() const = 0; - - virtual void setCameraPitch(float pitch) = 0; - virtual float getCameraPitch() const = 0; - - 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-2.86.1+dfsg/examples/CommonInterfaces/CommonExampleInterface.h bullet-2.87+dfsg/examples/CommonInterfaces/CommonExampleInterface.h --- bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonExampleInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/CommonInterfaces/CommonExampleInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,94 +0,0 @@ - - -#ifndef COMMON_EXAMPLE_INTERFACE_H -#define COMMON_EXAMPLE_INTERFACE_H - -struct CommonExampleOptions -{ - struct GUIHelperInterface* m_guiHelper; - - //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_sharedMem(0) - { - } - -}; - -class CommonExampleInterface -{ -public: - - typedef class CommonExampleInterface* (CreateFunc)(CommonExampleOptions& options); - - virtual ~CommonExampleInterface() - { - } - - - - 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 - //reset camera is only called when switching demo. this way you can restart (initPhysics) and watch in a specific location easier - virtual void resetCamera(){}; - virtual bool mouseMoveCallback(float x,float y)=0; - 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-2.86.1+dfsg/examples/CommonInterfaces/CommonGraphicsAppInterface.h bullet-2.87+dfsg/examples/CommonInterfaces/CommonGraphicsAppInterface.h --- bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonGraphicsAppInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/CommonInterfaces/CommonGraphicsAppInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,283 +0,0 @@ -#ifndef COMMON_GRAPHICS_APP_H -#define COMMON_GRAPHICS_APP_H - - - -#include "Bullet3Common/b3Vector3.h" -#include "CommonRenderInterface.h" -#include "CommonWindowInterface.h" -#include "CommonCameraInterface.h" - -struct DrawGridData -{ - int gridSize; - float upOffset; - int upAxis; - float gridColor[4]; - - DrawGridData(int upAxis=1) - :gridSize(10), - upOffset(0.001f), - upAxis(upAxis) - { - gridColor[0] = 0.6f; - gridColor[1] = 0.6f; - gridColor[2] = 0.6f; - gridColor[3] = 1.f; - } -}; - -enum EnumSphereLevelOfDetail -{ - SPHERE_LOD_POINT_SPRITE=0, - SPHERE_LOD_LOW, - SPHERE_LOD_MEDIUM, - SPHERE_LOD_HIGH, - -}; -struct CommonGraphicsApp -{ - class CommonWindowInterface* m_window; - struct CommonRenderInterface* m_renderer; - struct CommonParameterInterface* m_parameterInterface; - struct Common2dCanvasInterface* m_2dCanvasInterface; - - bool m_leftMouseButton; - bool m_middleMouseButton; - bool m_rightMouseButton; - float m_wheelMultiplier; - float m_mouseMoveMultiplier; - float m_mouseXpos; - float m_mouseYpos; - bool m_mouseInitialized; - float m_backgroundColorRGB[3]; - - CommonGraphicsApp() - :m_window(0), - m_renderer(0), - m_parameterInterface(0), - m_2dCanvasInterface(0), - m_leftMouseButton(false), - m_middleMouseButton(false), - m_rightMouseButton(false), - m_wheelMultiplier(0.01f), - m_mouseMoveMultiplier(0.4f), - m_mouseXpos(0.f), - m_mouseYpos(0.f), - m_mouseInitialized(false) - { - m_backgroundColorRGB[0] = 0.7; - m_backgroundColorRGB[1] = 0.7; - m_backgroundColorRGB[2] = 0.8; - } - virtual ~CommonGraphicsApp() - { - } - - 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) - *red = m_backgroundColorRGB[0]; - if (green) - *green = m_backgroundColorRGB[1]; - if (blue) - *blue = m_backgroundColorRGB[2]; - } - virtual void setBackgroundColor(float red, float green, float blue) - { - m_backgroundColorRGB[0] = red; - m_backgroundColorRGB[1] = green; - m_backgroundColorRGB[2] = blue; - } - virtual void setMouseWheelMultiplier(float mult) - { - m_wheelMultiplier = mult; - } - virtual float getMouseWheelMultiplier() const - { - return m_wheelMultiplier; - } - - virtual void setMouseMoveMultiplier(float mult) - { - m_mouseMoveMultiplier = mult; - } - - virtual float getMouseMoveMultiplier() const - { - return m_mouseMoveMultiplier; - } - - - - virtual void drawGrid(DrawGridData data=DrawGridData()) = 0; - virtual void setUpAxis(int axis) = 0; - virtual int getUpAxis() const = 0; - - virtual void swapBuffer() = 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; - - void defaultMouseButtonCallback( int button, int state, float x, float y) - { - if (button==0) - m_leftMouseButton= (state==1); - if (button==1) - m_middleMouseButton= (state==1); - - if (button==2) - m_rightMouseButton= (state==1); - - m_mouseXpos = x; - m_mouseYpos = y; - m_mouseInitialized = true; - } - void defaultMouseMoveCallback( float x, float y) - { - - if (m_window && m_renderer) - { - CommonCameraInterface* camera = m_renderer->getActiveCamera(); - - bool isAltPressed = m_window->isModifierKeyPressed(B3G_ALT); - bool isControlPressed = m_window->isModifierKeyPressed(B3G_CONTROL); - - - if (isAltPressed || isControlPressed) - { - float xDelta = x-m_mouseXpos; - float yDelta = y-m_mouseYpos; - float cameraDistance = camera->getCameraDistance(); - float pitch = camera->getCameraPitch(); - float yaw = camera->getCameraYaw(); - - float targPos[3]; - float camPos[3]; - - camera->getCameraTargetPosition(targPos); - camera->getCameraPosition(camPos); - - b3Vector3 cameraPosition = b3MakeVector3(b3Scalar(camPos[0]), - b3Scalar(camPos[1]), - b3Scalar(camPos[2])); - - b3Vector3 cameraTargetPosition = b3MakeVector3( b3Scalar(targPos[0]), - b3Scalar(targPos[1]), - b3Scalar(targPos[2])); - b3Vector3 cameraUp = b3MakeVector3(0,0,0); - cameraUp[camera->getCameraUpAxis()] = 1.f; - - if (m_leftMouseButton) - { - // if (b3Fabs(xDelta)>b3Fabs(yDelta)) - // { - pitch -= xDelta*m_mouseMoveMultiplier; - // } else - // { - yaw += yDelta*m_mouseMoveMultiplier; - // } - } - - if (m_middleMouseButton) - { - cameraTargetPosition += cameraUp * yDelta*0.01; - - - b3Vector3 fwd = cameraTargetPosition-cameraPosition; - b3Vector3 side = cameraUp.cross(fwd); - side.normalize(); - cameraTargetPosition += side * xDelta*0.01; - - } - if (m_rightMouseButton) - { - cameraDistance -= xDelta*0.01f; - cameraDistance -= yDelta*0.01f; - if (cameraDistance<1) - cameraDistance=1; - if (cameraDistance>1000) - cameraDistance=1000; - } - camera->setCameraDistance(cameraDistance); - camera->setCameraPitch(pitch); - camera->setCameraYaw(yaw); - camera->setCameraTargetPosition(cameraTargetPosition[0],cameraTargetPosition[1],cameraTargetPosition[2]); - - } - - }//m_window && m_renderer - - m_mouseXpos = x; - m_mouseYpos = y; - m_mouseInitialized = true; - } -// void defaultKeyboardCallback(int key, int state) -// { -// } - void defaultWheelCallback( float deltax, float deltay) - { - - if (m_renderer) - { - b3Vector3 cameraTargetPosition, cameraPosition, cameraUp = b3MakeVector3(0,0,0); - cameraUp[getUpAxis()] = 1; - CommonCameraInterface* camera = m_renderer->getActiveCamera(); - - camera->getCameraPosition(cameraPosition); - camera->getCameraTargetPosition(cameraTargetPosition); - - if (!m_leftMouseButton) - { - - float cameraDistance = camera->getCameraDistance(); - if (deltay<0 || cameraDistance>1) - { - cameraDistance -= deltay*0.01f; - if (cameraDistance<1) - cameraDistance=1; - camera->setCameraDistance(cameraDistance); - - } else - { - - b3Vector3 fwd = cameraTargetPosition-cameraPosition; - fwd.normalize(); - cameraTargetPosition += fwd*deltay*m_wheelMultiplier;//todo: expose it in the GUI? - } - } else - { - if (b3Fabs(deltax)>b3Fabs(deltay)) - { - b3Vector3 fwd = cameraTargetPosition-cameraPosition; - b3Vector3 side = cameraUp.cross(fwd); - side.normalize(); - cameraTargetPosition += side * deltax*m_wheelMultiplier; - - } else - { - cameraTargetPosition -= cameraUp * deltay*m_wheelMultiplier; - - } - } - - camera->setCameraTargetPosition(cameraTargetPosition[0],cameraTargetPosition[1],cameraTargetPosition[2]); - } - - } - - -}; - - -#endif //COMMON_GRAPHICS_APP_H diff -Nru bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonGUIHelperInterface.h bullet-2.87+dfsg/examples/CommonInterfaces/CommonGUIHelperInterface.h --- bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonGUIHelperInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/CommonInterfaces/CommonGUIHelperInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,172 +0,0 @@ -#ifndef GUI_HELPER_INTERFACE_H -#define GUI_HELPER_INTERFACE_H - - -class btRigidBody; -class btVector3; -class btCollisionObject; -class btDiscreteDynamicsWorld; -class btCollisionShape; -struct Common2dCanvasInterface; -struct CommonParameterInterface; -struct CommonRenderInterface; -struct CommonGraphicsApp; - -///The Bullet 2 GraphicsPhysicsBridge let's the graphics engine create graphics representation and synchronize -struct GUIHelperInterface -{ - virtual ~GUIHelperInterface() {} - - virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color) = 0; - - virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color) = 0; - - virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)=0; - - virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)=0; - - virtual void render(const btDiscreteDynamicsWorld* rbWorld)=0; - - virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)=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; - - virtual CommonRenderInterface* getRenderInterface()=0; - - virtual CommonGraphicsApp* getAppInterface()=0; - - virtual void setUpAxis(int axis)=0; - - 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( ){}; - -}; - - -///the DummyGUIHelper does nothing, so we can test the examples without GUI/graphics (in 'console mode') -struct DummyGUIHelper : public GUIHelperInterface -{ - DummyGUIHelper() {} - virtual ~DummyGUIHelper() {} - - virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){} - - virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color) {} - - virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape){} - - virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld){} - - virtual void render(const btDiscreteDynamicsWorld* rbWorld) {} - - virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){} - - 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; - } - - virtual CommonParameterInterface* getParameterInterface() - { - return 0; - } - - virtual CommonRenderInterface* getRenderInterface() - { - return 0; - } - - virtual CommonGraphicsApp* getAppInterface() - { - return 0; - } - - - 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 width, int height, int* numPixelsCopied) - - { - if (numPixelsCopied) - *numPixelsCopied = 0; - } - - virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) - { - } - - 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-2.86.1+dfsg/examples/CommonInterfaces/CommonMultiBodyBase.h bullet-2.87+dfsg/examples/CommonInterfaces/CommonMultiBodyBase.h --- bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonMultiBodyBase.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/CommonInterfaces/CommonMultiBodyBase.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,524 +0,0 @@ - -#ifndef COMMON_MULTI_BODY_SETUP_H -#define COMMON_MULTI_BODY_SETUP_H - - -#include "btBulletDynamicsCommon.h" - -#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" -#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h" -#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" - -#include "btBulletDynamicsCommon.h" -#include "CommonExampleInterface.h" -#include "CommonGUIHelperInterface.h" -#include "CommonRenderInterface.h" -#include "CommonGraphicsAppInterface.h" -#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; - btDefaultCollisionConfiguration* m_collisionConfiguration; - btMultiBodyDynamicsWorld* m_dynamicsWorld; - - //data for picking objects - class btRigidBody* m_pickedBody; - class btTypedConstraint* m_pickedConstraint; - class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point; - - btVector3 m_oldPickingPos; - btVector3 m_hitPos; - btScalar m_oldPickingDist; - bool m_prevCanSleep; - - struct GUIHelperInterface* m_guiHelper; - - CommonMultiBodyBase(GUIHelperInterface* helper) - :m_filterCallback(0), - m_pairCache(0), - m_broadphase(0), - m_dispatcher(0), - m_solver(0), - m_collisionConfiguration(0), - m_dynamicsWorld(0), - m_pickedBody(0), - m_pickedConstraint(0), - m_pickingMultiBodyPoint2Point(0), - m_prevCanSleep(false), - m_guiHelper(helper) - { - } - - virtual void createEmptyDynamicsWorld() - { - ///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_pairCache = new btHashedOverlappingPairCache(); - - m_pairCache->setOverlapFilterCallback(m_filterCallback); - - m_broadphase = new btDbvtBroadphase(m_pairCache);//btSimpleBroadphase(); - - m_solver = new btMultiBodyConstraintSolver; - - m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); - - m_dynamicsWorld->setGravity(btVector3(0, -10, 0)); - } - - - virtual void stepSimulation(float deltaTime) - { - if (m_dynamicsWorld) - { - m_dynamicsWorld->stepSimulation(deltaTime); - } - } - - - virtual void exitPhysics() - { - removePickingConstraint(); - //cleanup in the reverse order of creation/initialization - - //remove the rigidbodies from the dynamics world and delete them - - if (m_dynamicsWorld) - { - - int i; - for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--) - { - 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]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - } - //delete collision shapes - for (int j = 0; jsyncPhysicsToGraphics(m_dynamicsWorld); - } - } - - virtual void renderScene() - { - if (m_dynamicsWorld) - { - m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld); - - m_guiHelper->render(m_dynamicsWorld); - } - - } - - virtual void physicsDebugDraw(int debugDrawFlags) - { - if (m_dynamicsWorld) - { - if (m_dynamicsWorld->getDebugDrawer()) - { - m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags); - } - m_dynamicsWorld->debugDrawWorld(); - } - - } - - virtual bool keyboardCallback(int key, int state) - { - return false;//don't handle this key - } - - - btVector3 getRayTo(int x,int y) - { - CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); - - if (!renderer) - { - btAssert(0); - return btVector3(0,0,0); - } - - float top = 1.f; - float bottom = -1.f; - float nearPlane = 1.f; - float tanFov = (top-bottom)*0.5f / nearPlane; - float fov = btScalar(2.0) * btAtan(tanFov); - - btVector3 camPos,camTarget; - renderer->getActiveCamera()->getCameraPosition(camPos); - renderer->getActiveCamera()->getCameraTargetPosition(camTarget); - - btVector3 rayFrom = camPos; - btVector3 rayForward = (camTarget-camPos); - rayForward.normalize(); - float farPlane = 10000.f; - rayForward*= farPlane; - - btVector3 rightOffset; - btVector3 cameraUp=btVector3(0,0,0); - cameraUp[m_guiHelper->getAppInterface()->getUpAxis()]=1; - - btVector3 vertical = cameraUp; - - btVector3 hor; - hor = rayForward.cross(vertical); - hor.normalize(); - vertical = hor.cross(rayForward); - vertical.normalize(); - - float tanfov = tanf(0.5f*fov); - - - hor *= 2.f * farPlane * tanfov; - vertical *= 2.f * farPlane * tanfov; - - btScalar aspect; - float width = float(renderer->getScreenWidth()); - float height = float (renderer->getScreenHeight()); - - aspect = width / height; - - hor*=aspect; - - - btVector3 rayToCenter = rayFrom + rayForward; - btVector3 dHor = hor * 1.f/width; - btVector3 dVert = vertical * 1.f/height; - - - btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical; - rayTo += btScalar(x) * dHor; - rayTo -= btScalar(y) * dVert; - return rayTo; - } - - virtual bool mouseMoveCallback(float x,float y) - { - CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); - - if (!renderer) - { - btAssert(0); - return false; - } - - btVector3 rayTo = getRayTo(int(x), int(y)); - btVector3 rayFrom; - renderer->getActiveCamera()->getCameraPosition(rayFrom); - movePickedBody(rayFrom,rayTo); - - return false; - } - - virtual bool mouseButtonCallback(int button, int state, float x, float y) - { - CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); - - if (!renderer) - { - btAssert(0); - return false; - } - - CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window; - - - if (state==1) - { - if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) )) - { - btVector3 camPos; - renderer->getActiveCamera()->getCameraPosition(camPos); - - btVector3 rayFrom = camPos; - btVector3 rayTo = getRayTo(int(x),int(y)); - - pickBody(rayFrom, rayTo); - - - } - } else - { - if (button==0) - { - removePickingConstraint(); - //remove p2p - } - } - - //printf("button=%d, state=%d\n",button,state); - return false; - } - - - virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) - { - if (m_dynamicsWorld==0) - return false; - - btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld); - - m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback); - if (rayCallback.hasHit()) - { - - btVector3 pickPos = rayCallback.m_hitPointWorld; - btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject); - if (body) - { - //other exclusions? - if (!(body->isStaticObject() || body->isKinematicObject())) - { - m_pickedBody = body; - m_pickedBody->setActivationState(DISABLE_DEACTIVATION); - //printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ()); - btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos; - btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot); - m_dynamicsWorld->addConstraint(p2p, true); - m_pickedConstraint = p2p; - btScalar mousePickClamping = 30.f; - p2p->m_setting.m_impulseClamp = mousePickClamping; - //very weak constraint for picking - p2p->m_setting.m_tau = 0.001f; - } - } else - { - btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject); - if (multiCol && multiCol->m_multiBody) - { - - m_prevCanSleep = multiCol->m_multiBody->getCanSleep(); - multiCol->m_multiBody->setCanSleep(false); - - btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos); - - btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody,multiCol->m_link,0,pivotInA,pickPos); - //if you add too much energy to the system, causing high angular velocities, simulation 'explodes' - //see also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=949 - //so we try to avoid it by clamping the maximum impulse (force) that the mouse pick can apply - //it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?) - btScalar scaling=1; - p2p->setMaxAppliedImpulse(2*scaling); - - btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld; - world->addMultiBodyConstraint(p2p); - m_pickingMultiBodyPoint2Point =p2p; - } - } - - - - // pickObject(pickPos, rayCallback.m_collisionObject); - m_oldPickingPos = rayToWorld; - m_hitPos = pickPos; - m_oldPickingDist = (pickPos - rayFromWorld).length(); - // printf("hit !\n"); - //add p2p - } - return false; - } - virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) - { - if (m_pickedBody && m_pickedConstraint) - { - btPoint2PointConstraint* pickCon = static_cast(m_pickedConstraint); - if (pickCon) - { - //keep it at the same picking distance - - btVector3 dir = rayToWorld-rayFromWorld; - dir.normalize(); - dir *= m_oldPickingDist; - - btVector3 newPivotB = rayFromWorld + dir; - pickCon->setPivotB(newPivotB); - } - } - - if (m_pickingMultiBodyPoint2Point) - { - //keep it at the same picking distance - - - btVector3 dir = rayToWorld-rayFromWorld; - dir.normalize(); - dir *= m_oldPickingDist; - - btVector3 newPivotB = rayFromWorld + dir; - - m_pickingMultiBodyPoint2Point->setPivotInB(newPivotB); - } - - return false; - } - virtual void removePickingConstraint() - { - if (m_pickedConstraint) - { - m_dynamicsWorld->removeConstraint(m_pickedConstraint); - delete m_pickedConstraint; - m_pickedConstraint = 0; - m_pickedBody = 0; - } - if (m_pickingMultiBodyPoint2Point) - { - m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(m_prevCanSleep); - btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld; - world->removeMultiBodyConstraint(m_pickingMultiBodyPoint2Point); - delete m_pickingMultiBodyPoint2Point; - m_pickingMultiBodyPoint2Point = 0; - } - } - - - - btBoxShape* createBoxShape(const btVector3& halfExtents) - { - btBoxShape* box = new btBoxShape(halfExtents); - return box; - } - - btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1)) - { - btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE)); - - //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) - shape->calculateLocalInertia(mass, localInertia); - - //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects - -#define USE_MOTIONSTATE 1 -#ifdef USE_MOTIONSTATE - btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); - - btRigidBody::btRigidBodyConstructionInfo cInfo(mass, myMotionState, shape, localInertia); - - btRigidBody* body = new btRigidBody(cInfo); - //body->setContactProcessingThreshold(m_defaultContactProcessingThreshold); - -#else - btRigidBody* body = new btRigidBody(mass, 0, shape, localInertia); - body->setWorldTransform(startTransform); -#endif// - - body->setUserIndex(-1); - m_dynamicsWorld->addRigidBody(body); - return body; - } -}; - -#endif //COMMON_MULTI_BODY_SETUP_H - diff -Nru bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonParameterInterface.h bullet-2.87+dfsg/examples/CommonInterfaces/CommonParameterInterface.h --- bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonParameterInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/CommonInterfaces/CommonParameterInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,95 +0,0 @@ - -#ifndef PARAM_INTERFACE_H -#define PARAM_INTERFACE_H - -#pragma once - -typedef void (*SliderParamChangedCallback) (float newVal, void* userPointer); -#include "LinearMath/btScalar.h" - -struct SliderParams -{ - const char* m_name; - float m_minVal; - float m_maxVal; - SliderParamChangedCallback m_callback; - btScalar* m_paramValuePointer; - void* m_userPointer; - bool m_clampToNotches; - bool m_clampToIntegers; - bool m_showValues; - - SliderParams(const char* name, btScalar* targetValuePointer) - :m_name(name), - m_minVal(-100), - m_maxVal(100), - m_callback(0), - m_paramValuePointer(targetValuePointer), - m_userPointer(0), - m_clampToNotches(true), - m_clampToIntegers(false), - m_showValues(true) - { - } - -}; - -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 -{ - - 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; - virtual void setSliderValue(int sliderIndex, double sliderValue)=0; - -}; - -#endif //PARAM_INTERFACE_H diff -Nru bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonRenderInterface.h bullet-2.87+dfsg/examples/CommonInterfaces/CommonRenderInterface.h --- bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonRenderInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/CommonInterfaces/CommonRenderInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,120 +0,0 @@ -#ifndef COMMON_RENDER_INTERFACE_H -#define COMMON_RENDER_INTERFACE_H - -struct CommonCameraInterface; - -enum -{ - B3_GL_TRIANGLES = 1, - B3_GL_POINTS -}; - -enum -{ - B3_DEFAULT_RENDERMODE=1, - //B3_WIREFRAME_RENDERMODE, - B3_CREATE_SHADOWMAP_RENDERMODE, - B3_USE_SHADOWMAP_RENDERMODE, -}; - -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 renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE){}; - virtual int getScreenWidth() = 0; - virtual int getScreenHeight() = 0; - - virtual void resize(int width, int height) = 0; - - virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)=0; - virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling)=0; - virtual void drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float pointDrawSize)=0; - virtual void drawLine(const float from[4], const float to[4], const float color[4], float lineWidth) = 0; - virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth) = 0; - virtual void drawPoint(const float* position, const float color[4], float pointDrawSize)=0; - 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 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. - virtual struct GLInstanceRendererInternalData* getInternalData()=0; -}; - -template -inline int projectWorldCoordToScreen(T objx, T objy, T objz, - const T modelMatrix[16], - const T projMatrix[16], - const int viewport[4], - T *winx, T *winy, T *winz) -{ - int i; - T in2[4]; - T tmp[4]; - - in2[0]=objx; - in2[1]=objy; - in2[2]=objz; - in2[3]=T(1.0); - - for (i=0; i<4; i++) - { - tmp[i] = in2[0] * modelMatrix[0*4+i] + in2[1] * modelMatrix[1*4+i] + - in2[2] * modelMatrix[2*4+i] + in2[3] * modelMatrix[3*4+i]; - } - - T out[4]; - for (i=0; i<4; i++) - { - out[i] = tmp[0] * projMatrix[0*4+i] + tmp[1] * projMatrix[1*4+i] + tmp[2] * projMatrix[2*4+i] + tmp[3] * projMatrix[3*4+i]; - } - - if (out[3] == T(0.0)) - return 0; - out[0] /= out[3]; - out[1] /= out[3]; - out[2] /= out[3]; - /* Map x, y and z to range 0-1 */ - out[0] = out[0] * T(0.5) + T(0.5); - out[1] = out[1] * T(0.5) + T(0.5); - out[2] = out[2] * T(0.5) + T(0.5); - - /* Map x,y to viewport */ - out[0] = out[0] * viewport[2] + viewport[0]; - out[1] = out[1] * viewport[3] + viewport[1]; - - *winx=out[0]; - *winy=out[1]; - *winz=out[2]; - return 1; -} - -#endif//COMMON_RENDER_INTERFACE_H - diff -Nru bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonRigidBodyBase.h bullet-2.87+dfsg/examples/CommonInterfaces/CommonRigidBodyBase.h --- bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonRigidBodyBase.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/CommonInterfaces/CommonRigidBodyBase.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,462 +0,0 @@ - -#ifndef COMMON_RIGID_BODY_BASE_H -#define COMMON_RIGID_BODY_BASE_H - - -#include "btBulletDynamicsCommon.h" -#include "CommonExampleInterface.h" -#include "CommonGUIHelperInterface.h" -#include "CommonRenderInterface.h" -#include "CommonCameraInterface.h" - -#include "CommonGraphicsAppInterface.h" -#include "CommonWindowInterface.h" - -struct CommonRigidBodyBase : public CommonExampleInterface -{ - //keep the collision shapes, for deletion/cleanup - btAlignedObjectArray m_collisionShapes; - btBroadphaseInterface* m_broadphase; - btCollisionDispatcher* m_dispatcher; - btConstraintSolver* m_solver; - btDefaultCollisionConfiguration* m_collisionConfiguration; - btDiscreteDynamicsWorld* m_dynamicsWorld; - - //data for picking objects - class btRigidBody* m_pickedBody; - class btTypedConstraint* m_pickedConstraint; - int m_savedState; - btVector3 m_oldPickingPos; - btVector3 m_hitPos; - btScalar m_oldPickingDist; - struct GUIHelperInterface* m_guiHelper; - - CommonRigidBodyBase(struct GUIHelperInterface* helper) - :m_broadphase(0), - m_dispatcher(0), - m_solver(0), - m_collisionConfiguration(0), - m_dynamicsWorld(0), - m_pickedBody(0), - m_pickedConstraint(0), - m_guiHelper(helper) - { - } - virtual ~CommonRigidBodyBase() - { - } - - - btDiscreteDynamicsWorld* getDynamicsWorld() - { - return m_dynamicsWorld; - } - - virtual void createEmptyDynamicsWorld() - { - ///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); - - m_broadphase = new btDbvtBroadphase(); - - ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) - btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; - m_solver = sol; - - m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); - - m_dynamicsWorld->setGravity(btVector3(0, -10, 0)); - } - - - virtual void stepSimulation(float deltaTime) - { - if (m_dynamicsWorld) - { - m_dynamicsWorld->stepSimulation(deltaTime); - } - } - - virtual void physicsDebugDraw(int debugFlags) - { - if (m_dynamicsWorld && m_dynamicsWorld->getDebugDrawer()) - { - m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugFlags); - m_dynamicsWorld->debugDrawWorld(); - } - } - - virtual void exitPhysics() - { - removePickingConstraint(); - //cleanup in the reverse order of creation/initialization - - //remove the rigidbodies from the dynamics world and delete them - - if (m_dynamicsWorld) - { - - int i; - for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--) - { - m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i)); - } - for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject(obj); - delete obj; - } - } - //delete collision shapes - for (int j = 0; jgetDebugDrawer()) - { - m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags); - } - m_dynamicsWorld->debugDrawWorld(); - } - - } - - virtual bool keyboardCallback(int key, int state) - { - if ((key==B3G_F3) && state && m_dynamicsWorld) - { - btDefaultSerializer* serializer = new btDefaultSerializer(); - m_dynamicsWorld->serialize(serializer); - - FILE* file = fopen("testFile.bullet","wb"); - fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file); - fclose(file); - //b3Printf("btDefaultSerializer wrote testFile.bullet"); - delete serializer; - return true; - - } - return false;//don't handle this key - } - - - btVector3 getRayTo(int x,int y) - { - CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); - - if (!renderer) - { - btAssert(0); - return btVector3(0,0,0); - } - - float top = 1.f; - float bottom = -1.f; - float nearPlane = 1.f; - float tanFov = (top-bottom)*0.5f / nearPlane; - float fov = btScalar(2.0) * btAtan(tanFov); - - btVector3 camPos,camTarget; - - renderer->getActiveCamera()->getCameraPosition(camPos); - renderer->getActiveCamera()->getCameraTargetPosition(camTarget); - - btVector3 rayFrom = camPos; - btVector3 rayForward = (camTarget-camPos); - rayForward.normalize(); - float farPlane = 10000.f; - rayForward*= farPlane; - - btVector3 rightOffset; - btVector3 cameraUp=btVector3(0,0,0); - cameraUp[m_guiHelper->getAppInterface()->getUpAxis()]=1; - - btVector3 vertical = cameraUp; - - btVector3 hor; - hor = rayForward.cross(vertical); - hor.safeNormalize(); - vertical = hor.cross(rayForward); - vertical.safeNormalize(); - - float tanfov = tanf(0.5f*fov); - - - hor *= 2.f * farPlane * tanfov; - vertical *= 2.f * farPlane * tanfov; - - btScalar aspect; - float width = float(renderer->getScreenWidth()); - float height = float (renderer->getScreenHeight()); - - aspect = width / height; - - hor*=aspect; - - - btVector3 rayToCenter = rayFrom + rayForward; - btVector3 dHor = hor * 1.f/width; - btVector3 dVert = vertical * 1.f/height; - - - btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical; - rayTo += btScalar(x) * dHor; - rayTo -= btScalar(y) * dVert; - return rayTo; - } - - virtual bool mouseMoveCallback(float x,float y) - { - CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); - - if (!renderer) - { - btAssert(0); - return false; - } - - btVector3 rayTo = getRayTo(int(x), int(y)); - btVector3 rayFrom; - renderer->getActiveCamera()->getCameraPosition(rayFrom); - movePickedBody(rayFrom,rayTo); - - return false; - } - - virtual bool mouseButtonCallback(int button, int state, float x, float y) - { - CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); - - if (!renderer) - { - btAssert(0); - return false; - } - - CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window; - -#if 0 - if (window->isModifierKeyPressed(B3G_ALT)) - { - printf("ALT pressed\n"); - } else - { - printf("NO ALT pressed\n"); - } - - if (window->isModifierKeyPressed(B3G_SHIFT)) - { - printf("SHIFT pressed\n"); - } else - { - printf("NO SHIFT pressed\n"); - } - - if (window->isModifierKeyPressed(B3G_CONTROL)) - { - printf("CONTROL pressed\n"); - } else - { - printf("NO CONTROL pressed\n"); - } -#endif - - - if (state==1) - { - if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) )) - { - btVector3 camPos; - renderer->getActiveCamera()->getCameraPosition(camPos); - - btVector3 rayFrom = camPos; - btVector3 rayTo = getRayTo(int(x),int(y)); - - pickBody(rayFrom, rayTo); - - - } - } else - { - if (button==0) - { - removePickingConstraint(); - //remove p2p - } - } - - //printf("button=%d, state=%d\n",button,state); - return false; - } - - - virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) - { - if (m_dynamicsWorld==0) - return false; - - btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld); - - m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback); - if (rayCallback.hasHit()) - { - - btVector3 pickPos = rayCallback.m_hitPointWorld; - btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject); - if (body) - { - //other exclusions? - if (!(body->isStaticObject() || body->isKinematicObject())) - { - m_pickedBody = body; - m_savedState = m_pickedBody->getActivationState(); - m_pickedBody->setActivationState(DISABLE_DEACTIVATION); - //printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ()); - btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos; - btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot); - m_dynamicsWorld->addConstraint(p2p, true); - m_pickedConstraint = p2p; - btScalar mousePickClamping = 30.f; - p2p->m_setting.m_impulseClamp = mousePickClamping; - //very weak constraint for picking - p2p->m_setting.m_tau = 0.001f; - } - } - - - // pickObject(pickPos, rayCallback.m_collisionObject); - m_oldPickingPos = rayToWorld; - m_hitPos = pickPos; - m_oldPickingDist = (pickPos - rayFromWorld).length(); - // printf("hit !\n"); - //add p2p - } - return false; - } - virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) - { - if (m_pickedBody && m_pickedConstraint) - { - btPoint2PointConstraint* pickCon = static_cast(m_pickedConstraint); - if (pickCon) - { - //keep it at the same picking distance - - btVector3 newPivotB; - - btVector3 dir = rayToWorld - rayFromWorld; - dir.normalize(); - dir *= m_oldPickingDist; - - newPivotB = rayFromWorld + dir; - pickCon->setPivotB(newPivotB); - return true; - } - } - return false; - } - virtual void removePickingConstraint() - { - if (m_pickedConstraint) - { - m_pickedBody->forceActivationState(m_savedState); - m_pickedBody->activate(); - m_dynamicsWorld->removeConstraint(m_pickedConstraint); - delete m_pickedConstraint; - m_pickedConstraint = 0; - m_pickedBody = 0; - } - } - - - - btBoxShape* createBoxShape(const btVector3& halfExtents) - { - btBoxShape* box = new btBoxShape(halfExtents); - return box; - } - - btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1)) - { - btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE)); - - //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) - shape->calculateLocalInertia(mass, localInertia); - - //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects - -#define USE_MOTIONSTATE 1 -#ifdef USE_MOTIONSTATE - btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); - - btRigidBody::btRigidBodyConstructionInfo cInfo(mass, myMotionState, shape, localInertia); - - btRigidBody* body = new btRigidBody(cInfo); - //body->setContactProcessingThreshold(m_defaultContactProcessingThreshold); - -#else - btRigidBody* body = new btRigidBody(mass, 0, shape, localInertia); - body->setWorldTransform(startTransform); -#endif// - - body->setUserIndex(-1); - m_dynamicsWorld->addRigidBody(body); - return body; - } - - - - virtual void renderScene() - { - { - - m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld); - } - - { - - m_guiHelper->render(m_dynamicsWorld); - } - } -}; - -#endif //COMMON_RIGID_BODY_SETUP_H - diff -Nru bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonWindowInterface.h bullet-2.87+dfsg/examples/CommonInterfaces/CommonWindowInterface.h --- bullet-2.86.1+dfsg/examples/CommonInterfaces/CommonWindowInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/CommonInterfaces/CommonWindowInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,130 +0,0 @@ -#ifndef B3G_WINDOW_INTERFACE_H -#define B3G_WINDOW_INTERFACE_H - - -typedef void (*b3WheelCallback)(float deltax, float deltay); -typedef void (*b3ResizeCallback)( float width, float height); -typedef void (*b3MouseMoveCallback)( float x, float y); -typedef void (*b3MouseButtonCallback)(int button, int state, float x, float y); -typedef void (*b3KeyboardCallback)(int keycode, int state); -typedef void (*b3RenderCallback) (); - -enum { - B3G_ESCAPE = 27, - B3G_F1 = 0xff00, - B3G_F2, - B3G_F3, - B3G_F4, - B3G_F5, - B3G_F6, - B3G_F7, - B3G_F8, - B3G_F9, - B3G_F10, - B3G_F11, - B3G_F12, - B3G_F13, - B3G_F14, - B3G_F15, - B3G_LEFT_ARROW, - B3G_RIGHT_ARROW, - B3G_UP_ARROW, - B3G_DOWN_ARROW, - B3G_PAGE_UP, - B3G_PAGE_DOWN, - B3G_END, - B3G_HOME, - B3G_INSERT, - B3G_DELETE, - B3G_BACKSPACE, - B3G_SHIFT, - B3G_CONTROL, - B3G_ALT, - B3G_RETURN -}; - -struct b3gWindowConstructionInfo -{ - int m_width; - int m_height; - bool m_fullscreen; - int m_colorBitsPerPixel; - void* m_windowHandle; - const char* m_title; - int m_openglVersion; - - - b3gWindowConstructionInfo(int width=1024, int height=768) - :m_width(width), - m_height(height), - m_fullscreen(false), - m_colorBitsPerPixel(32), - m_windowHandle(0), - m_title("title"), - m_openglVersion(3) - { - } -}; - - -class CommonWindowInterface -{ - public: - - virtual ~CommonWindowInterface() - { - } - - virtual void createDefaultWindow(int width, int height, const char* title) - { - b3gWindowConstructionInfo ci(width,height); - ci.m_title = title; - createWindow(ci); - } - - virtual void createWindow(const b3gWindowConstructionInfo& ci)=0; - - virtual void closeWindow()=0; - - virtual void runMainLoop()=0; - virtual float getTimeInSeconds()=0; - - virtual bool requestedExit() const = 0; - virtual void setRequestExit() = 0; - - virtual void startRendering()=0; - - virtual void endRendering()=0; - - virtual bool isModifierKeyPressed(int key) = 0; - - virtual void setMouseMoveCallback(b3MouseMoveCallback mouseCallback)=0; - virtual b3MouseMoveCallback getMouseMoveCallback()=0; - - virtual void setMouseButtonCallback(b3MouseButtonCallback mouseCallback)=0; - virtual b3MouseButtonCallback getMouseButtonCallback()=0; - - virtual void setResizeCallback(b3ResizeCallback resizeCallback)=0; - virtual b3ResizeCallback getResizeCallback()=0; - - virtual void setWheelCallback(b3WheelCallback wheelCallback)=0; - virtual b3WheelCallback getWheelCallback()=0; - - virtual void setKeyboardCallback( b3KeyboardCallback keyboardCallback)=0; - virtual b3KeyboardCallback getKeyboardCallback()=0; - - virtual void setRenderCallback( b3RenderCallback renderCallback) = 0; - - virtual void setWindowTitle(const char* title)=0; - - 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; - -}; - -#endif //B3G_WINDOW_INTERFACE_H \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/examples/Constraints/ConstraintDemo.cpp bullet-2.87+dfsg/examples/Constraints/ConstraintDemo.cpp --- bullet-2.86.1+dfsg/examples/Constraints/ConstraintDemo.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Constraints/ConstraintDemo.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,888 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2015 Erwin Coumans http://continuousphysics.com/Bullet/ - -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 "ConstraintDemo.h" - -#include "btBulletDynamicsCommon.h" -#include "LinearMath/btIDebugDraw.h" - -#include //printf debugging - - -#include "../CommonInterfaces/CommonRigidBodyBase.h" - - - - - -///AllConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint -class AllConstraintDemo : public CommonRigidBodyBase -{ - //keep track of variables to delete memory at the end - - void setupEmptyDynamicsWorld(); - - - public: - - AllConstraintDemo(struct GUIHelperInterface* helper); - - virtual ~AllConstraintDemo(); - - virtual void initPhysics(); - - virtual void exitPhysics(); - - virtual void resetCamera() - { - float dist = 27; - float pitch = 720; - float yaw = 30; - float targetPos[3]={2,0,-10}; - m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } - - virtual bool keyboardCallback(int key, int state); - - // for cone-twist motor driving - float m_Time; - class btConeTwistConstraint* m_ctc; - -}; - - - - -#define ENABLE_ALL_DEMOS 1 - -#define CUBE_HALF_EXTENTS 1.f - -#define SIMD_PI_2 ((SIMD_PI)*0.5f) -#define SIMD_PI_4 ((SIMD_PI)*0.25f) - - - - -btTransform sliderTransform; -btVector3 lowerSliderLimit = btVector3(-10,0,0); -btVector3 hiSliderLimit = btVector3(10,0,0); - -btRigidBody* d6body0 =0; - -btHingeConstraint* spDoorHinge = NULL; -btHingeConstraint* spHingeDynAB = NULL; -btGeneric6DofConstraint* spSlider6Dof = NULL; - -static bool s_bTestConeTwistMotor = false; - - - - - -void AllConstraintDemo::setupEmptyDynamicsWorld() -{ - m_collisionConfiguration = new btDefaultCollisionConfiguration(); - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - m_broadphase = new btDbvtBroadphase(); - m_solver = new btSequentialImpulseConstraintSolver(); - m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); - -} - - -void AllConstraintDemo::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - m_Time = 0; - - setupEmptyDynamicsWorld(); - - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - //btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.))); - btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),40); - - m_collisionShapes.push_back(groundShape); - btTransform groundTransform; - groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0,-56,0)); - btRigidBody* groundBody; - groundBody= createRigidBody(0, groundTransform, groundShape); - - - - btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)); - m_collisionShapes.push_back(shape); - btTransform trans; - trans.setIdentity(); - trans.setOrigin(btVector3(0,20,0)); - - float mass = 1.f; - -#if ENABLE_ALL_DEMOS -///gear constraint demo - -#define THETA SIMD_PI/4.f -#define L_1 (2 - tan(THETA)) -#define L_2 (1 / cos(THETA)) -#define RATIO L_2 / L_1 - - btRigidBody* bodyA=0; - btRigidBody* bodyB=0; - - { - btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.25,0.2)); - btCollisionShape* cylB = new btCylinderShape(btVector3(L_1,0.025,L_1)); - btCompoundShape* cyl0 = new btCompoundShape(); - cyl0->addChildShape(btTransform::getIdentity(),cylA); - cyl0->addChildShape(btTransform::getIdentity(),cylB); - - btScalar mass = 6.28; - btVector3 localInertia; - cyl0->calculateLocalInertia(mass,localInertia); - btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia); - ci.m_startWorldTransform.setOrigin(btVector3(-8,1,-8)); - - btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia); - m_dynamicsWorld->addRigidBody(body); - body->setLinearFactor(btVector3(0,0,0)); - body->setAngularFactor(btVector3(0,1,0)); - bodyA = body; - } - - { - btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.26,0.2)); - btCollisionShape* cylB = new btCylinderShape(btVector3(L_2,0.025,L_2)); - btCompoundShape* cyl0 = new btCompoundShape(); - cyl0->addChildShape(btTransform::getIdentity(),cylA); - cyl0->addChildShape(btTransform::getIdentity(),cylB); - - btScalar mass = 6.28; - btVector3 localInertia; - cyl0->calculateLocalInertia(mass,localInertia); - btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia); - ci.m_startWorldTransform.setOrigin(btVector3(-10,2,-8)); - - - btQuaternion orn(btVector3(0,0,1),-THETA); - ci.m_startWorldTransform.setRotation(orn); - - btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia); - body->setLinearFactor(btVector3(0,0,0)); - btHingeConstraint* hinge = new btHingeConstraint(*body,btVector3(0,0,0),btVector3(0,1,0),true); - m_dynamicsWorld->addConstraint(hinge); - bodyB= body; - body->setAngularVelocity(btVector3(0,3,0)); - - m_dynamicsWorld->addRigidBody(body); - } - - btVector3 axisA(0,1,0); - btVector3 axisB(0,1,0); - btQuaternion orn(btVector3(0,0,1),-THETA); - btMatrix3x3 mat(orn); - axisB = mat.getRow(1); - - btGearConstraint* gear = new btGearConstraint(*bodyA,*bodyB, axisA,axisB,RATIO); - m_dynamicsWorld->addConstraint(gear,true); - - -#endif - - -#if ENABLE_ALL_DEMOS - //point to point constraint with a breaking threshold - { - trans.setIdentity(); - trans.setOrigin(btVector3(1,30,-5)); - createRigidBody( mass,trans,shape); - trans.setOrigin(btVector3(0,0,-5)); - - btRigidBody* body0 = createRigidBody( mass,trans,shape); - trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0)); - mass = 1.f; - // btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape); - btVector3 pivotInA(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0); - btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA); - m_dynamicsWorld->addConstraint(p2p); - p2p ->setBreakingImpulseThreshold(10.2); - p2p->setDbgDrawSize(btScalar(5.f)); - } -#endif - - - -#if ENABLE_ALL_DEMOS - //point to point constraint (ball socket) - { - btRigidBody* body0 = createRigidBody( mass,trans,shape); - trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0)); - - mass = 1.f; -// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape); -// btRigidBody* body1 = createRigidBody( 0.0,trans,0); - //body1->setActivationState(DISABLE_DEACTIVATION); - //body1->setDamping(0.3,0.3); - - btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS); - btVector3 axisInA(0,0,1); - - // btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA; -// btVector3 axisInB = body1? -// (body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) : - body0->getCenterOfMassTransform().getBasis() * axisInA; - -#define P2P -#ifdef P2P - btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA); - //btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB); - //btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB); - m_dynamicsWorld->addConstraint(p2p); - p2p->setDbgDrawSize(btScalar(5.f)); -#else - btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA); - - //use zero targetVelocity and a small maxMotorImpulse to simulate joint friction - //float targetVelocity = 0.f; - //float maxMotorImpulse = 0.01; - float targetVelocity = 1.f; - float maxMotorImpulse = 1.0f; - hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse); - m_dynamicsWorld->addConstraint(hinge); - hinge->setDbgDrawSize(btScalar(5.f)); -#endif //P2P - - - - - } -#endif - - -#if ENABLE_ALL_DEMOS - { - btTransform trans; - trans.setIdentity(); - btVector3 worldPos(-20,0,30); - trans.setOrigin(worldPos); - - btTransform frameInA, frameInB; - frameInA = btTransform::getIdentity(); - frameInB = btTransform::getIdentity(); - - btRigidBody* pRbA1 = createRigidBody(mass, trans, shape); -// btRigidBody* pRbA1 = createRigidBody(0.f, trans, shape); - pRbA1->setActivationState(DISABLE_DEACTIVATION); - - // add dynamic rigid body B1 - worldPos.setValue(-30,0,30); - trans.setOrigin(worldPos); - btRigidBody* pRbB1 = createRigidBody(mass, trans, shape); -// btRigidBody* pRbB1 = createRigidBody(0.f, trans, shape); - pRbB1->setActivationState(DISABLE_DEACTIVATION); - - // create slider constraint between A1 and B1 and add it to world - - btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true); -// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false); - spSlider1->setLowerLinLimit(-15.0F); - spSlider1->setUpperLinLimit(-5.0F); -// spSlider1->setLowerLinLimit(5.0F); -// spSlider1->setUpperLinLimit(15.0F); -// spSlider1->setLowerLinLimit(-10.0F); -// spSlider1->setUpperLinLimit(-10.0F); - - spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F); - spSlider1->setUpperAngLimit( SIMD_PI / 3.0F); - - - m_dynamicsWorld->addConstraint(spSlider1, true); - spSlider1->setDbgDrawSize(btScalar(5.f)); - } -#endif - -#if ENABLE_ALL_DEMOS - //create a slider, using the generic D6 constraint - { - mass = 1.f; - btVector3 sliderWorldPos(0,10,0); - btVector3 sliderAxis(1,0,0); - btScalar angle=0.f;//SIMD_RADS_PER_DEG * 10.f; - btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle)); - trans.setIdentity(); - trans.setOrigin(sliderWorldPos); - //trans.setBasis(sliderOrientation); - sliderTransform = trans; - - d6body0 = createRigidBody( mass,trans,shape); - d6body0->setActivationState(DISABLE_DEACTIVATION); - btRigidBody* fixedBody1 = createRigidBody(0,trans,0); - m_dynamicsWorld->addRigidBody(fixedBody1); - - btTransform frameInA, frameInB; - frameInA = btTransform::getIdentity(); - frameInB = btTransform::getIdentity(); - frameInA.setOrigin(btVector3(0., 5., 0.)); - frameInB.setOrigin(btVector3(0., 5., 0.)); - -// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits - bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits - spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA); - spSlider6Dof->setLinearLowerLimit(lowerSliderLimit); - spSlider6Dof->setLinearUpperLimit(hiSliderLimit); - - //range should be small, otherwise singularities will 'explode' the constraint -// spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0)); -// spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0)); -// spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0)); -// spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0)); - spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI,0,0)); - spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0)); - - spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true; - spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f; - spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f; - - - m_dynamicsWorld->addConstraint(spSlider6Dof); - spSlider6Dof->setDbgDrawSize(btScalar(5.f)); - - } -#endif -#if ENABLE_ALL_DEMOS - { // create a door using hinge constraint attached to the world - btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f)); - m_collisionShapes.push_back(pDoorShape); - btTransform doorTrans; - doorTrans.setIdentity(); - doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f)); - btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape); - pDoorBody->setActivationState(DISABLE_DEACTIVATION); - const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside - btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis - - spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA ); - -// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 ); - // test problem values -// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f); - -// spDoorHinge->setLimit( 1.f, -1.f); -// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI); -// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f); -// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits" - spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f ); -// spDoorHinge->setLimit( 0.0f, 0.0f ); - m_dynamicsWorld->addConstraint(spDoorHinge); - spDoorHinge->setDbgDrawSize(btScalar(5.f)); - - //doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f)); - //btRigidBody* pDropBody = createRigidBody( 10.0, doorTrans, shape); - } -#endif -#if ENABLE_ALL_DEMOS - { // create a generic 6DOF constraint - - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.))); - tr.getBasis().setEulerZYX(0,0,0); -// btRigidBody* pBodyA = createRigidBody( mass, tr, shape); - btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape); -// btRigidBody* pBodyA = createRigidBody( 0.0, tr, 0); - pBodyA->setActivationState(DISABLE_DEACTIVATION); - - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.))); - tr.getBasis().setEulerZYX(0,0,0); - btRigidBody* pBodyB = createRigidBody(mass, tr, shape); -// btRigidBody* pBodyB = createRigidBody(0.f, tr, shape); - pBodyB->setActivationState(DISABLE_DEACTIVATION); - - btTransform frameInA, frameInB; - frameInA = btTransform::getIdentity(); - frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.))); - frameInB = btTransform::getIdentity(); - frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.))); - - btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true); -// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false); - pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.)); - pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.)); -// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.)); -// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.)); -// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.)); -// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.)); - -// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true; -// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f; -// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f; - - -// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.)); -// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.)); -// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI)); -// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI)); - - pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f)); - pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f)); -// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f)); -// pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f)); -// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f)); -// pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f)); - - - -// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5)); -// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5)); -// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.)); -// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.)); -// pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.)); -// pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.)); -// pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.)); -// pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.)); - - m_dynamicsWorld->addConstraint(pGen6DOF, true); - pGen6DOF->setDbgDrawSize(btScalar(5.f)); - } -#endif -#if ENABLE_ALL_DEMOS - { // create a ConeTwist constraint - - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.))); - tr.getBasis().setEulerZYX(0,0,0); - btRigidBody* pBodyA = createRigidBody( 1.0, tr, shape); -// btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape); - pBodyA->setActivationState(DISABLE_DEACTIVATION); - - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.))); - tr.getBasis().setEulerZYX(0,0,0); - btRigidBody* pBodyB = createRigidBody(0.0, tr, shape); -// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape); - - btTransform frameInA, frameInB; - frameInA = btTransform::getIdentity(); - frameInA.getBasis().setEulerZYX(0, 0, SIMD_PI_2); - frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.))); - frameInB = btTransform::getIdentity(); - frameInB.getBasis().setEulerZYX(0,0, SIMD_PI_2); - frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.))); - - m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB); -// m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f); -// m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit - m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f); - m_dynamicsWorld->addConstraint(m_ctc, true); - m_ctc->setDbgDrawSize(btScalar(5.f)); - // s_bTestConeTwistMotor = true; // use only with old solver for now - s_bTestConeTwistMotor = false; - } -#endif -#if ENABLE_ALL_DEMOS - { // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver) - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.))); - btRigidBody* pBody = createRigidBody( 1.0, tr, shape); - pBody->setActivationState(DISABLE_DEACTIVATION); - const btVector3 btPivotA( 10.0f, 0.0f, 0.0f ); - btVector3 btAxisA( 0.0f, 0.0f, 1.0f ); - - btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA ); -// pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver - pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver - m_dynamicsWorld->addConstraint(pHinge); - pHinge->setDbgDrawSize(btScalar(5.f)); - } -#endif - -#if ENABLE_ALL_DEMOS - { - // create a universal joint using generic 6DOF constraint - // create two rigid bodies - // static bodyA (parent) on top: - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.))); - btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape); - pBodyA->setActivationState(DISABLE_DEACTIVATION); - // dynamic bodyB (child) below it : - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(20.), btScalar(0.), btScalar(0.))); - btRigidBody* pBodyB = createRigidBody(1.0, tr, shape); - pBodyB->setActivationState(DISABLE_DEACTIVATION); - // add some (arbitrary) data to build constraint frames - btVector3 parentAxis(1.f, 0.f, 0.f); - btVector3 childAxis(0.f, 0.f, 1.f); - btVector3 anchor(20.f, 2.f, 0.f); - - btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis); - pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f); - pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f); - // add constraint to world - m_dynamicsWorld->addConstraint(pUniv, true); - // draw constraint frames and limits for debugging - pUniv->setDbgDrawSize(btScalar(5.f)); - } -#endif - -#if ENABLE_ALL_DEMOS - { // create a generic 6DOF constraint with springs - - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.))); - tr.getBasis().setEulerZYX(0,0,0); - btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape); - pBodyA->setActivationState(DISABLE_DEACTIVATION); - - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.))); - tr.getBasis().setEulerZYX(0,0,0); - btRigidBody* pBodyB = createRigidBody(1.0, tr, shape); - pBodyB->setActivationState(DISABLE_DEACTIVATION); - - btTransform frameInA, frameInB; - frameInA = btTransform::getIdentity(); - frameInA.setOrigin(btVector3(btScalar(10.), btScalar(0.), btScalar(0.))); - frameInB = btTransform::getIdentity(); - frameInB.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.))); - - btGeneric6DofSpringConstraint* pGen6DOFSpring = new btGeneric6DofSpringConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true); - pGen6DOFSpring->setLinearUpperLimit(btVector3(5., 0., 0.)); - pGen6DOFSpring->setLinearLowerLimit(btVector3(-5., 0., 0.)); - - pGen6DOFSpring->setAngularLowerLimit(btVector3(0.f, 0.f, -1.5f)); - pGen6DOFSpring->setAngularUpperLimit(btVector3(0.f, 0.f, 1.5f)); - - m_dynamicsWorld->addConstraint(pGen6DOFSpring, true); - pGen6DOFSpring->setDbgDrawSize(btScalar(5.f)); - - pGen6DOFSpring->enableSpring(0, true); - pGen6DOFSpring->setStiffness(0, 39.478f); - pGen6DOFSpring->setDamping(0, 0.5f); - pGen6DOFSpring->enableSpring(5, true); - pGen6DOFSpring->setStiffness(5, 39.478f); - pGen6DOFSpring->setDamping(0, 0.3f); - pGen6DOFSpring->setEquilibriumPoint(); - } -#endif -#if ENABLE_ALL_DEMOS - { - // create a Hinge2 joint - // create two rigid bodies - // static bodyA (parent) on top: - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.))); - btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape); - pBodyA->setActivationState(DISABLE_DEACTIVATION); - // dynamic bodyB (child) below it : - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(-20.), btScalar(0.), btScalar(0.))); - btRigidBody* pBodyB = createRigidBody(1.0, tr, shape); - pBodyB->setActivationState(DISABLE_DEACTIVATION); - // add some data to build constraint frames - btVector3 parentAxis(0.f, 1.f, 0.f); - btVector3 childAxis(1.f, 0.f, 0.f); - btVector3 anchor(-20.f, 0.f, 0.f); - btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis); - pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f); - pHinge2->setUpperLimit( SIMD_HALF_PI * 0.5f); - // add constraint to world - m_dynamicsWorld->addConstraint(pHinge2, true); - // draw constraint frames and limits for debugging - pHinge2->setDbgDrawSize(btScalar(5.f)); - } -#endif -#if ENABLE_ALL_DEMOS - { - // create a Hinge joint between two dynamic bodies - // create two rigid bodies - // static bodyA (parent) on top: - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.))); - btRigidBody* pBodyA = createRigidBody( 1.0f, tr, shape); - pBodyA->setActivationState(DISABLE_DEACTIVATION); - // dynamic bodyB: - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.))); - btRigidBody* pBodyB = createRigidBody(10.0, tr, shape); - pBodyB->setActivationState(DISABLE_DEACTIVATION); - // add some data to build constraint frames - btVector3 axisA(0.f, 1.f, 0.f); - btVector3 axisB(0.f, 1.f, 0.f); - btVector3 pivotA(-5.f, 0.f, 0.f); - btVector3 pivotB( 5.f, 0.f, 0.f); - spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB); - spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f); - // add constraint to world - m_dynamicsWorld->addConstraint(spHingeDynAB, true); - // draw constraint frames and limits for debugging - spHingeDynAB->setDbgDrawSize(btScalar(5.f)); - } -#endif - -#if ENABLE_ALL_DEMOS - { // 6DOF connected to the world, with motor - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(btScalar(10.), btScalar(-15.), btScalar(0.))); - btRigidBody* pBody = createRigidBody( 1.0, tr, shape); - pBody->setActivationState(DISABLE_DEACTIVATION); - btTransform frameB; - frameB.setIdentity(); - btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint( *pBody, frameB, false ); - m_dynamicsWorld->addConstraint(pGen6Dof); - pGen6Dof->setDbgDrawSize(btScalar(5.f)); - - pGen6Dof->setAngularLowerLimit(btVector3(0,0,0)); - pGen6Dof->setAngularUpperLimit(btVector3(0,0,0)); - pGen6Dof->setLinearLowerLimit(btVector3(-10., 0, 0)); - pGen6Dof->setLinearUpperLimit(btVector3(10., 0, 0)); - - pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true; - pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f; - pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f; - } -#endif - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); - - -} - -void AllConstraintDemo::exitPhysics() -{ - - int i; - - //removed/delete constraints - for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--) - { - btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i); - m_dynamicsWorld->removeConstraint(constraint); - delete constraint; - } - m_ctc = NULL; - - //remove the rigidbodies from the dynamics world and delete them - for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject( obj ); - delete obj; - } - - - - - //delete collision shapes - for (int j=0;jenableMotor(true); - m_ctc->setMotorTargetInConstraintSpace(q1); - } - - { - static bool once = true; - if ( m_dynamicsWorld->getDebugDrawer() && once) - { - m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits); - once=false; - } - } - - - { - //during idle mode, just run 1 simulation step maximum - int maxSimSubSteps = m_idle ? 1 : 1; - if (m_idle) - dt = 1.0f/420.f; - - int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps); - - //optional but useful: debug drawing - m_dynamicsWorld->debugDrawWorld(); - - bool verbose = false; - if (verbose) - { - if (!numSimSteps) - printf("Interpolated transforms\n"); - else - { - if (numSimSteps > maxSimSubSteps) - { - //detect dropping frames - printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps); - } else - { - printf("Simulated (%i) steps\n",numSimSteps); - } - } - } - } - renderme(); - -// drawLimit(); - - glFlush(); - swapBuffers(); -} - - - - -void AllConstraintDemo::displayCallback(void) { - - glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - if (m_dynamicsWorld) - m_dynamicsWorld->debugDrawWorld(); - -// drawLimit(); - - renderme(); - - glFlush(); - swapBuffers(); -} -#endif - -bool AllConstraintDemo::keyboardCallback(int key, int state) -{ - - bool handled = false; - - switch (key) - { - case 'O' : - { - bool offectOnOff; - if(spDoorHinge) - { - offectOnOff = spDoorHinge->getUseFrameOffset(); - offectOnOff = !offectOnOff; - spDoorHinge->setUseFrameOffset(offectOnOff); - printf("DoorHinge %s frame offset\n", offectOnOff ? "uses" : "does not use"); - } - if(spHingeDynAB) - { - offectOnOff = spHingeDynAB->getUseFrameOffset(); - offectOnOff = !offectOnOff; - spHingeDynAB->setUseFrameOffset(offectOnOff); - printf("HingeDynAB %s frame offset\n", offectOnOff ? "uses" : "does not use"); - } - if(spSlider6Dof) - { - offectOnOff = spSlider6Dof->getUseFrameOffset(); - offectOnOff = !offectOnOff; - spSlider6Dof->setUseFrameOffset(offectOnOff); - printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use"); - } - } - handled = true; - break; - default : - { - - } - break; - } - return handled; - -} - -class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options) -{ - return new AllConstraintDemo(options.m_guiHelper); -} \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/examples/Constraints/ConstraintDemo.h bullet-2.87+dfsg/examples/Constraints/ConstraintDemo.h --- bullet-2.86.1+dfsg/examples/Constraints/ConstraintDemo.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Constraints/ConstraintDemo.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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 ALL_CONSTRAINT_DEMO_H -#define ALL_CONSTRAINT_DEMO_H - -class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options); - - -#endif //ALL_CONSTRAINT_DEMO_H - diff -Nru bullet-2.86.1+dfsg/examples/Constraints/ConstraintPhysicsSetup.cpp bullet-2.87+dfsg/examples/Constraints/ConstraintPhysicsSetup.cpp --- bullet-2.86.1+dfsg/examples/Constraints/ConstraintPhysicsSetup.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Constraints/ConstraintPhysicsSetup.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,161 +0,0 @@ -#include "ConstraintPhysicsSetup.h" - - -#include "../CommonInterfaces/CommonRigidBodyBase.h" -#include "../CommonInterfaces/CommonParameterInterface.h" - - - -struct ConstraintPhysicsSetup : public CommonRigidBodyBase -{ - ConstraintPhysicsSetup(struct GUIHelperInterface* helper); - virtual ~ConstraintPhysicsSetup(); - virtual void initPhysics(); - - virtual void stepSimulation(float deltaTime); - - - virtual void resetCamera() - { - float dist = 7; - float pitch = 721; - float yaw = 44; - float targetPos[3]={8,1,-11}; - m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } - - -}; - -ConstraintPhysicsSetup::ConstraintPhysicsSetup(struct GUIHelperInterface* helper) -:CommonRigidBodyBase(helper) -{ -} -ConstraintPhysicsSetup::~ConstraintPhysicsSetup() -{ -} - -static btScalar val; -static btScalar targetVel=0; -static btScalar maxImpulse=10000; -static btHingeAccumulatedAngleConstraint* spDoorHinge=0; -static btScalar actualHingeVelocity=0.f; - -static btVector3 btAxisA(0,1,0); - -void ConstraintPhysicsSetup::stepSimulation(float deltaTime) -{ - val=spDoorHinge->getAccumulatedHingeAngle()*SIMD_DEGS_PER_RAD; - if (m_dynamicsWorld) - { - spDoorHinge->enableAngularMotor(true,targetVel,maxImpulse); - - m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.); - - - btHingeConstraint* hinge = spDoorHinge; - - if (hinge) - { - - const btRigidBody& bodyA = hinge->getRigidBodyA(); - const btRigidBody& bodyB = hinge->getRigidBodyB(); - - - btTransform trA = bodyA.getWorldTransform(); - btVector3 angVelA = bodyA.getAngularVelocity(); - btVector3 angVelB = bodyB.getAngularVelocity(); - - { - btVector3 ax1 = trA.getBasis()*hinge->getFrameOffsetA().getBasis().getColumn(2); - btScalar vel = angVelA.dot(ax1); - vel -= angVelB.dot(ax1); - printf("hinge velocity (q) = %f\n", vel); - actualHingeVelocity=vel; - } - btVector3 ortho0,ortho1; - btPlaneSpace1(btAxisA,ortho0,ortho1); - { - - btScalar vel2 = angVelA.dot(ortho0); - vel2 -= angVelB.dot(ortho0); - printf("hinge orthogonal1 velocity (q) = %f\n", vel2); - } - { - - btScalar vel0 = angVelA.dot(ortho1); - vel0 -= angVelB.dot(ortho1); - printf("hinge orthogonal0 velocity (q) = %f\n", vel0); - } - } - } -} - - - -void ConstraintPhysicsSetup::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - createEmptyDynamicsWorld(); - - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - int mode = btIDebugDraw::DBG_DrawWireframe - +btIDebugDraw::DBG_DrawConstraints - +btIDebugDraw::DBG_DrawConstraintLimits; - m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode); - - - { - SliderParams slider("target vel",&targetVel); - slider.m_minVal=-4; - slider.m_maxVal=4; - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } - - { - SliderParams slider("max impulse",&maxImpulse); - slider.m_minVal=0; - slider.m_maxVal=1000; - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } - - { - SliderParams slider("actual vel",&actualHingeVelocity); - slider.m_minVal=-4; - slider.m_maxVal=4; - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } - - val=1.f; - { - SliderParams slider("angle",&val); - slider.m_minVal=-720; - slider.m_maxVal=720; - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } - - { // create a door using hinge constraint attached to the world - btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f)); - m_collisionShapes.push_back(pDoorShape); - btTransform doorTrans; - doorTrans.setIdentity(); - doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f)); - btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape); - pDoorBody->setActivationState(DISABLE_DEACTIVATION); - const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside - - spDoorHinge = new btHingeAccumulatedAngleConstraint( *pDoorBody, btPivotA, btAxisA ); - - m_dynamicsWorld->addConstraint(spDoorHinge); - - spDoorHinge->setDbgDrawSize(btScalar(5.f)); - } - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -class CommonExampleInterface* ConstraintCreateFunc(CommonExampleOptions& options) -{ - return new ConstraintPhysicsSetup(options.m_guiHelper); -} diff -Nru bullet-2.86.1+dfsg/examples/Constraints/ConstraintPhysicsSetup.h bullet-2.87+dfsg/examples/Constraints/ConstraintPhysicsSetup.h --- bullet-2.86.1+dfsg/examples/Constraints/ConstraintPhysicsSetup.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Constraints/ConstraintPhysicsSetup.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,6 +0,0 @@ -#ifndef CONSTAINT_PHYSICS_SETUP_H -#define CONSTAINT_PHYSICS_SETUP_H - -class CommonExampleInterface* ConstraintCreateFunc(struct CommonExampleOptions& options); - -#endif //CONSTAINT_PHYSICS_SETUP_H diff -Nru bullet-2.86.1+dfsg/examples/Constraints/Dof6Spring2Setup.cpp bullet-2.87+dfsg/examples/Constraints/Dof6Spring2Setup.cpp --- bullet-2.86.1+dfsg/examples/Constraints/Dof6Spring2Setup.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Constraints/Dof6Spring2Setup.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,501 +0,0 @@ -#include "Dof6Spring2Setup.h" - -#include "btBulletDynamicsCommon.h" -#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h" -#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h" -#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h" -#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h" -#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h" - -#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h" - - -#ifndef M_PI -#define M_PI 3.14159265358979323846 -#endif - -#ifndef M_PI_2 -#define M_PI_2 1.57079632679489661923 -#endif - -#ifndef M_PI_4 -#define M_PI_4 0.785398163397448309616 -#endif - - -extern float g_additionalBodyMass; - -//comment this out to compare with original spring constraint -#define USE_6DOF2 -#ifdef USE_6DOF2 - #define CONSTRAINT_TYPE btGeneric6DofSpring2Constraint - #define EXTRAPARAMS -#else - #define CONSTRAINT_TYPE btGeneric6DofSpringConstraint - #define EXTRAPARAMS ,true -#endif - -#include "../CommonInterfaces/CommonRigidBodyBase.h" - - - - -struct Dof6Spring2Setup : public CommonRigidBodyBase -{ - struct Dof6Spring2SetupInternalData* m_data; - - Dof6Spring2Setup(struct GUIHelperInterface* helper); - virtual ~Dof6Spring2Setup(); - virtual void initPhysics(); - - virtual void stepSimulation(float deltaTime); - - void animate(); - - virtual void resetCamera() - { - float dist = 5; - float pitch = 722; - float yaw = 35; - float targetPos[3]={4,2,-11}; - m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } -}; - - - -struct Dof6Spring2SetupInternalData -{ - btRigidBody* m_TranslateSpringBody; - btRigidBody* m_TranslateSpringBody2; - btRigidBody* m_RotateSpringBody; - btRigidBody* m_RotateSpringBody2; - btRigidBody* m_BouncingTranslateBody; - btRigidBody* m_MotorBody; - btRigidBody* m_ServoMotorBody; - btRigidBody* m_ChainLeftBody; - btRigidBody* m_ChainRightBody; - CONSTRAINT_TYPE* m_ServoMotorConstraint; - CONSTRAINT_TYPE* m_ChainLeftConstraint; - CONSTRAINT_TYPE* m_ChainRightConstraint; - - - float mDt; - - unsigned int frameID; - Dof6Spring2SetupInternalData() - : mDt(1./60.),frameID(0) - { - } -}; - -Dof6Spring2Setup::Dof6Spring2Setup(struct GUIHelperInterface* helper) - :CommonRigidBodyBase(helper) -{ - m_data = new Dof6Spring2SetupInternalData; -} -Dof6Spring2Setup::~Dof6Spring2Setup() -{ - exitPhysics(); - delete m_data; -} -void Dof6Spring2Setup::initPhysics() -{ - // Setup the basic world - - m_guiHelper->setUpAxis(1); - - m_collisionConfiguration = new btDefaultCollisionConfiguration(); - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - btVector3 worldAabbMin(-10000,-10000,-10000); - btVector3 worldAabbMax(10000,10000,10000); - m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax); - -/////// uncomment the corresponding line to test a solver. - //m_solver = new btSequentialImpulseConstraintSolver; - m_solver = new btNNCGConstraintSolver; - //m_solver = new btMLCPSolver(new btSolveProjectedGaussSeidel()); - //m_solver = new btMLCPSolver(new btDantzigSolver()); - //m_solver = new btMLCPSolver(new btLemkeSolver()); - - m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); - m_dynamicsWorld->getDispatchInfo().m_useContinuous = true; - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - m_dynamicsWorld->setGravity(btVector3(0,0,0)); - - // Setup a big ground box - { - btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(5.),btScalar(200.))); - btTransform groundTransform; - groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0,-10,0)); -#define CREATE_GROUND_COLLISION_OBJECT 1 -#ifdef CREATE_GROUND_COLLISION_OBJECT - btCollisionObject* fixedGround = new btCollisionObject(); - fixedGround->setCollisionShape(groundShape); - fixedGround->setWorldTransform(groundTransform); - m_dynamicsWorld->addCollisionObject(fixedGround); -#else - localCreateRigidBody(btScalar(0.),groundTransform,groundShape); -#endif //CREATE_GROUND_COLLISION_OBJECT - } - - m_dynamicsWorld->getSolverInfo().m_numIterations = 100; - - btCollisionShape* shape; - btVector3 localInertia(0,0,0); - btDefaultMotionState* motionState; - btTransform bodyTransform; - btScalar mass; - btTransform localA; - btTransform localB; - CONSTRAINT_TYPE* constraint; - - //static body centered in the origo - mass = 0.0; - shape= new btBoxShape(btVector3(0.5,0.5,0.5)); - localInertia = btVector3(0,0,0); - bodyTransform.setIdentity(); - motionState = new btDefaultMotionState(bodyTransform); - btRigidBody* staticBody = new btRigidBody(mass,motionState,shape,localInertia); - -/////////// box with undamped translate spring attached to static body -/////////// the box should oscillate left-to-right forever - { - mass = 1.0; - shape= new btBoxShape(btVector3(0.5,0.5,0.5)); - shape->calculateLocalInertia(mass,localInertia); - bodyTransform.setIdentity(); - bodyTransform.setOrigin(btVector3(-2,0,-5)); - motionState = new btDefaultMotionState(bodyTransform); - m_data->m_TranslateSpringBody = new btRigidBody(mass,motionState,shape,localInertia); - m_data->m_TranslateSpringBody->setActivationState(DISABLE_DEACTIVATION); - m_dynamicsWorld->addRigidBody(m_data->m_TranslateSpringBody); - localA.setIdentity();localA.getOrigin() = btVector3(0,0,-5); - localB.setIdentity(); - constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_TranslateSpringBody, localA, localB EXTRAPARAMS); - constraint->setLimit(0, 1,-1); - constraint->setLimit(1, 0, 0); - constraint->setLimit(2, 0, 0); - constraint->setLimit(3, 0, 0); - constraint->setLimit(4, 0, 0); - constraint->setLimit(5, 0, 0); - constraint->enableSpring(0, true); - constraint->setStiffness(0, 100); - #ifdef USE_6DOF2 - constraint->setDamping(0, 0); - #else - constraint->setDamping(0, 1); - #endif - constraint->setEquilibriumPoint(0, 0); - constraint->setDbgDrawSize(btScalar(2.f)); - m_dynamicsWorld->addConstraint(constraint, true); - } - -/////////// box with rotate spring, attached to static body -/////////// box should swing (rotate) left-to-right forever - { - mass = 1.0; - shape= new btBoxShape(btVector3(0.5,0.5,0.5)); - shape->calculateLocalInertia(mass,localInertia); - bodyTransform.setIdentity(); - bodyTransform.getBasis().setEulerZYX(0,0,M_PI_2); - motionState = new btDefaultMotionState(bodyTransform); - m_data->m_RotateSpringBody = new btRigidBody(mass,motionState,shape,localInertia); - m_data->m_RotateSpringBody->setActivationState(DISABLE_DEACTIVATION); - m_dynamicsWorld->addRigidBody(m_data->m_RotateSpringBody); - localA.setIdentity();localA.getOrigin() = btVector3(0,0,0); - localB.setIdentity();localB.setOrigin(btVector3(0,0.5,0)); - constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_RotateSpringBody, localA, localB EXTRAPARAMS); - constraint->setLimit(0, 0, 0); - constraint->setLimit(1, 0, 0); - constraint->setLimit(2, 0, 0); - constraint->setLimit(3, 0, 0); - constraint->setLimit(4, 0, 0); - constraint->setLimit(5, 1, -1); - constraint->enableSpring(5, true); - constraint->setStiffness(5, 100); - #ifdef USE_6DOF2 - constraint->setDamping(5, 0); - #else - constraint->setDamping(5, 1); - #endif - constraint->setEquilibriumPoint(0, 0); - constraint->setDbgDrawSize(btScalar(2.f)); - m_dynamicsWorld->addConstraint(constraint, true); - } - -/////////// box with bouncing constraint, translation is bounced at the positive x limit, but not at the negative limit -/////////// bouncing can not be set independently at low and high limits, so two constraints will be created: one that defines the low (non bouncing) limit, and one that defines the high (bouncing) limit -/////////// the box should move to the left (as an impulse will be applied to it periodically) until it reaches its limit, then bounce back - { - mass = 1.0; - shape= new btBoxShape(btVector3(0.5,0.5,0.5)); - shape->calculateLocalInertia(mass,localInertia); - bodyTransform.setIdentity(); - bodyTransform.setOrigin(btVector3(0,0,-3)); - motionState = new btDefaultMotionState(bodyTransform); - m_data->m_BouncingTranslateBody = new btRigidBody(mass,motionState,shape,localInertia); - m_data->m_BouncingTranslateBody->setActivationState(DISABLE_DEACTIVATION); - m_data->m_BouncingTranslateBody->setDeactivationTime(btScalar(20000000)); - m_dynamicsWorld->addRigidBody(m_data->m_BouncingTranslateBody); - localA.setIdentity();localA.getOrigin() = btVector3(0,0,0); - localB.setIdentity(); - constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS); - constraint->setLimit(0, -2, SIMD_INFINITY); - constraint->setLimit(1, 0, 0); - constraint->setLimit(2, -3, -3); - constraint->setLimit(3, 0, 0); - constraint->setLimit(4, 0, 0); - constraint->setLimit(5, 0, 0); - #ifdef USE_6DOF2 - constraint->setBounce(0,0); - #else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect - constraint->getTranslationalLimitMotor()->m_restitution = 0.0; - #endif - constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0); - constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0); - constraint->setDbgDrawSize(btScalar(2.f)); - m_dynamicsWorld->addConstraint(constraint, true); - constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS); - constraint->setLimit(0, -SIMD_INFINITY, 2); - constraint->setLimit(1, 0, 0); - constraint->setLimit(2, -3, -3); - constraint->setLimit(3, 0, 0); - constraint->setLimit(4, 0, 0); - constraint->setLimit(5, 0, 0); - #ifdef USE_6DOF2 - constraint->setBounce(0,1); - #else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect - constraint->getTranslationalLimitMotor()->m_restitution = 1.0; - #endif - constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0); - constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0); - constraint->setDbgDrawSize(btScalar(2.f)); - m_dynamicsWorld->addConstraint(constraint, true); - } - -/////////// box with rotational motor, attached to static body -/////////// the box should rotate around the y axis - { - mass = 1.0; - shape= new btBoxShape(btVector3(0.5,0.5,0.5)); - shape->calculateLocalInertia(mass,localInertia); - bodyTransform.setIdentity(); - bodyTransform.setOrigin(btVector3(4,0,0)); - motionState = new btDefaultMotionState(bodyTransform); - m_data->m_MotorBody = new btRigidBody(mass,motionState,shape,localInertia); - m_data->m_MotorBody->setActivationState(DISABLE_DEACTIVATION); - m_dynamicsWorld->addRigidBody(m_data->m_MotorBody); - localA.setIdentity();localA.getOrigin() = btVector3(4,0,0); - localB.setIdentity(); - constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_MotorBody, localA, localB EXTRAPARAMS); - constraint->setLimit(0, 0, 0); - constraint->setLimit(1, 0, 0); - constraint->setLimit(2, 0, 0); - constraint->setLimit(3, 0, 0); - constraint->setLimit(4, 0, 0); - constraint->setLimit(5, 1,-1); - #ifdef USE_6DOF2 - constraint->enableMotor(5,true); - constraint->setTargetVelocity(5,3.f); - constraint->setMaxMotorForce(5,10.f); - #else - constraint->getRotationalLimitMotor(2)->m_enableMotor = true; - constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f; - constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10; - #endif - constraint->setDbgDrawSize(btScalar(2.f)); - m_dynamicsWorld->addConstraint(constraint, true); - } - -/////////// box with rotational servo motor, attached to static body -/////////// the box should rotate around the y axis until it reaches its target -/////////// the target will be negated periodically - { - mass = 1.0; - shape= new btBoxShape(btVector3(0.5,0.5,0.5)); - shape->calculateLocalInertia(mass,localInertia); - bodyTransform.setIdentity(); - bodyTransform.setOrigin(btVector3(7,0,0)); - motionState = new btDefaultMotionState(bodyTransform); - m_data->m_ServoMotorBody = new btRigidBody(mass,motionState,shape,localInertia); - m_data->m_ServoMotorBody->setActivationState(DISABLE_DEACTIVATION); - m_dynamicsWorld->addRigidBody(m_data->m_ServoMotorBody); - localA.setIdentity();localA.getOrigin() = btVector3(7,0,0); - localB.setIdentity(); - constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ServoMotorBody, localA, localB EXTRAPARAMS); - constraint->setLimit(0, 0, 0); - constraint->setLimit(1, 0, 0); - constraint->setLimit(2, 0, 0); - constraint->setLimit(3, 0, 0); - constraint->setLimit(4, 0, 0); - constraint->setLimit(5, 1,-1); - #ifdef USE_6DOF2 - constraint->enableMotor(5,true); - constraint->setTargetVelocity(5,3.f); - constraint->setMaxMotorForce(5,10.f); - constraint->setServo(5,true); - constraint->setServoTarget(5, M_PI_2); - #else - constraint->getRotationalLimitMotor(2)->m_enableMotor = true; - constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f; - constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10; - //servo motor is not implemented in 6dofspring constraint - #endif - constraint->setDbgDrawSize(btScalar(2.f)); - m_dynamicsWorld->addConstraint(constraint, true); - m_data->m_ServoMotorConstraint = constraint; - } - -////////// chain of boxes linked together with fully limited rotational and translational constraints -////////// the chain will be pulled to the left and to the right periodically. They should strictly stick together. - { - btScalar limitConstraintStrength = 0.6; - int bodycount = 10; - btRigidBody* prevBody = 0; - for(int i = 0; i < bodycount; ++i) - { - mass = 1.0; - shape= new btBoxShape(btVector3(0.5,0.5,0.5)); - shape->calculateLocalInertia(mass,localInertia); - bodyTransform.setIdentity(); - bodyTransform.setOrigin(btVector3(- i,0,3)); - motionState = new btDefaultMotionState(bodyTransform); - btRigidBody* body = new btRigidBody(mass,motionState,shape,localInertia); - body->setActivationState(DISABLE_DEACTIVATION); - m_dynamicsWorld->addRigidBody(body); - if(prevBody != 0) - { - localB.setIdentity(); - localB.setOrigin(btVector3(0.5,0,0)); - btTransform localA; - localA.setIdentity(); - localA.setOrigin(btVector3(-0.5,0,0)); - CONSTRAINT_TYPE* constraint = new CONSTRAINT_TYPE(*prevBody, *body, localA, localB EXTRAPARAMS); - constraint->setLimit(0, -0.01, 0.01); - constraint->setLimit(1, 0, 0); - constraint->setLimit(2, 0, 0); - constraint->setLimit(3, 0, 0); - constraint->setLimit(4, 0, 0); - constraint->setLimit(5, 0, 0); - for(int a = 0; a < 6; ++a) - { - constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.9,a); - constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a); - } - constraint->setDbgDrawSize(btScalar(1.f)); - m_dynamicsWorld->addConstraint(constraint, true); - - if(i < bodycount - 1) - { - localA.setIdentity();localA.getOrigin() = btVector3(0,0,3); - localB.setIdentity(); - CONSTRAINT_TYPE* constraintZY = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS); - constraintZY->setLimit(0, 1, -1); - constraintZY->setDbgDrawSize(btScalar(1.f)); - m_dynamicsWorld->addConstraint(constraintZY, true); - - } - } - else - { - localA.setIdentity();localA.getOrigin() = btVector3(bodycount,0,3); - localB.setIdentity(); - localB.setOrigin(btVector3(0,0,0)); - m_data->m_ChainLeftBody = body; - m_data->m_ChainLeftConstraint = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS); - m_data->m_ChainLeftConstraint->setLimit(3,0,0); - m_data->m_ChainLeftConstraint->setLimit(4,0,0); - m_data->m_ChainLeftConstraint->setLimit(5,0,0); - for(int a = 0; a < 6; ++a) - { - m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a); - m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a); - } - m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(1.f)); - m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true); - } - prevBody = body; - } - m_data->m_ChainRightBody = prevBody; - localA.setIdentity();localA.getOrigin() = btVector3(-bodycount,0,3); - localB.setIdentity(); - localB.setOrigin(btVector3(0,0,0)); - m_data->m_ChainRightConstraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ChainRightBody, localA, localB EXTRAPARAMS); - m_data->m_ChainRightConstraint->setLimit(3,0,0); - m_data->m_ChainRightConstraint->setLimit(4,0,0); - m_data->m_ChainRightConstraint->setLimit(5,0,0); - for(int a = 0; a < 6; ++a) - { - m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a); - m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a); - } - } - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - - -void Dof6Spring2Setup::animate() -{ - -/////// servo motor: flip its target periodically -#ifdef USE_6DOF2 - static float servoNextFrame = -1; - if(servoNextFrame < 0) - { - m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1; - servoNextFrame = 3.0; - } - servoNextFrame -= m_data->mDt; -#endif - -/////// constraint chain: pull the chain left and right periodically - static float chainNextFrame = -1; - static bool left = true; - if(chainNextFrame < 0) - { - if(!left) - { - m_data->m_ChainRightBody->setActivationState(ACTIVE_TAG); - m_dynamicsWorld->removeConstraint(m_data->m_ChainRightConstraint); - m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(2.f)); - m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true); - } - else - { - m_data->m_ChainLeftBody->setActivationState(ACTIVE_TAG); - m_dynamicsWorld->removeConstraint(m_data->m_ChainLeftConstraint); - m_data->m_ChainRightConstraint->setDbgDrawSize(btScalar(2.f)); - m_dynamicsWorld->addConstraint(m_data->m_ChainRightConstraint, true); - } - chainNextFrame = 3.0; - left = !left; - } - chainNextFrame -= m_data->mDt; - -/////// bouncing constraint: push the box periodically - m_data->m_BouncingTranslateBody->setActivationState(ACTIVE_TAG); - static float bounceNextFrame = -1; - if(bounceNextFrame < 0) - { - m_data->m_BouncingTranslateBody->applyCentralImpulse(btVector3(10,0,0)); - bounceNextFrame = 3.0; - } - bounceNextFrame -= m_data->mDt; - - m_data->frameID++; -} - - -void Dof6Spring2Setup::stepSimulation(float deltaTime) -{ - animate(); - m_dynamicsWorld->stepSimulation(deltaTime); -} - -class CommonExampleInterface* Dof6Spring2CreateFunc( CommonExampleOptions& options) -{ - return new Dof6Spring2Setup(options.m_guiHelper); -} diff -Nru bullet-2.86.1+dfsg/examples/Constraints/Dof6Spring2Setup.h bullet-2.87+dfsg/examples/Constraints/Dof6Spring2Setup.h --- bullet-2.86.1+dfsg/examples/Constraints/Dof6Spring2Setup.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Constraints/Dof6Spring2Setup.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,6 +0,0 @@ -#ifndef GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H -#define GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H - -class CommonExampleInterface* Dof6Spring2CreateFunc(struct CommonExampleOptions& options); - -#endif //GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H diff -Nru bullet-2.86.1+dfsg/examples/Constraints/TestHingeTorque.cpp bullet-2.87+dfsg/examples/Constraints/TestHingeTorque.cpp --- bullet-2.86.1+dfsg/examples/Constraints/TestHingeTorque.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Constraints/TestHingeTorque.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,241 +0,0 @@ -#include "TestHingeTorque.h" - - -#include "../CommonInterfaces/CommonRigidBodyBase.h" -#include "../CommonInterfaces/CommonParameterInterface.h" - -int collisionFilterGroup = int(btBroadphaseProxy::CharacterFilter); -int collisionFilterMask = int(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter)); -static btScalar radius(0.2); - -struct TestHingeTorque : public CommonRigidBodyBase -{ - bool m_once; - btAlignedObjectArray m_jointFeedback; - - TestHingeTorque(struct GUIHelperInterface* helper); - virtual ~ TestHingeTorque(); - virtual void initPhysics(); - - virtual void stepSimulation(float deltaTime); - - - virtual void resetCamera() - { - - float dist = 5; - float pitch = 270; - float yaw = 21; - float targetPos[3]={-1.34,3.4,-0.44}; - m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } - - -}; - -TestHingeTorque::TestHingeTorque(struct GUIHelperInterface* helper) -:CommonRigidBodyBase(helper), -m_once(true) -{ -} -TestHingeTorque::~ TestHingeTorque() -{ - for (int i=0;igetConstraint(0); - - btRigidBody& bodyA = hinge->getRigidBodyA(); - btTransform trA = bodyA.getWorldTransform(); - btVector3 hingeAxisInWorld = trA.getBasis()*hinge->getFrameOffsetA().getBasis().getColumn(2); - hinge->getRigidBodyA().applyTorque(-hingeAxisInWorld*10); - hinge->getRigidBodyB().applyTorque(hingeAxisInWorld*10); - - } - - m_dynamicsWorld->stepSimulation(1./240,0); - - static int count = 0; - if ((count& 0x0f)==0) - { - btRigidBody* base = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[0]); - - b3Printf("base angvel = %f,%f,%f",base->getAngularVelocity()[0], - base->getAngularVelocity()[1], - - base->getAngularVelocity()[2]); - - btRigidBody* child = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[1]); - - - b3Printf("child angvel = %f,%f,%f",child->getAngularVelocity()[0], - child->getAngularVelocity()[1], - - child->getAngularVelocity()[2]); - - for (int i=0;im_appliedForceBodyB.x(), - m_jointFeedback[i]->m_appliedForceBodyB.y(), - m_jointFeedback[i]->m_appliedForceBodyB.z(), - m_jointFeedback[i]->m_appliedTorqueBodyB.x(), - m_jointFeedback[i]->m_appliedTorqueBodyB.y(), - m_jointFeedback[i]->m_appliedTorqueBodyB.z()); - } - } - count++; - - //CommonRigidBodyBase::stepSimulation(deltaTime); -} - - - -void TestHingeTorque::initPhysics() -{ - int upAxis = 1; - m_guiHelper->setUpAxis(upAxis); - - createEmptyDynamicsWorld(); - m_dynamicsWorld->getSolverInfo().m_splitImpulse = false; - - m_dynamicsWorld->setGravity(btVector3(0,0,-10)); - - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - int mode = btIDebugDraw::DBG_DrawWireframe - +btIDebugDraw::DBG_DrawConstraints - +btIDebugDraw::DBG_DrawConstraintLimits; - m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode); - - - { // create a door using hinge constraint attached to the world - - int numLinks = 2; - // bool selfCollide = false; - btVector3 linkHalfExtents(0.05, 0.37, 0.1); - btVector3 baseHalfExtents(0.05, 0.37, 0.1); - - btBoxShape* baseBox = new btBoxShape(baseHalfExtents); - btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f); - btTransform baseWorldTrans; - baseWorldTrans.setIdentity(); - baseWorldTrans.setOrigin(basePosition); - - //mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm - //init the base - btVector3 baseInertiaDiag(0.f, 0.f, 0.f); - float baseMass = 0.f; - float linkMass = 1.f; - - btRigidBody* base = createRigidBody(baseMass,baseWorldTrans,baseBox); - m_dynamicsWorld->removeRigidBody(base); - base->setDamping(0,0); - m_dynamicsWorld->addRigidBody(base,collisionFilterGroup,collisionFilterMask); - btBoxShape* linkBox1 = new btBoxShape(linkHalfExtents); - btSphereShape* linkSphere = new btSphereShape(radius); - - btRigidBody* prevBody = base; - - for (int i=0;iremoveRigidBody(linkBody); - m_dynamicsWorld->addRigidBody(linkBody,collisionFilterGroup,collisionFilterMask); - linkBody->setDamping(0,0); - btTypedConstraint* con = 0; - - if (i==0) - { - //create a hinge constraint - btVector3 pivotInA(0,-linkHalfExtents[1],0); - btVector3 pivotInB(0,linkHalfExtents[1],0); - btVector3 axisInA(1,0,0); - btVector3 axisInB(1,0,0); - bool useReferenceA = true; - btHingeConstraint* hinge = new btHingeConstraint(*prevBody,*linkBody, - pivotInA,pivotInB, - axisInA,axisInB,useReferenceA); - con = hinge; - } else - { - - btTransform pivotInA(btQuaternion::getIdentity(),btVector3(0, -radius, 0)); //par body's COM to cur body's COM offset - btTransform pivotInB(btQuaternion::getIdentity(),btVector3(0, radius, 0)); //cur body's COM to cur body's PIV offset - btGeneric6DofSpring2Constraint* fixed = new btGeneric6DofSpring2Constraint(*prevBody, *linkBody, - pivotInA,pivotInB); - fixed->setLinearLowerLimit(btVector3(0,0,0)); - fixed->setLinearUpperLimit(btVector3(0,0,0)); - fixed->setAngularLowerLimit(btVector3(0,0,0)); - fixed->setAngularUpperLimit(btVector3(0,0,0)); - - con = fixed; - - } - btAssert(con); - if (con) - { - btJointFeedback* fb = new btJointFeedback(); - m_jointFeedback.push_back(fb); - con->setJointFeedback(fb); - - m_dynamicsWorld->addConstraint(con,true); - } - prevBody = linkBody; - - } - - } - - if (1) - { - btVector3 groundHalfExtents(1,1,0.2); - groundHalfExtents[upAxis]=1.f; - btBoxShape* box = new btBoxShape(groundHalfExtents); - box->initializePolyhedralFeatures(); - - btTransform start; start.setIdentity(); - btVector3 groundOrigin(-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; - groundOrigin[2]-=0.6; - start.setOrigin(groundOrigin); - // start.setRotation(groundOrn); - btRigidBody* body = createRigidBody(0,start,box); - body->setFriction(0); - - } - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -class CommonExampleInterface* TestHingeTorqueCreateFunc(CommonExampleOptions& options) -{ - return new TestHingeTorque(options.m_guiHelper); -} diff -Nru bullet-2.86.1+dfsg/examples/Constraints/TestHingeTorque.h bullet-2.87+dfsg/examples/Constraints/TestHingeTorque.h --- bullet-2.86.1+dfsg/examples/Constraints/TestHingeTorque.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Constraints/TestHingeTorque.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,7 +0,0 @@ -#ifndef TEST_HINGE_TORQUE_H -#define TEST_HINGE_TORQUE_H - -class CommonExampleInterface* TestHingeTorqueCreateFunc(struct CommonExampleOptions& options); - -#endif //TEST_HINGE_TORQUE_H - diff -Nru bullet-2.86.1+dfsg/examples/DynamicControlDemo/MotorDemo.cpp bullet-2.87+dfsg/examples/DynamicControlDemo/MotorDemo.cpp --- bullet-2.86.1+dfsg/examples/DynamicControlDemo/MotorDemo.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/DynamicControlDemo/MotorDemo.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,450 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans -Motor Demo - -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 "btBulletDynamicsCommon.h" - -#include "LinearMath/btIDebugDraw.h" -#include "MotorDemo.h" - - -#include "LinearMath/btAlignedObjectArray.h" -class btBroadphaseInterface; -class btCollisionShape; -class btOverlappingPairCache; -class btCollisionDispatcher; -class btConstraintSolver; -struct btCollisionAlgorithmCreateFunc; -class btDefaultCollisionConfiguration; - -#include "../CommonInterfaces/CommonRigidBodyBase.h" - -class MotorDemo : public CommonRigidBodyBase -{ - float m_Time; - float m_fCyclePeriod; // in milliseconds - float m_fMuscleStrength; - - btAlignedObjectArray m_rigs; - - -public: - MotorDemo(struct GUIHelperInterface* helper) - :CommonRigidBodyBase(helper) - { - } - - void initPhysics(); - - void exitPhysics(); - - virtual ~MotorDemo() - { - } - - void spawnTestRig(const btVector3& startOffset, bool bFixed); - -// virtual void keyboardCallback(unsigned char key, int x, int y); - - void setMotorTargets(btScalar deltaTime); - - 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]); - } -}; - - -#ifndef M_PI -#define M_PI 3.14159265358979323846 -#endif - -#ifndef M_PI_2 -#define M_PI_2 1.57079632679489661923 -#endif - -#ifndef M_PI_4 -#define M_PI_4 0.785398163397448309616 -#endif - -#ifndef M_PI_8 -#define M_PI_8 0.5 * M_PI_4 -#endif - - -// /LOCAL FUNCTIONS - - - -#define NUM_LEGS 6 -#define BODYPART_COUNT 2 * NUM_LEGS + 1 -#define JOINT_COUNT BODYPART_COUNT - 1 - -class TestRig -{ - btDynamicsWorld* m_ownerWorld; - btCollisionShape* m_shapes[BODYPART_COUNT]; - btRigidBody* m_bodies[BODYPART_COUNT]; - btTypedConstraint* m_joints[JOINT_COUNT]; - - 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* myMotionState = new btDefaultMotionState(startTransform); - btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia); - btRigidBody* body = new btRigidBody(rbInfo); - - m_ownerWorld->addRigidBody(body); - - return body; - } - - -public: - TestRig (btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed) - : m_ownerWorld (ownerWorld) - { - btVector3 vUp(0, 1, 0); - - // - // Setup geometry - // - float fBodySize = 0.25f; - float fLegLength = 0.45f; - float fForeLegLength = 0.75f; - m_shapes[0] = new btCapsuleShape(btScalar(fBodySize), btScalar(0.10)); - int i; - for ( i=0; isetDamping(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); - } - - - // - // Setup the constraints - // - btHingeConstraint* hingeC; - //btConeTwistConstraint* coneC; - - btTransform localA, localB, localC; - - for ( i=0; igetWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA; - hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB); - hingeC->setLimit(btScalar(-0.75 * M_PI_4), btScalar(M_PI_8)); - //hingeC->setLimit(btScalar(-0.1), btScalar(0.1)); - m_joints[2*i] = hingeC; - m_ownerWorld->addConstraint(m_joints[2*i], true); - - // knee joints - localA.setIdentity(); localB.setIdentity(); localC.setIdentity(); - localA.getBasis().setEulerZYX(0,-fAngle,0); localA.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(0.), btScalar(fSin*(fBodySize+fLegLength)))); - localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA; - localC = m_bodies[2+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA; - hingeC = new btHingeConstraint(*m_bodies[1+2*i], *m_bodies[2+2*i], localB, localC); - //hingeC->setLimit(btScalar(-0.01), btScalar(0.01)); - hingeC->setLimit(btScalar(-M_PI_8), btScalar(0.2)); - m_joints[1+2*i] = hingeC; - m_ownerWorld->addConstraint(m_joints[1+2*i], true); - } - } - - virtual ~TestRig () - { - 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 motorPreTickCallback (btDynamicsWorld *world, btScalar timeStep) -{ - MotorDemo* motorDemo = (MotorDemo*)world->getWorldUserInfo(); - - motorDemo->setMotorTargets(timeStep); - -} - - - -void MotorDemo::initPhysics() -{ - m_guiHelper->setUpAxis(1); - - // Setup the basic world - - m_Time = 0; - m_fCyclePeriod = 2000.f; // in milliseconds - -// m_fMuscleStrength = 0.05f; - // new SIMD solver for joints clips accumulated impulse, so the new limits for the motor - // should be (numberOfsolverIterations * oldLimits) - // currently solver uses 10 iterations, so: - m_fMuscleStrength = 0.5f; - - - m_collisionConfiguration = new btDefaultCollisionConfiguration(); - - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - btVector3 worldAabbMin(-10000,-10000,-10000); - btVector3 worldAabbMax(10000,10000,10000); - m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax); - - m_solver = new btSequentialImpulseConstraintSolver; - - m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); - - m_dynamicsWorld->setInternalTickCallback(motorPreTickCallback,this,true); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - - // 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)); - createRigidBody(btScalar(0.),groundTransform,groundShape); - } - - // Spawn one ragdoll - btVector3 startOffset(1,0.5,0); - spawnTestRig(startOffset, false); - startOffset.setValue(-2,0.5,0); - spawnTestRig(startOffset, true); - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - - -void MotorDemo::spawnTestRig(const btVector3& startOffset, bool bFixed) -{ - TestRig* rig = new TestRig(m_dynamicsWorld, startOffset, bFixed); - m_rigs.push_back(rig); -} - -void PreStep() -{ - -} - - - - -void MotorDemo::setMotorTargets(btScalar deltaTime) -{ - - float ms = deltaTime*1000000.; - float minFPS = 1000000.f/60.f; - if (ms > minFPS) - ms = minFPS; - - m_Time += ms; - - // - // set per-frame sinusoidal position targets using angular motor (hacky?) - // - for (int r=0; r(m_rigs[r]->GetJoints()[i]); - btScalar fCurAngle = hingeC->getHingeAngle(); - - btScalar fTargetPercent = (int(m_Time / 1000) % int(m_fCyclePeriod)) / m_fCyclePeriod; - btScalar fTargetAngle = 0.5 * (1 + sin(2 * M_PI * fTargetPercent)); - btScalar fTargetLimitAngle = hingeC->getLowerLimit() + fTargetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit()); - btScalar fAngleError = fTargetLimitAngle - fCurAngle; - btScalar fDesiredAngularVel = 1000000.f * fAngleError/ms; - hingeC->enableAngularMotor(true, fDesiredAngularVel, m_fMuscleStrength); - } - } - - -} - -#if 0 -void MotorDemo::keyboardCallback(unsigned char key, int x, int y) -{ - switch (key) - { - case '+': case '=': - m_fCyclePeriod /= 1.1f; - if (m_fCyclePeriod < 1.f) - m_fCyclePeriod = 1.f; - break; - case '-': case '_': - m_fCyclePeriod *= 1.1f; - break; - case '[': - m_fMuscleStrength /= 1.1f; - break; - case ']': - m_fMuscleStrength *= 1.1f; - break; - default: - DemoApplication::keyboardCallback(key, x, y); - } -} -#endif - - - -void MotorDemo::exitPhysics() -{ - - int i; - - for (i=0;igetNumCollisionObjects()-1; i>=0 ;i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject( obj ); - delete obj; - } - - //delete collision shapes - for (int j=0;j 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-2.86.1+dfsg/examples/Evolution/NN3DWalkers.h bullet-2.87+dfsg/examples/Evolution/NN3DWalkers.h --- bullet-2.86.1+dfsg/examples/Evolution/NN3DWalkers.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Evolution/NN3DWalkers.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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-2.86.1+dfsg/examples/Evolution/NN3DWalkersTimeWarpBase.h bullet-2.87+dfsg/examples/Evolution/NN3DWalkersTimeWarpBase.h --- bullet-2.86.1+dfsg/examples/Evolution/NN3DWalkersTimeWarpBase.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Evolution/NN3DWalkersTimeWarpBase.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,898 +0,0 @@ -/* - 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-2.86.1+dfsg/examples/ExampleBrowser/CMakeLists.txt bullet-2.87+dfsg/examples/ExampleBrowser/CMakeLists.txt --- bullet-2.86.1+dfsg/examples/ExampleBrowser/CMakeLists.txt 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/CMakeLists.txt 1970-01-01 00:00:00.000000000 +0000 @@ -1,409 +0,0 @@ - -INCLUDE_DIRECTORIES( - . - ${BULLET_PHYSICS_SOURCE_DIR}/src - ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs -) - -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 - - ../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/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 - ../Planar2D/Planar2D.h - ../RollingFrictionDemo/RollingFrictionDemo.cpp - ../RollingFrictionDemo/RollingFrictionDemo.h - ../FractureDemo/FractureDemo.cpp - ../FractureDemo/btFractureBody.cpp - ../FractureDemo/btFractureDynamicsWorld.cpp - ../FractureDemo/FractureDemo.h - ../FractureDemo/btFractureBody.h - ../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 - ../RenderingExamples/RaytracerSetup.h - ../RenderingExamples/RenderInstancingDemo.cpp - ../RenderingExamples/RenderInstancingDemo.h - ../RenderingExamples/TimeSeriesExample.cpp - ../Benchmarks/BenchmarkDemo.cpp - ../Benchmarks/BenchmarkDemo.h - ../Benchmarks/landscapeData.h - ../Benchmarks/TaruData - ../Raycast/RaytestDemo.cpp - ../Importers/ImportBsp/BspConverter.h - ../Importers/ImportBullet/SerializeSetup.cpp - ../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 - - ../Importers/ImportBsp/BspLoader.h - ../Importers/ImportBsp/ImportBspExample.h - ../Importers/ImportColladaDemo/btMatrix4x4.h - ../Importers/ImportColladaDemo/ColladaGraphicsInstance.h - ../Importers/ImportColladaDemo/ImportColladaSetup.h - ../Importers/ImportColladaDemo/LoadMeshFromCollada.h - ../Importers/ImportObjDemo/ImportObjExample.h - ../Importers/ImportObjDemo/LoadMeshFromObj.h - ../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h - ../Importers/ImportSTLDemo/ImportSTLSetup.h - ../Importers/ImportSTLDemo/LoadMeshFromSTL.h - ../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h - ../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 - ../Importers/ImportColladaDemo/ImportColladaSetup.cpp - ../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp - ../Importers/ImportObjDemo/ImportObjExample.cpp - ../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 - ../Importers/ImportURDFDemo/BulletUrdfImporter.h - ../VoronoiFracture/VoronoiFractureDemo.cpp - ../VoronoiFracture/VoronoiFractureDemo.h - ../VoronoiFracture/btConvexConvexMprAlgorithm.cpp - ../VoronoiFracture/btConvexConvexMprAlgorithm.h - ../Vehicles/Hinge2Vehicle.cpp - ../Vehicles/Hinge2Vehicle.h - ../MultiBody/Pendulum.cpp - ../MultiBody/MultiBodySoftContact.cpp - ../MultiBody/TestJointTorqueSetup.cpp - ../MultiBody/TestJointTorqueSetup.h - ../MultiBody/InvertedPendulumPDControl.cpp - ../MultiBody/InvertedPendulumPDControl.h - ../MultiBody/MultiBodyConstraintFeedback.cpp - ../MultiBody/MultiDofDemo.cpp - ../MultiBody/MultiDofDemo.h - ../RigidBody/RigidBodySoftContact.cpp - ../Constraints/TestHingeTorque.cpp - ../Constraints/TestHingeTorque.h - ../Constraints/ConstraintDemo.cpp - ../Constraints/ConstraintDemo.h - ../Constraints/Dof6Spring2Setup.cpp - ../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/tinyxml/tinystr.cpp - ../ThirdPartyLibs/tinyxml/tinyxml.cpp - ../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp - ../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp - InProcessExampleBrowser.cpp - ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc -) - - - -ADD_EXECUTABLE(App_ExampleBrowser - 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-2.86.1+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp bullet-2.87+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,196 +0,0 @@ - -#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-2.86.1+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.h bullet-2.87+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/CollisionShape2TriangleMesh.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,10 +0,0 @@ -#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-2.86.1+dfsg/examples/ExampleBrowser/EmptyBrowser.h bullet-2.87+dfsg/examples/ExampleBrowser/EmptyBrowser.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/EmptyBrowser.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/EmptyBrowser.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,38 +0,0 @@ -#ifndef EMPTY_BROWSER -#define EMPTY_BROWSER - -#include "ExampleBrowserInterface.h" -#include "EmptyExample.h" - -class EmptyBrowser : public ExampleBrowserInterface -{ -public: - - EmptyExample m_emptyExample; - - virtual CommonExampleInterface* getCurrentExample() - { - return &m_emptyExample; - } - - EmptyBrowser(class ExampleEntries* examples) - { - } - - virtual bool init(int /*argc*/, char* argv[]) - { - return true; - } - - virtual void update(float deltaTime) - { - m_emptyExample.stepSimulation(deltaTime); - } - - virtual bool requestedExit() - { - return false; - } -}; - -#endif //EMPTY_BROWSER diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/EmptyExample.h bullet-2.87+dfsg/examples/ExampleBrowser/EmptyExample.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/EmptyExample.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/EmptyExample.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,32 +0,0 @@ -#ifndef EMPTY_EXAMPLE_H -#define EMPTY_EXAMPLE_H - -#include "../CommonInterfaces/CommonExampleInterface.h" - -class EmptyExample : public CommonExampleInterface -{ -public: - - EmptyExample() {} - virtual ~EmptyExample(){} - - static CommonExampleInterface* CreateFunc(struct CommonExampleOptions& /* unusedOptions*/) - { - return new EmptyExample; - } - - virtual void initPhysics(){} - virtual void exitPhysics(){} - virtual void stepSimulation(float deltaTime){} - virtual void renderScene(){} - virtual void physicsDebugDraw(int debugFlags){} - 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;} - -}; - - - -#endif //EMPTY_EXAMPLE_H - diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/ExampleBrowserInterface.h bullet-2.87+dfsg/examples/ExampleBrowser/ExampleBrowserInterface.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/ExampleBrowserInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/ExampleBrowserInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,23 +0,0 @@ -#ifndef EXAMPLE_BROWSER_GUI_H -#define EXAMPLE_BROWSER_GUI_H - -#include "../CommonInterfaces/CommonExampleInterface.h" - -class ExampleBrowserInterface -{ - public: - - virtual ~ExampleBrowserInterface() {} - - virtual CommonExampleInterface* getCurrentExample() = 0; - - virtual bool init(int argc, char* argv[])=0; - - virtual void update(float deltaTime)=0; - - virtual bool requestedExit()=0; -}; - - - -#endif //EXAMPLE_BROWSER_GUI_H \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/ExampleEntries.cpp bullet-2.87+dfsg/examples/ExampleBrowser/ExampleEntries.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/ExampleEntries.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/ExampleEntries.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,438 +0,0 @@ -#include "ExampleEntries.h" - -#include "LinearMath/btAlignedObjectArray.h" -#include "EmptyExample.h" -#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" -#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/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" -#include "../Vehicles/Hinge2Vehicle.h" -#include "../Importers/ImportBullet/SerializeSetup.h" -#include "../Raycast/RaytestDemo.h" -#include "../FractureDemo/FractureDemo.h" -#include "../DynamicControlDemo/MotorDemo.h" -#include "../RollingFrictionDemo/RollingFrictionDemo.h" -#include "../SharedMemory/PhysicsServerExample.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" -#endif - -#ifdef B3_USE_CLEW -#ifndef NO_OPENGL3 -#include "../OpenCL/broadphase/PairBench.h" -#include "../OpenCL/rigidbody/GpuConvexScene.h" -#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 -{ - int m_menuLevel; - const char* m_name; - const char* m_description; - CommonExampleInterface::CreateFunc* m_createFunc; - int m_option; - - ExampleEntry(int menuLevel, const char* name) - :m_menuLevel(menuLevel), m_name(name), m_description(0), m_createFunc(0), m_option(0) - { - } - - ExampleEntry(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) - { - } -}; - - - -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.", - 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.", - 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,"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,"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), - ExampleEntry(1,"Rope Attach","Simulate a rigid body connected to a rope.", SoftDemoCreateFunc,4), - 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), - ExampleEntry(1,"Impact","Soft body impact",SoftDemoCreateFunc,11), - ExampleEntry(1,"Aero","Rudimentary aero dynamics simulation", SoftDemoCreateFunc,12), - ExampleEntry(1,"Aero 2","Rudimentary aero dynamics simulation",SoftDemoCreateFunc,13), - ExampleEntry(1,"Friction","Simulate soft body friction with friction coefficients ranging from 0 to 1.", SoftDemoCreateFunc,14), - ExampleEntry(1,"Torus","Simulate a soft body torus.",SoftDemoCreateFunc,15), - ExampleEntry(1,"Torus (Shape Match)","Simulate a soft body torus using shape matching.", SoftDemoCreateFunc,16), - ExampleEntry(1,"Bunny","Simulate the Stanford bunny as deformable object.", SoftDemoCreateFunc,17), - ExampleEntry(1,"Bunny (Shape Match)","Simulate the Stanford bunny as deformable object including shape matching.", SoftDemoCreateFunc,18), - ExampleEntry(1,"Cutting","Allow cutting of the soft body, by clicking on the cloth", SoftDemoCreateFunc,19), - ExampleEntry(1,"Cluster Deform","Soft body collision detection using convex collision clusters.", SoftDemoCreateFunc,20), - ExampleEntry(1,"Cluster Collide1","Collision detection between soft bodies using convex collision clusters.", SoftDemoCreateFunc,21), - ExampleEntry(1,"Cluster Collide2","Collision detection between soft bodies using convex collision clusters.",SoftDemoCreateFunc,22), - ExampleEntry(1,"Cluster Socket","Soft bodies connected by a point to point (ball-socket) constraints. This requires collision clusters, in order to define a frame of reference for the constraint." - , SoftDemoCreateFunc,23), - ExampleEntry(1,"Cluster Hinge","Soft bodies connected by a hinge constraints. This requires collision clusters, in order to define a frame of reference for the constraint.", SoftDemoCreateFunc,24), - ExampleEntry(1,"Cluster Combine","Simulate soft bodies using collision clusters.", SoftDemoCreateFunc,25), - ExampleEntry(1,"Cluster Car","Simulate the Stanford bunny by multiple soft bodies connected by constraints.", SoftDemoCreateFunc,26), - ExampleEntry(1,"Cluster Robot","A rigid body base connected by soft body wheels, connected by constraints.", SoftDemoCreateFunc,27), - ExampleEntry(1,"Cluster Stack Soft","Stacking of soft bodies.", SoftDemoCreateFunc,28), - 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 - 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. ", - BenchmarkCreateFunc, 2), - ExampleEntry(1,"Ragdolls", "Benchmark the performance of the ragdoll constraints, btHingeConstraint and btConeTwistConstraint, in addition to capsule collision detection.", BenchmarkCreateFunc, 3), - ExampleEntry(1,"Convex stack", "Benchmark the performance and stability of rigid bodies using btConvexHullShape.", BenchmarkCreateFunc, 4), - 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 - - - - - 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. ", - 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).", - 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.", - 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.", - RayTracerCreateFunc), - - - - ExampleEntry(0,"Experiments"), - 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 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), -#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,"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 -#ifndef NO_OPENGL3 -static ExampleEntry gOpenCLExamples[]= -{ - ExampleEntry(0,"OpenCL (experimental)"), - ExampleEntry(1,"Box-Box", "Full OpenCL implementation of the entire physics and collision detection pipeline, showing box-box rigid body", - OpenCLBoxBoxCreateFunc), - ExampleEntry(1,"Pair Bench", "Benchmark of overlapping pair search using OpenCL.", PairBenchOpenCLCreateFunc), - -}; -#endif -#endif // -static btAlignedObjectArray gAdditionalRegisteredExamples; - - -struct ExampleEntriesInternalData -{ - btAlignedObjectArray m_allExamples; -}; - -ExampleEntriesAll::ExampleEntriesAll() -{ - m_data = new ExampleEntriesInternalData; -} - -ExampleEntriesAll::~ExampleEntriesAll() -{ - delete m_data; -} - -void ExampleEntriesAll::initOpenCLExampleEntries() -{ -#ifdef B3_USE_CLEW -#ifndef NO_OPENGL3 - int numDefaultEntries = sizeof(gOpenCLExamples)/sizeof(ExampleEntry); - for (int i=0;im_allExamples.push_back(gOpenCLExamples[i]); - } -#endif -#endif //B3_USE_CLEW -} - -void ExampleEntriesAll::initExampleEntries() -{ - m_data->m_allExamples.clear(); - - for (int i=0;im_allExamples.push_back(gAdditionalRegisteredExamples[i]); - } - - - - int numDefaultEntries = sizeof(gDefaultExamples)/sizeof(ExampleEntry); - for (int i=0;im_allExamples.push_back(gDefaultExamples[i]); - } - - if (m_data->m_allExamples.size()==0) - { - - { - ExampleEntry e(0,"Empty"); - m_data->m_allExamples.push_back(e); - } - - { - ExampleEntry e(1,"Empty","Empty Description", EmptyExample::CreateFunc); - m_data->m_allExamples.push_back(e); - } - } - -} - -void ExampleEntriesAll::registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option) -{ - ExampleEntry e( menuLevel,name,description, createFunc, option); - gAdditionalRegisteredExamples.push_back(e); -} - -int ExampleEntriesAll::getNumRegisteredExamples() -{ - return m_data->m_allExamples.size(); -} - -CommonExampleInterface::CreateFunc* ExampleEntriesAll::getExampleCreateFunc(int index) -{ - return m_data->m_allExamples[index].m_createFunc; -} - -int ExampleEntriesAll::getExampleOption(int index) -{ - return m_data->m_allExamples[index].m_option; -} - -const char* ExampleEntriesAll::getExampleName(int index) -{ - return m_data->m_allExamples[index].m_name; -} - -const char* ExampleEntriesAll::getExampleDescription(int index) -{ - return m_data->m_allExamples[index].m_description; -} diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/ExampleEntries.h bullet-2.87+dfsg/examples/ExampleBrowser/ExampleEntries.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/ExampleEntries.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/ExampleEntries.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,39 +0,0 @@ - -#ifndef EXAMPLE_ENTRIES_H -#define EXAMPLE_ENTRIES_H - -#include "../CommonInterfaces/CommonExampleInterface.h" - - - -class ExampleEntriesAll : public ExampleEntries -{ - - struct ExampleEntriesInternalData* m_data; - -public: - - ExampleEntriesAll(); - virtual ~ExampleEntriesAll(); - - 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); - -}; - - - -#endif //EXAMPLE_ENTRIES_H diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.cpp bullet-2.87+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,951 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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. -*/ - -#ifdef _WIN32 //needed for glut.h -#include -#endif - -#include "../OpenGLWindow/OpenGL2Include.h" - - -#include "GL_ShapeDrawer.h" -#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" -#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" -#include "BulletCollision/CollisionShapes/btBoxShape.h" -#include "BulletCollision/CollisionShapes/btSphereShape.h" -#include "BulletCollision/CollisionShapes/btConeShape.h" -#include "BulletCollision/CollisionShapes/btCylinderShape.h" -#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" -#include "BulletCollision/CollisionShapes/btCompoundShape.h" -#include "BulletCollision/CollisionShapes/btCapsuleShape.h" -#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h" -#include "BulletCollision/CollisionShapes/btUniformScalingShape.h" -#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" -#include "BulletCollision/CollisionShapes/btMultiSphereShape.h" -#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h" -#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" -#include "BulletDynamics/Dynamics/btRigidBody.h" -#include "LinearMath/btDefaultMotionState.h" - -/// -#include "BulletCollision/CollisionShapes/btShapeHull.h" - -#include "LinearMath/btTransformUtil.h" - - -#include "LinearMath/btIDebugDraw.h" -//for debugmodes - -#include //printf debugging - -#if defined(BT_USE_DOUBLE_PRECISION) -#define btglLoadMatrix glLoadMatrixd -#define btglMultMatrix glMultMatrixd -#define btglColor3 glColor3d -#define btglVertex3 glVertex3d -#else -#define btglLoadMatrix glLoadMatrixf -#define btglMultMatrix glMultMatrixf -#define btglColor3 glColor3f -#define btglVertex3 glVertex3d -#endif - -void GL_ShapeDrawer::drawCoordSystem() { - glBegin(GL_LINES); - glColor3f(1, 0, 0); - glVertex3d(0, 0, 0); - glVertex3d(1, 0, 0); - glColor3f(0, 1, 0); - glVertex3d(0, 0, 0); - glVertex3d(0, 1, 0); - glColor3f(0, 0, 1); - glVertex3d(0, 0, 0); - glVertex3d(0, 0, 1); - glEnd(); - -} - - - - - -class GlDrawcallback : public btTriangleCallback -{ - -public: - - bool m_wireframe; - - GlDrawcallback() - :m_wireframe(false) - { - } - - virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex) - { - - (void)triangleIndex; - (void)partId; - - - if (m_wireframe) - { - glBegin(GL_LINES); - glColor3f(1, 0, 0); - glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); - glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); - glColor3f(0, 1, 0); - glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); - glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); - glColor3f(0, 0, 1); - glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); - glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); - glEnd(); - } else - { - glBegin(GL_TRIANGLES); - //glColor3f(1, 1, 1); - - - glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); - glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); - glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); - - glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); - glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); - glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); - glEnd(); - } - } -}; - -class TriangleGlDrawcallback : public btInternalTriangleIndexCallback -{ -public: - virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) - { - (void)triangleIndex; - (void)partId; - - - glBegin(GL_TRIANGLES);//LINES); - glColor3f(1, 0, 0); - glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); - glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); - glColor3f(0, 1, 0); - glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); - glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); - glColor3f(0, 0, 1); - glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); - glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); - glEnd(); - } -}; - - -void GL_ShapeDrawer::drawSphere(btScalar radius, int lats, int longs) -{ - int i, j; - for(i = 0; i <= lats; i++) { - btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats); - btScalar z0 = radius*sin(lat0); - btScalar zr0 = radius*cos(lat0); - - btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats); - btScalar z1 = radius*sin(lat1); - btScalar zr1 = radius*cos(lat1); - - glBegin(GL_QUAD_STRIP); - for(j = 0; j <= longs; j++) { - btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs; - btScalar x = cos(lng); - btScalar y = sin(lng); - glNormal3f(x * zr1, y * zr1, z1); - glVertex3f(x * zr1, y * zr1, z1); - glNormal3f(x * zr0, y * zr0, z0); - glVertex3f(x * zr0, y * zr0, z0); - } - glEnd(); - } -} - - -GL_ShapeDrawer::ShapeCache* GL_ShapeDrawer::cache(btConvexShape* shape) -{ - ShapeCache* sc=(ShapeCache*)shape->getUserPointer(); - if(!sc) - { - sc=new(btAlignedAlloc(sizeof(ShapeCache),16)) ShapeCache(shape); - sc->m_shapehull.buildHull(shape->getMargin()); - m_shapecaches.push_back(sc); - shape->setUserPointer(sc); - /* Build edges */ - const int ni=sc->m_shapehull.numIndices(); - const int nv=sc->m_shapehull.numVertices(); - const unsigned int* pi=sc->m_shapehull.getIndexPointer(); - const btVector3* pv=sc->m_shapehull.getVertexPointer(); - btAlignedObjectArray edges; - sc->m_edges.reserve(ni); - edges.resize(nv*nv,0); - for(int i=0;im_edges.push_back(ShapeCache::Edge()); - e=&sc->m_edges[sc->m_edges.size()-1]; - e->n[0]=nrm;e->n[1]=-nrm; - e->v[0]=a;e->v[1]=b; - } - else - { - e->n[1]=nrm; - } - } - } - } - return(sc); -} - -void renderSquareA(float x, float y, float z) -{ - glBegin(GL_LINE_LOOP); - glVertex3f(x, y, z); - glVertex3f(x + 10.f, y, z); - glVertex3f(x + 10.f, y + 10.f, z); - glVertex3f(x, y + 10.f, z); - glEnd(); -} - -inline void glDrawVector(const btVector3& v) { glVertex3d(v[0], v[1], v[2]); } - - -void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax) -{ - - if (shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) - { - btVector3 org(m[12], m[13], m[14]); - btVector3 dx(m[0], m[1], m[2]); - btVector3 dy(m[4], m[5], m[6]); -// btVector3 dz(m[8], m[9], m[10]); - const btBoxShape* boxShape = static_cast(shape); - btVector3 halfExtent = boxShape->getHalfExtentsWithMargin(); - dx *= halfExtent[0]; - dy *= halfExtent[1]; -// dz *= halfExtent[2]; - glColor3f(1,1,1); - glDisable(GL_LIGHTING); - glLineWidth(2); - - glBegin(GL_LINE_LOOP); - glDrawVector(org - dx - dy); - glDrawVector(org - dx + dy); - glDrawVector(org + dx + dy); - glDrawVector(org + dx - dy); - glEnd(); - return; - } - else if((shape->getShapeType() == BOX_SHAPE_PROXYTYPE) && (debugMode & btIDebugDraw::DBG_FastWireframe)) - { - btVector3 org(m[12], m[13], m[14]); - btVector3 dx(m[0], m[1], m[2]); - btVector3 dy(m[4], m[5], m[6]); - btVector3 dz(m[8], m[9], m[10]); - const btBoxShape* boxShape = static_cast(shape); - btVector3 halfExtent = boxShape->getHalfExtentsWithMargin(); - dx *= halfExtent[0]; - dy *= halfExtent[1]; - dz *= halfExtent[2]; - glBegin(GL_LINE_LOOP); - glDrawVector(org - dx - dy - dz); - glDrawVector(org + dx - dy - dz); - glDrawVector(org + dx + dy - dz); - glDrawVector(org - dx + dy - dz); - glDrawVector(org - dx + dy + dz); - glDrawVector(org + dx + dy + dz); - glDrawVector(org + dx - dy + dz); - glDrawVector(org - dx - dy + dz); - glEnd(); - glBegin(GL_LINES); - glDrawVector(org + dx - dy - dz); - glDrawVector(org + dx - dy + dz); - glDrawVector(org + dx + dy - dz); - glDrawVector(org + dx + dy + dz); - glDrawVector(org - dx - dy - dz); - glDrawVector(org - dx + dy - dz); - glDrawVector(org - dx - dy + dz); - glDrawVector(org - dx + dy + dz); - glEnd(); - return; - } - - glPushMatrix(); - btglMultMatrix(m); - - - if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE) - { - const btUniformScalingShape* scalingShape = static_cast(shape); - const btConvexShape* convexShape = scalingShape->getChildShape(); - float scalingFactor = (float)scalingShape->getUniformScalingFactor(); - { - btScalar tmpScaling[4][4]={{scalingFactor,0,0,0}, - {0,scalingFactor,0,0}, - {0,0,scalingFactor,0}, - {0,0,0,1}}; - - drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax); - } - glPopMatrix(); - return; - } - - if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE) - { - const btCompoundShape* compoundShape = static_cast(shape); - for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--) - { - btTransform childTrans = compoundShape->getChildTransform(i); - const btCollisionShape* colShape = compoundShape->getChildShape(i); - ATTRIBUTE_ALIGNED16(btScalar) childMat[16]; - childTrans.getOpenGLMatrix(childMat); - drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax); - } - - } else - { - if(m_textureenabled&&(!m_textureinitialized)) - { - GLubyte* image=new GLubyte[256*256*4]; - for(int y=0;y<256;++y) - { - const int t=y>>4; - GLubyte* pi=image+y*256*3; - for(int x=0;x<256;++x) - { - const int s=x>>4; - const GLubyte b=180; - GLubyte c=b+((s+(t&1))&1)*(255-b); - pi[0]=pi[1]=pi[2]=pi[3]=c;pi+=3; - } - } - - glGenTextures(1,(GLuint*)&m_texturehandle); - glBindTexture(GL_TEXTURE_2D,m_texturehandle); - - - glGenTextures(1,(GLuint*)&m_texturehandle); - glBindTexture(GL_TEXTURE_2D,m_texturehandle); - glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR); - glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR); - glTexImage2D(GL_TEXTURE_2D, 0, 3, 256 , 256 , 0, GL_RGB, GL_UNSIGNED_BYTE, image); - //glGenerateMipmap(GL_TEXTURE_2D); - delete[] image; - - - } - - glMatrixMode(GL_TEXTURE); - glLoadIdentity(); - glScalef(0.025f,0.025f,0.025f); - glMatrixMode(GL_MODELVIEW); - - static const GLfloat planex[]={1,0,0,0}; - // static const GLfloat planey[]={0,1,0,0}; - static const GLfloat planez[]={0,0,1,0}; - glTexGenfv(GL_S,GL_OBJECT_PLANE,planex); - glTexGenfv(GL_T,GL_OBJECT_PLANE,planez); - glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR); - glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR); - glEnable(GL_TEXTURE_GEN_S); - glEnable(GL_TEXTURE_GEN_T); - glEnable(GL_TEXTURE_GEN_R); - m_textureinitialized=true; - - - - - //drawCoordSystem(); - - //glPushMatrix(); - glEnable(GL_COLOR_MATERIAL); - if(m_textureenabled) - { - glEnable(GL_TEXTURE_2D); - glBindTexture(GL_TEXTURE_2D,m_texturehandle); - } else - { - glDisable(GL_TEXTURE_2D); - } - - - glColor3f(color.x(),color.y(), color.z()); - - //bool useWireframeFallback = true; - - if (!(debugMode & btIDebugDraw::DBG_DrawWireframe)) - { - ///you can comment out any of the specific cases, and use the default - - ///the benefit of 'default' is that it approximates the actual collision shape including collision margin - //int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType(); - int shapetype=shape->getShapeType(); - switch (shapetype) - { - - case SPHERE_SHAPE_PROXYTYPE: - { - const btSphereShape* sphereShape = static_cast(shape); - float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin - drawSphere(radius,10,10); - //useWireframeFallback = false; - break; - } - - case BOX_SHAPE_PROXYTYPE: - { - const btBoxShape* boxShape = static_cast(shape); - btVector3 halfExtent = boxShape->getHalfExtentsWithMargin(); - - static int indices[36] = { - 0,1,2, - 3,2,1, - 4,0,6, - 6,0,2, - 5,1,4, - 4,1,0, - 7,3,1, - 7,1,5, - 5,4,7, - 7,4,6, - 7,2,3, - 7,6,2}; - - btVector3 vertices[8]={ - btVector3(halfExtent[0],halfExtent[1],halfExtent[2]), - btVector3(-halfExtent[0],halfExtent[1],halfExtent[2]), - btVector3(halfExtent[0],-halfExtent[1],halfExtent[2]), - btVector3(-halfExtent[0],-halfExtent[1],halfExtent[2]), - btVector3(halfExtent[0],halfExtent[1],-halfExtent[2]), - btVector3(-halfExtent[0],halfExtent[1],-halfExtent[2]), - btVector3(halfExtent[0],-halfExtent[1],-halfExtent[2]), - btVector3(-halfExtent[0],-halfExtent[1],-halfExtent[2])}; -#if 1 - glBegin (GL_TRIANGLES); - int si=36; - for (int i=0;i(shape); - int upIndex = coneShape->getConeUpIndex(); - float radius = coneShape->getRadius();//+coneShape->getMargin(); - float height = coneShape->getHeight();//+coneShape->getMargin(); - switch (upIndex) - { - case 0: - glRotatef(90.0, 0.0, 1.0, 0.0); - break; - case 1: - glRotatef(-90.0, 1.0, 0.0, 0.0); - break; - case 2: - break; - default: - { - } - }; - - glTranslatef(0.0, 0.0, -0.5*height); - glutSolidCone(radius,height,10,10); - //useWireframeFallback = false; - break; - - } -#endif - - case STATIC_PLANE_PROXYTYPE: - { - const btStaticPlaneShape* staticPlaneShape = static_cast(shape); - 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 pt0 = planeOrigin + vec0*vecLen; - btVector3 pt1 = planeOrigin - vec0*vecLen; - btVector3 pt2 = planeOrigin + vec1*vecLen; - btVector3 pt3 = planeOrigin - vec1*vecLen; - glBegin(GL_LINES); - glVertex3f(pt0.getX(),pt0.getY(),pt0.getZ()); - glVertex3f(pt1.getX(),pt1.getY(),pt1.getZ()); - glVertex3f(pt2.getX(),pt2.getY(),pt2.getZ()); - glVertex3f(pt3.getX(),pt3.getY(),pt3.getZ()); - glEnd(); - - - break; - - } - - - case MULTI_SPHERE_SHAPE_PROXYTYPE: - { - const btMultiSphereShape* multiSphereShape = static_cast(shape); - - btTransform childTransform; - childTransform.setIdentity(); - - - for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--) - { - btSphereShape sc(multiSphereShape->getSphereRadius(i)); - childTransform.setOrigin(multiSphereShape->getSpherePosition(i)); - ATTRIBUTE_ALIGNED16(btScalar) childMat[16]; - childTransform.getOpenGLMatrix(childMat); - drawOpenGL(childMat,&sc,color,debugMode,worldBoundsMin,worldBoundsMax); - } - - break; - } - - default: - { - if (shape->isConvex()) - { - const btConvexPolyhedron* poly = shape->isPolyhedral() ? ((btPolyhedralConvexShape*) shape)->getConvexPolyhedron() : 0; - if (poly) - { - int i; - glBegin (GL_TRIANGLES); - for (i=0;im_faces.size();i++) - { - btVector3 centroid(0,0,0); - int numVerts = poly->m_faces[i].m_indices.size(); - if (numVerts>2) - { - btVector3 v1 = poly->m_vertices[poly->m_faces[i].m_indices[0]]; - for (int v=0;vm_faces[i].m_indices.size()-2;v++) - { - - btVector3 v2 = poly->m_vertices[poly->m_faces[i].m_indices[v+1]]; - btVector3 v3 = poly->m_vertices[poly->m_faces[i].m_indices[v+2]]; - btVector3 normal = (v3-v1).cross(v2-v1); - normal.normalize (); - glNormal3f(normal.getX(),normal.getY(),normal.getZ()); - glVertex3f (v1.x(), v1.y(), v1.z()); - glVertex3f (v2.x(), v2.y(), v2.z()); - glVertex3f (v3.x(), v3.y(), v3.z()); - } - } - } - glEnd (); - } else - { - ShapeCache* sc=cache((btConvexShape*)shape); - //glutSolidCube(1.0); - btShapeHull* hull = &sc->m_shapehull/*(btShapeHull*)shape->getUserPointer()*/; - - if (hull->numTriangles () > 0) - { - int index = 0; - const unsigned int* idx = hull->getIndexPointer(); - const btVector3* vtx = hull->getVertexPointer(); - - glBegin (GL_TRIANGLES); - - for (int i = 0; i < hull->numTriangles (); i++) - { - int i1 = index++; - int i2 = index++; - int i3 = index++; - btAssert(i1 < hull->numIndices () && - i2 < hull->numIndices () && - i3 < hull->numIndices ()); - - int index1 = idx[i1]; - int index2 = idx[i2]; - int index3 = idx[i3]; - btAssert(index1 < hull->numVertices () && - index2 < hull->numVertices () && - index3 < hull->numVertices ()); - - btVector3 v1 = vtx[index1]; - btVector3 v2 = vtx[index2]; - btVector3 v3 = vtx[index3]; - btVector3 normal = (v3-v1).cross(v2-v1); - normal.normalize (); - glNormal3f(normal.getX(),normal.getY(),normal.getZ()); - glVertex3f (v1.x(), v1.y(), v1.z()); - glVertex3f (v2.x(), v2.y(), v2.z()); - glVertex3f (v3.x(), v3.y(), v3.z()); - - } - glEnd (); - - } - } - } - } - } - - } - - - glNormal3f(0,1,0); - - - /// for polyhedral shapes - if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral())) - { - btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape; - - { - - glColor3f(1.f, 1.f, 1.f); - int i; - for (i=0;igetNumVertices();i++) - { - btVector3 vtx; - polyshape->getVertex(i,vtx); - char buf[12]; - sprintf(buf," %d",i); - //btDrawString(BMF_GetFont(BMF_kHelvetica10),buf); - } - - for (i=0;igetNumPlanes();i++) - { - btVector3 normal; - btVector3 vtx; - polyshape->getPlane(normal,vtx,i); - //btScalar d = vtx.dot(normal); - - //char buf[12]; - //sprintf(buf," plane %d",i); - //btDrawString(BMF_GetFont(BMF_kHelvetica10),buf); - - } - } - - } - - - - - - - - - } - glPopMatrix(); - - glDisable(GL_TEXTURE_2D); -} - -// -void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax) -{ - glPushMatrix(); - btglMultMatrix(m); - if(shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE) - { - const btUniformScalingShape* scalingShape = static_cast(shape); - const btConvexShape* convexShape = scalingShape->getChildShape(); - float scalingFactor = (float)scalingShape->getUniformScalingFactor(); - btScalar tmpScaling[4][4]={ {scalingFactor,0,0,0}, - {0,scalingFactor,0,0}, - {0,0,scalingFactor,0}, - {0,0,0,1}}; - drawShadow((btScalar*)tmpScaling,extrusion,convexShape,worldBoundsMin,worldBoundsMax); - glPopMatrix(); - return; - } - else if(shape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE) - { - const btCompoundShape* compoundShape = static_cast(shape); - for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--) - { - btTransform childTrans = compoundShape->getChildTransform(i); - const btCollisionShape* colShape = compoundShape->getChildShape(i); - ATTRIBUTE_ALIGNED16(btScalar) childMat[16]; - childTrans.getOpenGLMatrix(childMat); - drawShadow(childMat,extrusion*childTrans.getBasis(),colShape,worldBoundsMin,worldBoundsMax); - } - } - else - { - // bool useWireframeFallback = true; - if (shape->isConvex()) - { - ShapeCache* sc=cache((btConvexShape*)shape); - btShapeHull* hull =&sc->m_shapehull; - glBegin(GL_QUADS); - for(int i=0;im_edges.size();++i) - { - const btScalar d=btDot(sc->m_edges[i].n[0],extrusion); - if((d*btDot(sc->m_edges[i].n[1],extrusion))<0) - { - const int q= d<0?1:0; - const btVector3& a= hull->getVertexPointer()[sc->m_edges[i].v[q]]; - const btVector3& b= hull->getVertexPointer()[sc->m_edges[i].v[1-q]]; - glVertex3f(a[0],a[1],a[2]); - glVertex3f(b[0],b[1],b[2]); - glVertex3f(b[0]+extrusion[0],b[1]+extrusion[1],b[2]+extrusion[2]); - glVertex3f(a[0]+extrusion[0],a[1]+extrusion[1],a[2]+extrusion[2]); - } - } - glEnd(); - } - - } - - - - - if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) - // if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) - { - btConcaveShape* concaveMesh = (btConcaveShape*) shape; - - GlDrawcallback drawCallback; - drawCallback.m_wireframe = false; - - concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax); - - } - glPopMatrix(); - -} - -// -GL_ShapeDrawer::GL_ShapeDrawer() -{ - m_texturehandle = 0; - m_textureenabled = false; - m_textureinitialized = false; -} - -GL_ShapeDrawer::~GL_ShapeDrawer() -{ - int i; - for (i=0;i~ShapeCache(); - btAlignedFree(m_shapecaches[i]); - } - m_shapecaches.clear(); - if(m_textureinitialized) - { - glDeleteTextures(1,(const GLuint*) &m_texturehandle); - } -} - -void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWorld, int pass, int cameraUpAxis) -{ - - btAssert(dynamicsWorld); - - - btScalar m[16]; - btMatrix3x3 rot;rot.setIdentity(); - const int numObjects=dynamicsWorld->getNumCollisionObjects(); - btVector3 wireColor(1,0,0); - //glDisable(GL_CULL_FACE); - - for(int i=0;igetCollisionObjectArray()[i]; - const btRigidBody* body=btRigidBody::upcast(colObj); - if(body&&body->getMotionState()) - { - btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState(); - myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m); - rot=myMotionState->m_graphicsWorldTrans.getBasis(); - } - else - { - colObj->getWorldTransform().getOpenGLMatrix(m); - rot=colObj->getWorldTransform().getBasis(); - } - btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation - if(i&1) wireColor=btVector3(0.f,0.0f,1.f); - ///color differently for active, sleeping, wantsdeactivation states - if (colObj->getActivationState() == 1) //active - { - if (i & 1) - { - wireColor += btVector3 (1.f,0.f,0.f); - } - else - { - wireColor += btVector3 (.5f,0.f,0.f); - } - } - if(colObj->getActivationState()==2) //ISLAND_SLEEPING - { - if(i&1) - { - wireColor += btVector3 (0.f,1.f, 0.f); - } - else - { - wireColor += btVector3 (0.f,0.5f,0.f); - } - } - - btVector3 aabbMin(0,0,0),aabbMax(0,0,0); - //m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax); - - aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); - aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); - // printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ()); - // printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ()); - // m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1)); - - //switch(pass) - - //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) - { - case 0: drawOpenGL(m,colObj->getCollisionShape(),wireColor,debugMode,aabbMin,aabbMax);break; - case 1: drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break; - case 2: drawOpenGL(m,colObj->getCollisionShape(),wireColor*btScalar(0.3),0,aabbMin,aabbMax);break; - } - } - -} - -//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 )}; - /* light_position is NOT default value */ - GLfloat light_position0[] = { btScalar(1.0), btScalar(10.0), btScalar(1.0), btScalar(0.0 )}; - GLfloat light_position1[] = { btScalar(-1.0), btScalar(-10.0), btScalar(-1.0), btScalar(0.0) }; - - glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient); - glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse); - glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular); - glLightfv(GL_LIGHT0, GL_POSITION, light_position0); - - glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient); - glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse); - glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular); - glLightfv(GL_LIGHT1, GL_POSITION, light_position1); - - glEnable(GL_LIGHTING); - glEnable(GL_LIGHT0); - glEnable(GL_LIGHT1); - - - glShadeModel(GL_SMOOTH); - glEnable(GL_DEPTH_TEST); - glDepthFunc(GL_LESS); - - glClearColor(btScalar(0.7),btScalar(0.7),btScalar(0.7),btScalar(0)); - - - if(useShadows) - { - glClear(GL_STENCIL_BUFFER_BIT); - glEnable(GL_CULL_FACE); - drawSceneInternal(dynamicsWorld,0, cameraUpAxis); - - glDisable(GL_LIGHTING); - glDepthMask(GL_FALSE); - glDepthFunc(GL_LEQUAL); - glEnable(GL_STENCIL_TEST); - glColorMask(GL_FALSE,GL_FALSE,GL_FALSE,GL_FALSE); - glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL); - glFrontFace(GL_CCW); - glStencilOp(GL_KEEP,GL_KEEP,GL_INCR); - drawSceneInternal(dynamicsWorld,1,cameraUpAxis); - glFrontFace(GL_CW); - glStencilOp(GL_KEEP,GL_KEEP,GL_DECR); - drawSceneInternal(dynamicsWorld,1,cameraUpAxis); - glFrontFace(GL_CCW); - - glPolygonMode(GL_FRONT,GL_FILL); - glPolygonMode(GL_BACK,GL_FILL); - glShadeModel(GL_SMOOTH); - glEnable(GL_DEPTH_TEST); - glDepthFunc(GL_LESS); - glEnable(GL_LIGHTING); - glDepthMask(GL_TRUE); - glCullFace(GL_BACK); - glFrontFace(GL_CCW); - glEnable(GL_CULL_FACE); - glColorMask(GL_TRUE,GL_TRUE,GL_TRUE,GL_TRUE); - - glDepthFunc(GL_LEQUAL); - glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL ); - glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP ); - glDisable(GL_LIGHTING); - drawSceneInternal(dynamicsWorld,2,cameraUpAxis); - glEnable(GL_LIGHTING); - glDepthFunc(GL_LESS); - glDisable(GL_STENCIL_TEST); - glDisable(GL_CULL_FACE); - } - else - { - glDisable(GL_CULL_FACE); - drawSceneInternal(dynamicsWorld,0,cameraUpAxis); - } -} \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.h bullet-2.87+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GL_ShapeDrawer.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,77 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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 GL_SHAPE_DRAWER_H -#define GL_SHAPE_DRAWER_H - -class btCollisionShape; -class btShapeHull; -class btDiscreteDynamicsWorld; - -#include "LinearMath/btAlignedObjectArray.h" -#include "LinearMath/btVector3.h" - -#include "BulletCollision/CollisionShapes/btShapeHull.h" - -/// OpenGL shape drawing -class GL_ShapeDrawer -{ -protected: - struct ShapeCache - { - struct Edge { btVector3 n[2];int v[2]; }; - ShapeCache(btConvexShape* s) : m_shapehull(s) {} - btShapeHull m_shapehull; - btAlignedObjectArray m_edges; - }; - //clean-up memory of dynamically created shape hulls - btAlignedObjectArray m_shapecaches; - unsigned int m_texturehandle; - bool m_textureenabled; - bool m_textureinitialized; - - - ShapeCache* cache(btConvexShape*); - - virtual void drawSceneInternal(const btDiscreteDynamicsWorld* world, int pass, int cameraUpAxis); - -public: - GL_ShapeDrawer(); - - virtual ~GL_ShapeDrawer(); - - - - 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); - virtual void drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax); - - bool enableTexture(bool enable) { bool p=m_textureenabled;m_textureenabled=enable;return(p); } - bool hasTextureEnabled() const - { - return m_textureenabled; - } - - void drawSphere(btScalar r, int lats, int longs); - static void drawCoordSystem(); - -}; - -void OGL_displaylist_register_shape(btCollisionShape * shape); -void OGL_displaylist_clean(); - -#endif //GL_SHAPE_DRAWER_H - diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,78 +0,0 @@ -#include "GraphingTexture.h" -#include "../OpenGLWindow/OpenGLInclude.h" -#include - -GraphingTexture::GraphingTexture() -:m_textureId(0), -m_width(0), -m_height(0) -{ -} - -GraphingTexture::~GraphingTexture() -{ - destroy(); -} - -void GraphingTexture::destroy() -{ - //TODO(erwincoumans) release memory etc... - m_width = 0; - m_height=0; - glDeleteTextures(1,(GLuint*)&m_textureId); - m_textureId=0; - -} - -bool GraphingTexture::create(int texWidth, int texHeight) -{ - m_width = texWidth; - m_height = texHeight; - glActiveTexture(GL_TEXTURE0); - - m_imageData.resize(texWidth*texHeight*4); - for(int y=0;y>5; - GLubyte* pi=&m_imageData[y*texWidth*4]; - for(int x=0;x=y)//x<2||y<2||x>253||y>253) - { - pi[0]=0; - pi[1]=0; - pi[2]=255; - pi[3]=255; - } else - { - pi[0]=255; - pi[1]=0; - pi[2]=0; - pi[3]=255; - } - - pi+=4; - } - } - - - glGenTextures(1,(GLuint*)&m_textureId); - - uploadImageData(); - return true; -} - -void GraphingTexture::uploadImageData() -{ - glBindTexture(GL_TEXTURE_2D,m_textureId); - assert(glGetError()==GL_NO_ERROR); - - glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, m_width,m_height,0,GL_RGBA,GL_UNSIGNED_BYTE,&m_imageData[0]); - glGenerateMipmap(GL_TEXTURE_2D); - - assert(glGetError()==GL_NO_ERROR); - - -} - - diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.h bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GraphingTexture.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,46 +0,0 @@ -#ifndef GRAPHING_TEXTURE_H -#define GRAPHING_TEXTURE_H -#include "LinearMath/btAlignedObjectArray.h" - -struct GraphingTexture -{ - int m_textureId; - //assume rgba (8 bit per component, total of 32bit per pixel, for m_width*m_height pixels) - btAlignedObjectArray m_imageData; - int m_width; - int m_height; - - GraphingTexture(); - virtual ~GraphingTexture(); - - bool create(int texWidth, int texHeight); - void destroy(); - - void setPixel(int x, int y, unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha) - { - if (y>=0 && y=0 && x m_handlers; - b3ToggleButtonCallback m_toggleButtonCallback; - b3ComboBoxCallback m_comboBoxCallback; - - -}; - -#endif//GWEN_INTERNAL_DATA_H diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,320 +0,0 @@ -#include "GwenParameterInterface.h" -#include "gwenInternalData.h" - -struct MyButtonEventHandler : public Gwen::Event::Handler -{ - Gwen::Controls::Button* m_buttonControl; - ButtonParamChangedCallback m_callback; - void* m_userPointer; - int m_buttonId; - - MyButtonEventHandler(Gwen::Controls::Button* buttonControl, ButtonParamChangedCallback callback, int buttonId, void* userPointer) - :m_buttonControl(buttonControl), - m_callback(callback), - m_userPointer(userPointer), - m_buttonId(buttonId) - { - } - - void onButtonPress( Gwen::Controls::Base* pControl ) - { - if (m_callback) - { - bool buttonState = true; - if (m_buttonControl->IsToggle()) - { - buttonState = m_buttonControl->GetToggleState(); - } - ( *m_callback )( m_buttonId, buttonState, m_userPointer ); - } - } -}; - - -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, SliderParamChangedCallback callback, void* userPtr) - : m_callback(callback), - m_userPointer(userPtr), - m_label(label), - m_pSlider(pSlider), - m_targetValue(target), - m_showValue(true) - - { - memcpy(m_variableName,varName,strlen(varName)+1); - } - - - void SliderMoved( Gwen::Controls::Base* pControl ) - { - Gwen::Controls::Slider* pSlider = (Gwen::Controls::Slider*)pControl; - //printf("value = %f\n", pSlider->GetValue());//UnitPrint( Utility::Format( L"Slider Value: %.2f", pSlider->GetValue() ) ); - float bla = pSlider->GetValue(); - T v = T(bla); - SetValue(v); - - if (m_callback) - { - (*m_callback)(v, m_userPointer); - } - - } - - void SetValue(T v) - { - if (v < m_pSlider->GetRangeMin()) - { - printf("?\n"); - } - - if (v > m_pSlider->GetRangeMax()) - { - printf("?\n"); - - } - m_pSlider->SetValue(v,true); - (*m_targetValue) = v; - float val = float(v);//todo: specialize on template type - if (m_showValue) - { - char txt[1024]; - sprintf(txt,"%s : %.3f", m_variableName,val); - m_label->SetText(txt); - } - - } -}; - - -struct GwenParameters -{ - b3AlignedObjectArray*> m_sliderEventHandlers; - b3AlignedObjectArray m_sliders; - b3AlignedObjectArray m_comboBoxes; - b3AlignedObjectArray m_buttons; - b3AlignedObjectArray m_buttonEventHandlers; - b3AlignedObjectArray m_textLabels; - int m_savedYposition; -}; - -GwenParameterInterface::GwenParameterInterface(GwenInternalData* gwenInternalData) -:m_gwenInternalData(gwenInternalData) -{ - m_paramInternalData = new GwenParameters; - m_paramInternalData->m_savedYposition = m_gwenInternalData->m_curYposition; - -} - -GwenParameterInterface::~GwenParameterInterface() -{ - - removeAllParameters(); - delete m_paramInternalData; -} - - -void GwenParameterInterface::setSliderValue(int sliderIndex, double sliderValue) -{ - int sliderCapped = sliderValue+4; - sliderCapped /= 8; - sliderCapped *= 8; - - if (sliderIndex>=0 && sliderIndexm_sliders.size()) - { - m_paramInternalData->m_sliders[sliderIndex]->GetRangeMin(); - - m_paramInternalData->m_sliders[sliderIndex]->GetRangeMax(); - float mappedValue =m_paramInternalData->m_sliders[sliderIndex]->GetRangeMin()+ - (m_paramInternalData->m_sliders[sliderIndex]->GetRangeMax()- - m_paramInternalData->m_sliders[sliderIndex]->GetRangeMin())*sliderCapped/128.f; - printf("mappedValue = %f\n",mappedValue); - m_paramInternalData->m_sliders[sliderIndex]->SetValue(mappedValue); - } -} - -#include - -void GwenParameterInterface::registerButtonParameter(ButtonParams& params) -{ - - Gwen::Controls::Button* button = new Gwen::Controls::Button(m_gwenInternalData->m_demoPage->GetPage()); - 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(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()); - m_paramInternalData->m_textLabels.push_back(label); - //m_data->m_myControls.push_back(label); - label->SetText( params.m_name); - label->SetPos( 10, 10 + 25 ); - label->SetWidth(210); - label->SetPos(10,m_gwenInternalData->m_curYposition); - m_gwenInternalData->m_curYposition+=22; - - Gwen::Controls::HorizontalSlider* pSlider = new Gwen::Controls::HorizontalSlider( m_gwenInternalData->m_demoPage->GetPage()); - m_paramInternalData->m_sliders.push_back(pSlider); - //m_data->m_myControls.push_back(pSlider); - pSlider->SetPos( 10, m_gwenInternalData->m_curYposition ); - pSlider->SetSize( 200, 20 ); - pSlider->SetRange( params.m_minVal, params.m_maxVal); - 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,params.m_callback, params.m_userPointer); - handler->m_showValue = params.m_showValues; - m_paramInternalData->m_sliderEventHandlers.push_back(handler); - - pSlider->onValueChanged.Add( handler, &MySliderEventHandler::SliderMoved ); - handler->SliderMoved(pSlider); -// float v = pSlider->GetValue(); - m_gwenInternalData->m_curYposition+=22; -} - -void GwenParameterInterface::syncParameters() -{ - for (int i=0;im_sliderEventHandlers.size();i++) - { - MySliderEventHandler* handler = m_paramInternalData->m_sliderEventHandlers[i]; - handler->m_pSlider->SetValue(*handler->m_targetValue,true); - } -} - -void GwenParameterInterface::removeAllParameters() -{ - - for (int i=0;im_buttons.size();i++) - { - delete m_paramInternalData->m_buttons[i]; - } - m_paramInternalData->m_buttons.clear(); - - for (int i=0;im_buttonEventHandlers.size();i++) - { - delete m_paramInternalData->m_buttonEventHandlers[i]; - } - m_paramInternalData->m_buttonEventHandlers.clear(); - - - m_gwenInternalData->m_curYposition+=22; - - - for (int i=0;im_sliders.size();i++) - { - delete m_paramInternalData->m_sliders[i]; - } - m_paramInternalData->m_sliders.clear(); - - for (int i=0;im_sliderEventHandlers.size();i++) - { - delete m_paramInternalData->m_sliderEventHandlers[i]; - } - m_paramInternalData->m_sliderEventHandlers.clear(); - - for (int i=0;im_textLabels.size();i++) - { - delete m_paramInternalData->m_textLabels[i]; - } - 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; - for (int i=0;im_handlers.size();i++) - { - delete m_gwenInternalData->m_handlers[i]; - } - m_gwenInternalData->m_handlers.clear(); - - -} diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.h bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,26 +0,0 @@ -#ifndef GWEN_PARAMETER_INTERFACE_H -#define GWEN_PARAMETER_INTERFACE_H - -#include "../CommonInterfaces/CommonParameterInterface.h" - -struct GwenParameterInterface : public CommonParameterInterface -{ - struct GwenInternalData* m_gwenInternalData; - - struct GwenParameters* m_paramInternalData; - - GwenParameterInterface(struct GwenInternalData* gwenInternalData); - 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(); - - - -}; - -#endif//GWEN_PARAMETER_INTERFACE_H diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,321 +0,0 @@ -#include "GwenProfileWindow.h" -#include "gwenUserInterface.h" -#include "gwenInternalData.h" -#include "LinearMath/btQuickprof.h" - - -#ifndef BT_NO_PROFILE - - -class MyProfileWindow : public Gwen::Controls::WindowControl -{ - - // Gwen::Controls::TabControl* m_TabControl; - //Gwen::Controls::ListBox* m_TextOutput; - unsigned int m_iFrames; - float m_fLastSecond; - - Gwen::Controls::TreeNode* m_node; - Gwen::Controls::TreeControl* m_ctrl; - - -protected: - - void onButtonA( Gwen::Controls::Base* pControl ) - { - // OpenTissue::glut::toggleIdle(); - } - - void SliderMoved(Gwen::Controls::Base* pControl ) - { - // Gwen::Controls::Slider* pSlider = (Gwen::Controls::Slider*)pControl; - //this->m_app->scaleYoungModulus(pSlider->GetValue()); - // printf("Slider Value: %.2f", pSlider->GetValue() ); - } - - - void OnCheckChangedStiffnessWarping (Gwen::Controls::Base* pControl) - { - // Gwen::Controls::CheckBox* labeled = (Gwen::Controls::CheckBox* )pControl; -// bool checked = labeled->IsChecked(); - //m_app->m_stiffness_warp_on = checked; - } -public: - - - CProfileIterator* profIter; - - class MyMenuItems3* m_menuItems; - MyProfileWindow ( Gwen::Controls::Base* pParent) - : Gwen::Controls::WindowControl( pParent ), - profIter(0) - { - SetTitle( L"Time Profiler" ); - - SetSize( 450, 450 ); - this->SetPos(10,400); - - // this->Dock( Gwen::Pos::Bottom); - - - - { - m_ctrl = new Gwen::Controls::TreeControl( this ); - m_node = m_ctrl->AddNode( L"Total Parent Time" ); - - - //Gwen::Controls::TreeNode* pNode = ctrl->AddNode( L"Node Two" ); - //pNode->AddNode( L"Node Two Inside" ); - //pNode->AddNode( L"Eyes" ); - //pNode->AddNode( L"Brown" )->AddNode( L"Node Two Inside" )->AddNode( L"Eyes" )->AddNode( L"Brown" ); - //Gwen::Controls::TreeNode* node = ctrl->AddNode( L"Node Three" ); - - - - //m_ctrl->Dock(Gwen::Pos::Bottom); - - m_ctrl->ExpandAll(); - m_ctrl->SetKeyboardInputEnabled(true); - m_ctrl->SetBounds( this->GetInnerBounds().x,this->GetInnerBounds().y,this->GetInnerBounds().w,this->GetInnerBounds().h); - - } - - - - } - - virtual ~MyProfileWindow() - { - - delete m_node; - delete m_ctrl; - } - - float dumpRecursive(CProfileIterator* profileIterator, Gwen::Controls::TreeNode* parentNode) - { - profileIterator->First(); - if (profileIterator->Is_Done()) - return 0.f; - - 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; - - - int numChildren = 0; - Gwen::UnicodeString txt; - std::vector nodes; - - for (i = 0; !profileIterator->Is_Done(); i++,profileIterator->Next()) - { - numChildren++; - float current_total_time = profileIterator->Get_Current_Total_Time(); - accumulated_time += current_total_time; - double fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f; - - Gwen::String name(profileIterator->Get_Current_Name()); -#ifdef _WIN32 - Gwen::UnicodeString uname = Gwen::Utility::StringToUnicode(name); - - txt = Gwen::Utility::Format(L"%s (%.2f %%) :: %.3f ms / frame (%d calls)",uname.c_str(), fraction,(current_total_time / (double)frames_since_reset),profileIterator->Get_Current_Total_Calls()); - -#else - txt = Gwen::Utility::Format(L"%s (%.2f %%) :: %.3f ms / frame (%d calls)",name.c_str(), fraction,(current_total_time / (double)frames_since_reset),profileIterator->Get_Current_Total_Calls()); - -#endif - - Gwen::Controls::TreeNode* childNode = (Gwen::Controls::TreeNode*)profileIterator->Get_Current_UserPointer(); - if (!childNode) - { - childNode = parentNode->AddNode(L""); - profileIterator->Set_Current_UserPointer(childNode); - } - childNode->SetText(txt); - nodes.push_back(childNode); - - totalTime += current_total_time; - //recurse into children - } - - for (i=0;iEnter_Child(i); - Gwen::Controls::TreeNode* curNode = nodes[i]; - - dumpRecursive(profileIterator, curNode); - - profileIterator->Enter_Parent(); - } - return accumulated_time; - - } - - void UpdateText(CProfileIterator* profileIterator, bool idle) - { - - // static bool update=true; - - m_ctrl->SetBounds(0,0,this->GetInnerBounds().w,this->GetInnerBounds().h); - - // if (!update) - // return; - // update=false; - - - static int test = 1; - test++; - - static double time_since_reset = 0.f; - if (!idle) - { - time_since_reset = CProfileManager::Get_Time_Since_Reset(); - } - - //Gwen::UnicodeString txt = Gwen::Utility::Format( L"FEM Settings %i fps", test ); - { - //recompute profiling data, and store profile strings - - // char blockTime[128]; - - // double totalTime = 0; - - // int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset(); - - profileIterator->First(); - - double parent_time = profileIterator->Is_Root() ? time_since_reset : profileIterator->Get_Current_Parent_Total_Time(); - - - // Gwen::Controls::TreeNode* curParent = m_node; - - - double accumulated_time = dumpRecursive(profileIterator,m_node); - - const char* name = profileIterator->Get_Current_Parent_Name(); -#ifdef _WIN32 - Gwen::UnicodeString uname = Gwen::Utility::StringToUnicode(name); - Gwen::UnicodeString txt = Gwen::Utility::Format( L"Profiling: %s total time: %.3f ms, unaccounted %.3f %% :: %.3f ms", uname.c_str(), parent_time , - parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time); -#else - Gwen::UnicodeString txt = Gwen::Utility::Format( L"Profiling: %s total time: %.3f ms, unaccounted %.3f %% :: %.3f ms", name, parent_time , - parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time); -#endif - //sprintf(blockTime,"--- Profiling: %s (total running time: %.3f ms) ---", profileIterator->Get_Current_Parent_Name(), parent_time ); - //displayProfileString(xOffset,yStart,blockTime); - m_node->SetText(txt); - - - //printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:",); - - - } - - static int counter=10; - if (counter) - { - counter--; - m_ctrl->ExpandAll(); - } - - } - void PrintText( const Gwen::UnicodeString& str ) - { - - } - - void Render( Gwen::Skin::Base* skin ) - { - m_iFrames++; - - if ( m_fLastSecond < Gwen::Platform::GetTimeInSeconds() ) - { - SetTitle( Gwen::Utility::Format( L"Profiler %i fps", m_iFrames ) ); - - m_fLastSecond = Gwen::Platform::GetTimeInSeconds() + 1.0f; - m_iFrames = 0; - } - - Gwen::Controls::WindowControl::Render( skin ); - - } - - -}; - -class MyMenuItems3 : public Gwen::Controls::Base -{ - -public: - - class MyProfileWindow* m_profWindow; - MyMenuItems3() :Gwen::Controls::Base(0) - { - } - virtual ~MyMenuItems3() {} - - void MenuItemSelect(Gwen::Controls::Base* pControl) - { - if (m_profWindow->Hidden()) - { - m_profWindow->SetHidden(false); - } else - { - m_profWindow->SetHidden(true); - } - - } -}; - - -MyProfileWindow* setupProfileWindow(GwenInternalData* data) -{ - 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)&MyMenuItems3::MenuItemSelect); - - menuItems->m_profWindow = profWindow; - - return profWindow; -} - - -void processProfileData( MyProfileWindow* profWindow, bool idle) -{ - if (profWindow) - { - 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-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.h bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,13 +0,0 @@ -#ifndef GWEN_PROFILE_WINDOW_H -#define GWEN_PROFILE_WINDOW_H - -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-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenTextureWindow.cpp bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenTextureWindow.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenTextureWindow.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenTextureWindow.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,100 +0,0 @@ -#include "GwenTextureWindow.h" -#include "gwenUserInterface.h" -#include "gwenInternalData.h" -#include "Gwen/Controls/ImagePanel.h" - - - -class MyGraphWindow : public Gwen::Controls::WindowControl -{ - Gwen::Controls::ImagePanel* m_imgPanel; - -public: - - class MyMenuItems2* m_menuItems; - - MyGraphWindow ( const MyGraphInput& input) - : Gwen::Controls::WindowControl( input.m_data->pCanvas ), - m_menuItems(0) - { - Gwen::UnicodeString str = Gwen::Utility::StringToUnicode(input.m_name); - SetTitle( str ); - - - SetPos(input.m_xPos,input.m_yPos); - SetSize( 12+input.m_width+2*input.m_borderWidth, 30+input.m_height+2*input.m_borderWidth ); - - m_imgPanel = new Gwen::Controls::ImagePanel( this ); - if (input.m_texName) - { - Gwen::UnicodeString texName = Gwen::Utility::StringToUnicode(input.m_texName); - m_imgPanel->SetImage( texName ); - } - m_imgPanel->SetBounds( input.m_borderWidth, input.m_borderWidth, - input.m_width, - input.m_height ); - // this->Dock( Gwen::Pos::Bottom); - } - virtual ~MyGraphWindow() - { - delete m_imgPanel; - } - - -}; - -class MyMenuItems2 : public Gwen::Controls::Base -{ - MyGraphWindow* m_graphWindow; - -public: - - Gwen::Controls::MenuItem* m_item; - - MyMenuItems2(MyGraphWindow* graphWindow) - :Gwen::Controls::Base(0), - m_graphWindow(graphWindow), - m_item(0) - { - } - - void MenuItemSelect(Gwen::Controls::Base* pControl) - { - if (m_graphWindow->Hidden()) - { - m_graphWindow->SetHidden(false); - //@TODO(erwincoumans) setCheck/SetCheckable drawing is broken, need to see what's wrong -// if (m_item) -// m_item->SetCheck(false); - - } else - { - m_graphWindow->SetHidden(true); -// if (m_item) -// m_item->SetCheck(true); - - } - - } -}; - -MyGraphWindow* setupTextureWindow(const MyGraphInput& input) -{ - MyGraphWindow* graphWindow = new MyGraphWindow(input); - MyMenuItems2* menuItems = new MyMenuItems2(graphWindow); - graphWindow->m_menuItems = menuItems; - - Gwen::UnicodeString str = Gwen::Utility::StringToUnicode(input.m_name); - menuItems->m_item = input.m_data->m_viewMenu->GetMenu()->AddItem( str, menuItems,(Gwen::Event::Handler::Function)&MyMenuItems2::MenuItemSelect); -// menuItems->m_item->SetCheckable(true); - - return graphWindow; - -} - -void destroyTextureWindow(MyGraphWindow* window) -{ - delete window->m_menuItems->m_item; - delete window->m_menuItems; - delete window; -} diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenTextureWindow.h bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenTextureWindow.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenTextureWindow.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/GwenTextureWindow.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,32 +0,0 @@ - - -#ifndef GWEN_TEXTURE_WINDOW_H -#define GWEN_TEXTURE_WINDOW_H - -struct MyGraphInput -{ - struct GwenInternalData* m_data; - int m_xPos; - int m_yPos; - int m_width; - int m_height; - int m_borderWidth; - const char* m_name; - const char* m_texName; - MyGraphInput(struct GwenInternalData* data) - :m_data(data), - m_xPos(0), - m_yPos(0), - m_width(400), - m_height(400), - m_borderWidth(0), - m_name("GraphWindow"), - m_texName(0) - { - } -}; -class MyGraphWindow* setupTextureWindow(const MyGraphInput& input); -void destroyTextureWindow(MyGraphWindow* window); - - -#endif //GWEN_TEXTURE_WINDOW_H diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,661 +0,0 @@ - -#include "gwenUserInterface.h" -#include "gwenInternalData.h" -#include "Gwen/Controls/ImagePanel.h" -#include "Gwen/Controls/ColorPicker.h" -//#include "Gwen/Controls/HSVColorPicker.h" - -class MyGraphWindow* graphWindow = 0; - - - -GwenUserInterface::GwenUserInterface() -{ - m_data = new GwenInternalData(); - m_data->m_toggleButtonCallback = 0; - m_data->m_comboBoxCallback = 0; - -} - -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; - - MyTestMenuBar(Gwen::Controls::Base* pParent) - :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"); - - } - } - 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); -} - - -struct MyComboBoxHander :public Gwen::Event::Handler -{ - GwenInternalData* m_data; - int m_buttonId; - - MyComboBoxHander (GwenInternalData* data, int buttonId) - :m_data(data), - m_buttonId(buttonId) - { - } - - 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_data->m_comboBoxCallback) - (*m_data->m_comboBoxCallback)(m_buttonId,str.c_str()); - } - -}; - -struct MyButtonHander :public Gwen::Event::Handler -{ - GwenInternalData* m_data; - int m_buttonId; - - MyButtonHander (GwenInternalData* data, int buttonId) - :m_data(data), - m_buttonId(buttonId) - { - } - - void onButtonA( Gwen::Controls::Base* pControl ) - { - Gwen::Controls::Button* but = (Gwen::Controls::Button*) pControl; -// int dep = but->IsDepressed(); - int tog = but->GetToggleState(); - if (m_data->m_toggleButtonCallback) - (*m_data->m_toggleButtonCallback)(m_buttonId,tog); - } - -}; - - -void GwenUserInterface::textOutput(const char* message) -{ - Gwen::UnicodeString msg = Gwen::Utility::StringToUnicode(message); - m_data->m_TextOutput->AddItem( msg ); - m_data->m_TextOutput->Scroller()->ScrollToBottom(); -} - - -void GwenUserInterface::setExampleDescription(const char* message) -{ - //Gwen apparently doesn't have text/word wrap, so do rudimentary brute-force implementation here. - - std::string wrapmessage=message; - int startPos = 0; - - std::string lastFit = ""; - bool hasSpace = false; - std::string lastFitSpace = ""; - int spacePos = 0; - - m_data->m_exampleInfoTextOutput->Clear(); - int fixedWidth = m_data->m_exampleInfoTextOutput->GetBounds().w-25; - int wrapLen = int(wrapmessage.length()); - for (int endPos=0;endPos<=wrapLen;endPos++) - { - std::string sub = wrapmessage.substr(startPos,(endPos-startPos)); - Gwen::Point pt = m_data->pRenderer->MeasureText(m_data->pCanvas->GetSkin()->GetDefaultFont(),sub); - - if (pt.x <= fixedWidth) - { - lastFit = sub; - - if (message[endPos]==' ' ||message[endPos]=='.' || message[endPos]==',' ) - { - hasSpace = true; - lastFitSpace = sub; - spacePos = endPos; - } - } else - { - //submit and - if (hasSpace) - { - endPos = spacePos+1; - hasSpace = false; - lastFit = lastFitSpace; - startPos = endPos; - } else - { - startPos = endPos-1; - } - Gwen::UnicodeString msg = Gwen::Utility::StringToUnicode(lastFit); - - m_data->m_exampleInfoTextOutput->AddItem( msg ); - m_data->m_exampleInfoTextOutput->Scroller()->ScrollToBottom(); - - } - } - - if (lastFit.length()) - { - Gwen::UnicodeString msg = Gwen::Utility::StringToUnicode(lastFit); - m_data->m_exampleInfoTextOutput->AddItem( msg ); - m_data->m_exampleInfoTextOutput->Scroller()->ScrollToBottom(); - - } - -} - - - - -void GwenUserInterface::setStatusBarMessage(const char* message, bool isLeft) -{ - Gwen::UnicodeString msg = Gwen::Utility::StringToUnicode(message); - if (isLeft) - { - m_data->m_leftStatusBar->SetText( msg); - } else - { - m_data->m_rightStatusBar->SetText( msg); - - } -} - - -void GwenUserInterface::registerFileOpenCallback(b3FileOpenCallback callback) -{ - m_data->m_menuItems->m_fileOpenCallback = callback; -} - -void GwenUserInterface::registerQuitCallback(b3QuitCallback callback) -{ - m_data->m_menuItems->m_quitCallback = callback; -} - -void GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* renderer,float retinaScale) -{ - m_data->m_curYposition = 20; - //m_data->m_primRenderer = new GLPrimitiveRenderer(width,height); - 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"); - box->SetName("name"); - box->SetHeight(500); - */ - Gwen::Controls::ScrollControl* windowRight= new Gwen::Controls::ScrollControl(m_data->pCanvas); - windowRight->Dock(Gwen::Pos::Right); - 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(240); - tab->SetHeight(1250); - //tab->Dock(Gwen::Pos::Left); - tab->Dock( Gwen::Pos::Fill ); - //tab->SetMargin( Gwen::Margin( 2, 2, 2, 2 ) ); - - Gwen::UnicodeString str1(L"Params"); - m_data->m_demoPage = tab->AddPage(str1); - - - - - -// Gwen::UnicodeString str2(L"OpenCL"); -// tab->AddPage(str2); - //Gwen::UnicodeString str3(L"page3"); -// tab->AddPage(str3); - - - - //but->onPress.Add(handler, &MyHander::onButtonA); - - - - //box->Dock(Gwen::Pos::Left); - - /*Gwen::Controls::WindowControl* windowBottom = new Gwen::Controls::WindowControl(m_data->pCanvas); - windowBottom->SetHeight(100); - windowBottom->Dock(Gwen::Pos::Bottom); - windowBottom->SetTitle("bottom"); - */ -// Gwen::Controls::Property::Text* prop = new Gwen::Controls::Property::Text(m_data->pCanvas); - //prop->Dock(Gwen::Pos::Bottom); - /*Gwen::Controls::SplitterBar* split = new Gwen::Controls::SplitterBar(m_data->pCanvas); - split->Dock(Gwen::Pos::Center); - split->SetHeight(300); - split->SetWidth(300); - */ - /* - - - */ - - Gwen::Controls::ScrollControl* windowLeft = new Gwen::Controls::ScrollControl(m_data->pCanvas); - windowLeft->Dock(Gwen::Pos::Left); - // windowLeft->SetTitle("title"); - windowLeft->SetScroll(false, false); - windowLeft->SetWidth(250); - windowLeft->SetPos(50, 50); - windowLeft->SetHeight(500); - //windowLeft->SetClosable(false); - // windowLeft->SetShouldDrawBackground(true); - windowLeft->SetTabable(true); - - Gwen::Controls::TabControl* explorerTab = new Gwen::Controls::TabControl(windowLeft); - - //tab->SetHeight(300); -// explorerTab->SetWidth(230); - explorerTab->SetHeight(250); - //tab->Dock(Gwen::Pos::Left); - explorerTab->Dock(Gwen::Pos::Fill); - - - - - - //m_data->m_exampleInfoTextOutput->SetBounds(2, 10, 236, 400); - - //windowRight - - Gwen::UnicodeString explorerStr1(L"Explorer"); - m_data->m_explorerPage = explorerTab->AddPage(explorerStr1); - Gwen::UnicodeString shapesStr1(L"Test"); - Gwen::Controls::TabButton* shapes = explorerTab->AddPage(shapesStr1); - - ///todo(erwincoumans) figure out why the HSV color picker is extremely slow - //Gwen::Controls::HSVColorPicker* color = new Gwen::Controls::HSVColorPicker(shapes->GetPage()); - Gwen::Controls::ColorPicker* color = new Gwen::Controls::ColorPicker(shapes->GetPage()); - color->SetKeyboardInputEnabled(true); - - Gwen::Controls::TreeControl* ctrl = new Gwen::Controls::TreeControl(m_data->m_explorerPage->GetPage()); - m_data->m_explorerTreeCtrl = ctrl; - ctrl->SetKeyboardInputEnabled(true); - ctrl->Focus(); - ctrl->SetBounds(2, 10, 236, 300); - - m_data->m_exampleInfoGroupBox = new Gwen::Controls::Label( m_data->m_explorerPage->GetPage() ); - m_data->m_exampleInfoGroupBox->SetPos(2, 314); - m_data->m_exampleInfoGroupBox->SetHeight( 15 ); - m_data->m_exampleInfoGroupBox->SetWidth(234); - 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); - m_data->m_exampleInfoTextOutput->SetHeight( 150 ); - m_data->m_exampleInfoTextOutput->SetWidth(233); - - - -} - -void GwenUserInterface::forceUpdateScrollBars() -{ - b3Assert(m_data); - b3Assert(m_data->m_explorerTreeCtrl); - if (m_data && m_data->m_explorerTreeCtrl) - { - m_data->m_explorerTreeCtrl->ForceUpdateScrollBars(); - } -} - -void GwenUserInterface::setFocus() -{ - b3Assert(m_data); - b3Assert(m_data->m_explorerTreeCtrl); - if (m_data && m_data->m_explorerTreeCtrl) - { - m_data->m_explorerTreeCtrl->Focus(); - } -} - -b3ToggleButtonCallback GwenUserInterface::getToggleButtonCallback() -{ - return m_data->m_toggleButtonCallback; -} - -void GwenUserInterface::setToggleButtonCallback(b3ToggleButtonCallback callback) -{ - m_data->m_toggleButtonCallback = callback; -} -void GwenUserInterface::registerToggleButton2(int buttonId, const char* name) -{ - assert(m_data); - assert(m_data->m_demoPage); - - Gwen::Controls::Button* but = new Gwen::Controls::Button(m_data->m_demoPage->GetPage()); - - ///some heuristic to find the button location - int ypos = m_data->m_curYposition; - but->SetPos(10, ypos ); - but->SetWidth( 200 ); - //but->SetBounds( 200, 30, 300, 200 ); - - MyButtonHander* handler = new MyButtonHander(m_data, buttonId); - m_data->m_handlers.push_back(handler); - m_data->m_curYposition+=22; - but->onToggle.Add(handler, &MyButtonHander::onButtonA); - but->SetIsToggle(true); - but->SetToggleState(false); - but->SetText(name); - -} - -void GwenUserInterface::setComboBoxCallback(b3ComboBoxCallback callback) -{ - m_data->m_comboBoxCallback = callback; -} - -b3ComboBoxCallback GwenUserInterface::getComboBoxCallback() -{ - return m_data->m_comboBoxCallback; -} -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); - m_data->m_handlers.push_back(handler); - - combobox->onSelection.Add(handler,&MyComboBoxHander::onSelect); - int ypos = m_data->m_curYposition; - combobox->SetPos(10, ypos ); - combobox->SetWidth( 100 ); - //box->SetPos(120,130); - for (int i=0;iAddItem(Gwen::Utility::StringToUnicode(items[i])); - if (i==startItem) - combobox->OnItemSelected(item); - } - - m_data->m_curYposition+=22; - - - -} - -void GwenUserInterface::draw(int width, int height) -{ - -// printf("width = %d, height=%d\n", width,height); - if (m_data->pCanvas) - { - m_data->pCanvas->SetSize(width,height); - //m_data->m_primRenderer->setScreenSize(width,height); - m_data->pRenderer->Resize(width,height); - m_data->pCanvas->RenderCanvas(); - //restoreOpenGLState(); - } - -} - -bool GwenUserInterface::mouseMoveCallback( float x, float y) -{ - bool handled = false; - - static int m_lastmousepos[2] = {0,0}; - static bool isInitialized = false; - if (m_data->pCanvas) - { - if (!isInitialized) - { - isInitialized = true; - m_lastmousepos[0] = x+1; - m_lastmousepos[1] = y+1; - } - handled = m_data->pCanvas->InputMouseMoved(x,y,m_lastmousepos[0],m_lastmousepos[1]); - } - return handled; - -} -#include "../CommonInterfaces/CommonWindowInterface.h" - -bool GwenUserInterface::keyboardCallback(int bulletKey, int state) -{ - int gwenKey = -1; - if (m_data->pCanvas) - { - //convert 'Bullet' keys into 'Gwen' keys - switch (bulletKey) - { - case B3G_RETURN: - { - gwenKey = Gwen::Key::Return; - break; - } - case B3G_LEFT_ARROW: - { - gwenKey = Gwen::Key::Left; - break; - } - case B3G_RIGHT_ARROW: - { - gwenKey = Gwen::Key::Right; - break; - } - case B3G_UP_ARROW: - { - gwenKey = Gwen::Key::Up; - break; - } - case B3G_DOWN_ARROW: - { - gwenKey = Gwen::Key::Down; - break; - } - case B3G_BACKSPACE: - { - gwenKey = Gwen::Key::Backspace; - break; - } - case B3G_DELETE: - { - gwenKey = Gwen::Key::Delete; - break; - } - case B3G_HOME: - { - gwenKey = Gwen::Key::Home; - break; - } - case B3G_END: - { - gwenKey = Gwen::Key::End; - break; - } - case B3G_SHIFT: - { - gwenKey = Gwen::Key::Shift; - break; - } - case B3G_CONTROL: - { - gwenKey = Gwen::Key::Control; - break; - } - - default: - { - - } - }; - - if (gwenKey>=0) - { - return m_data->pCanvas->InputKey(gwenKey,state==1); - } else - { - if (bulletKey<256 && state) - { - Gwen::UnicodeChar c = ( Gwen::UnicodeChar ) bulletKey; - return m_data->pCanvas->InputCharacter(c); - } - } - - - } - return false; -} - - -bool GwenUserInterface::mouseButtonCallback(int button, int state, float x, float y) -{ - bool handled = false; - if (m_data->pCanvas) - { - handled = m_data->pCanvas->InputMouseMoved(x,y,x, y); - - if (button>=0) - { - handled = m_data->pCanvas->InputMouseButton(button,(bool)state); - if (handled) - { - //if (!state) - // return false; - } - } - } - return handled; -} diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,70 +0,0 @@ -#ifndef _GWEN_USER_INTERFACE_H -#define _GWEN_USER_INTERFACE_H - -struct GwenInternalData; - -typedef void (*b3ComboBoxCallback) (int combobox, const char* item); -typedef void (*b3ToggleButtonCallback)(int button, int state); -typedef void (*b3FileOpenCallback)(); -typedef void (*b3QuitCallback)(); - -namespace Gwen -{ - namespace Renderer - { - class Base; - }; -}; -class GwenUserInterface -{ - GwenInternalData* m_data; - - public: - - GwenUserInterface(); - - virtual ~GwenUserInterface(); - - void init(int width, int height,Gwen::Renderer::Base* gwenRenderer,float retinaScale); - void exit(); - void setFocus(); - void forceUpdateScrollBars(); - - void draw(int width, int height); - - void resize(int width, int height); - - bool mouseMoveCallback( float x, float y); - bool mouseButtonCallback(int button, int state, float x, float y); - bool keyboardCallback(int key, int state); - - - void setToggleButtonCallback(b3ToggleButtonCallback callback); - b3ToggleButtonCallback getToggleButtonCallback(); - - void registerToggleButton2(int buttonId, const char* name); - - void setComboBoxCallback(b3ComboBoxCallback callback); - b3ComboBoxCallback getComboBoxCallback(); - void registerComboBox2(int buttonId, int numItems, const char** items, int startItem = 0); - - void setStatusBarMessage(const char* message, bool isLeft=true); - - void textOutput(const char* msg); - void setExampleDescription(const char* msg); - - - void registerFileOpenCallback(b3FileOpenCallback callback); - void registerQuitCallback(b3QuitCallback callback); - - GwenInternalData* getInternalData() - { - return m_data; - } - -}; - - - -#endif //_GWEN_USER_INTERFACE_H - diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.cpp bullet-2.87+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,443 +0,0 @@ -#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-2.86.1+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.h bullet-2.87+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/InProcessExampleBrowser.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,33 +0,0 @@ -#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-2.86.1+dfsg/examples/ExampleBrowser/main.cpp bullet-2.87+dfsg/examples/ExampleBrowser/main.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/main.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/main.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,74 +0,0 @@ - - -#include "OpenGLExampleBrowser.h" - -#include "Bullet3Common/b3CommandLineArgs.h" -#include "../Utils/b3Clock.h" - -#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; - 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) - { - 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; - - } - -#ifdef BT_DEBUG_MEMORY_ALLOCATIONS - int numBytesLeaked = btDumpMemoryLeaks(); - btAssert(numBytesLeaked==0); -#endif//BT_DEBUG_MEMORY_ALLOCATIONS - - return 0; -} diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.cpp bullet-2.87+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,1322 +0,0 @@ -#include "OpenGLExampleBrowser.h" -#include "LinearMath/btQuickprof.h" -#include "../OpenGLWindow/OpenGLInclude.h" -#include "../OpenGLWindow/SimpleOpenGL2App.h" -#ifndef NO_OPENGL3 -#include "../OpenGLWindow/SimpleOpenGL3App.h" -#endif -#include "../CommonInterfaces/CommonRenderInterface.h" -#ifdef __APPLE__ -#include "../OpenGLWindow/MacOpenGLWindow.h" -#else -#ifdef _WIN32 -#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" -#include "../CommonInterfaces/CommonExampleInterface.h" -#include "Bullet3Common/b3CommandLineArgs.h" -#include "../OpenGLWindow/SimpleCamera.h" -#include "../OpenGLWindow/SimpleOpenGL2Renderer.h" -#include "ExampleEntries.h" -#include "OpenGLGuiHelper.h" -#include "Bullet3Common/b3FileUtils.h" - -#include "LinearMath/btIDebugDraw.h" -//quick test for file import, @todo(erwincoumans) make it more general and add other file formats -#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* 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; -#ifndef USE_OPENGL3 -extern bool useShadowMap; -#endif - -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; - -int gSharedMemoryKey=-1; - - -///some quick test variable for the OpenCL examples - -int gPreferredOpenCLDeviceIndex=-1; -int gPreferredOpenCLPlatformIndex=-1; -int gGpuArraySizeX=45; -int gGpuArraySizeY=55; -int gGpuArraySizeZ=45; - -//#include -//unsigned int fp_control_state = _controlfp(_EM_INEXACT, _MCW_EM); - - - -void deleteDemo() -{ - if (sCurrentDemo) - { - sCurrentDemo->exitPhysics(); - s_instancingRenderer->removeAllInstances(); - delete sCurrentDemo; - sCurrentDemo=0; - delete s_guiHelper; - s_guiHelper = 0; - -// CProfileManager::CleanupMemory(); - } -} - -const char* gPngFileName = 0; -int gPngSkipFrames = 0; - - - - -b3KeyboardCallback prevKeyboardCallback = 0; - -void MyKeyboardCallback(int key, int state) -{ - - //b3Printf("key=%d, state=%d", key, state); - bool handled = false; - - if (gui2 && !handled ) - { - handled = gui2->keyboardCallback(key, state); - } - - if (!handled && sCurrentDemo) - { - handled = sCurrentDemo->keyboardCallback(key,state); - } - - - - - //checkout: is it desired to ignore keys, if the demo already handles them? - //if (handled) - // return; - - if (key=='a' && state) - { - gDebugDrawFlags ^= btIDebugDraw::DBG_DrawAabb; - } - if (key=='c' && state) - { - gDebugDrawFlags ^= btIDebugDraw::DBG_DrawContactPoints; - } - if (key == 'd' && state) - { - 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; - } - if (key=='w' && state) - { - visualWireframe=!visualWireframe; - gDebugDrawFlags ^= btIDebugDraw::DBG_DrawWireframe; - } - - - if (key=='v' && state) - { - renderVisualGeometry = !renderVisualGeometry; - } - if (key=='g' && state) - { - renderGrid = !renderGrid; - renderGui = !renderGui; - } - - - if (key=='i' && state) - { - 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) - { - useShadowMap=!useShadowMap; - } -#endif - if (key==B3G_F1) - { - static int count=0; - if (state) - { - b3Printf("F1 pressed %d", count++); - - if (gPngFileName) - { - b3Printf("disable image dump"); - - gPngFileName=0; - } else - { - gPngFileName = gAllExamples->getExampleName(sCurrentDemoIndex); - b3Printf("enable image dump %s",gPngFileName); - - } - } else - { - b3Printf("F1 released %d",count++); - } - } - if (key==B3G_ESCAPE && s_window) - { - - s_window->setRequestExit(); - } - - if (prevKeyboardCallback) - prevKeyboardCallback(key,state); -} - - -b3MouseMoveCallback prevMouseMoveCallback = 0; -static void MyMouseMoveCallback( float x, float y) -{ - bool handled = false; - if (sCurrentDemo) - handled = sCurrentDemo->mouseMoveCallback(x,y); - if (renderGui) - { - if (!handled && gui2) - handled = gui2->mouseMoveCallback(x,y); - } - if (!handled) - { - if (prevMouseMoveCallback) - prevMouseMoveCallback(x,y); - } -} - -b3MouseButtonCallback prevMouseButtonCallback = 0; - -static void MyMouseButtonCallback(int button, int state, float x, float y) -{ - bool handled = false; - //try picking first - if (sCurrentDemo) - handled = sCurrentDemo->mouseButtonCallback(button,state,x,y); - - if (renderGui) - { - if (!handled && gui2) - handled = gui2->mouseButtonCallback(button,state,x,y); - } - if (!handled) - { - if (prevMouseButtonCallback ) - prevMouseButtonCallback (button,state,x,y); - } - // b3DefaultMouseButtonCallback(button,state,x,y); -} - -#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) -{ - - deleteDemo(); - - s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2); - s_parameterInterface->removeAllParameters(); - - - CommonExampleOptions options(s_guiHelper,1); - options.m_fileName = filename; - char fullPath[1024]; - sprintf(fullPath, "%s", filename); - b3FileUtils::toLower(fullPath); - - for (int i=0;iinitPhysics(); - sCurrentDemo->resetCamera(); - } - - -} - - - -void selectDemo(int demoIndex) -{ - bool resetCamera = (sCurrentDemoIndex != demoIndex); - sCurrentDemoIndex = demoIndex; - sCurrentHightlighted = demoIndex; - int numDemos = gAllExamples->getNumRegisteredExamples(); - - - - if (demoIndex>numDemos) - { - demoIndex = 0; - } - deleteDemo(); - - - CommonExampleInterface::CreateFunc* func = gAllExamples->getExampleCreateFunc(demoIndex); - if (func) - { - 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 (gui2) - { - gui2->setStatusBarMessage("Status: OK", false); - } - b3Printf("Selected demo: %s",gAllExamples->getExampleName(demoIndex)); - if (gui2) - { - gui2->setExampleDescription(gAllExamples->getExampleDescription(demoIndex)); - } - - sCurrentDemo->initPhysics(); - if(resetCamera) - { - sCurrentDemo->resetCamera(); - } - } - } - -} - -#include - - -static void saveCurrentSettings(int currentEntry,const char* startFileName) -{ - FILE* f = fopen(startFileName,"w"); - if (f) - { - fprintf(f,"--start_demo_name=%s\n", gAllExamples->getExampleName(sCurrentDemoIndex)); - fprintf(f,"--mouse_move_multiplier=%f\n", s_app->getMouseMoveMultiplier()); - fprintf(f,"--mouse_wheel_multiplier=%f\n", s_app->getMouseWheelMultiplier()); - float red,green,blue; - s_app->getBackgroundColor(&red,&green,&blue); - fprintf(f,"--background_color_red= %f\n", red); - fprintf(f,"--background_color_green= %f\n", green); - fprintf(f,"--background_color_blue= %f\n", blue); - fprintf(f,"--fixed_timestep= %f\n", gFixedTimeStep); - if (!gAllowRetina) - { - fprintf(f,"--disable_retina"); - } - - if (enable_experimental_opencl) - { - fprintf(f,"--enable_experimental_opencl\n"); - } - if (sUseOpenGL2 ) - { - fprintf(f,"--opengl2\n"); - } - - fclose(f); - } -}; - -static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& args) -{ - //int currentEntry= 0; - FILE* f = fopen(startFileName,"r"); - if (f) - { - char oneline[1024]; - char* argv[] = {0,&oneline[0]}; - - while( fgets (oneline, 1024, f)!=NULL ) - { - char *pos; - if ((pos=strchr(oneline, '\n')) != NULL) - *pos = '\0'; - args.addArgs(2,argv); - } - fclose(f); - } - -}; - -void MyComboBoxCallback(int comboId, const char* item) -{ - //printf("comboId = %d, item = %s\n",comboId, item); - if (comboId==DEMO_SELECTION_COMBOBOX) - { - //find selected item - for (int i=0;itextOutput(msg); - gui2->forceUpdateScrollBars(); - } -} - - - -void MyStatusBarPrintf(const char* msg) -{ - printf("b3Printf: %s\n", msg); - if (!gDisableDemoSelection && !gBlockGuiMessages) - { - bool isLeft = true; - gui2->setStatusBarMessage(msg,isLeft); - } -} - - -void MyStatusBarError(const char* msg) -{ - printf("Warning: %s\n", msg); - if (!gDisableDemoSelection && !gBlockGuiMessages) - { - bool isLeft = false; - gui2->setStatusBarMessage(msg,isLeft); - gui2->textOutput(msg); - gui2->forceUpdateScrollBars(); - } - btAssert(0); - -} - -struct MyMenuItemHander :public Gwen::Event::Handler -{ - int m_buttonId; - - MyMenuItemHander( int buttonId) - :m_buttonId(buttonId) - { - } - - void onButtonA(Gwen::Controls::Base* pControl) - { - //const Gwen::String& name = pControl->GetName(); - Gwen::Controls::TreeNode* node = (Gwen::Controls::TreeNode*)pControl; - // Gwen::Controls::Label* l = node->GetButton(); - - Gwen::UnicodeString la = node->GetButton()->GetText();// node->GetButton()->GetName();// GetText(); - Gwen::String laa = Gwen::Utility::UnicodeToString(la); - // const char* ha = laa.c_str(); - - //printf("selected %s\n", ha); - //int dep = but->IsDepressed(); - //int tog = but->GetToggleState(); -// if (m_data->m_toggleButtonCallback) - // (*m_data->m_toggleButtonCallback)(m_buttonId, tog); - } - void onButtonB(Gwen::Controls::Base* pControl) - { - Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl; - Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText(); - Gwen::String laa = Gwen::Utility::UnicodeToString(la); - //const char* ha = laa.c_str(); - - if (!gDisableDemoSelection ) - { - selectDemo(sCurrentHightlighted); - saveCurrentSettings(sCurrentDemoIndex, startFileName); - } - } - void onButtonC(Gwen::Controls::Base* pControl) - { - /*Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl; - Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText(); - Gwen::String laa = Gwen::Utility::UnicodeToString(la); - const char* ha = laa.c_str(); - - - printf("onButtonC ! %s\n", ha); - */ - } - void onButtonD(Gwen::Controls::Base* pControl) - { -/* Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl; - Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText(); - Gwen::String laa = Gwen::Utility::UnicodeToString(la); - const char* ha = laa.c_str(); - */ - - // printf("onKeyReturn ! \n"); - if (!gDisableDemoSelection ) - { - selectDemo(sCurrentHightlighted); - saveCurrentSettings(sCurrentDemoIndex, startFileName); - } - - } - - void onButtonE(Gwen::Controls::Base* pControl) - { - // printf("select %d\n",m_buttonId); - sCurrentHightlighted = m_buttonId; - gui2->setExampleDescription(gAllExamples->getExampleDescription(sCurrentHightlighted)); - } - - void onButtonF(Gwen::Controls::Base* pControl) - { - //printf("selection changed!\n"); - } - - void onButtonG(Gwen::Controls::Base* pControl) - { - //printf("onButtonG !\n"); - } - - - -}; - -void quitCallback() -{ - - s_window->setRequestExit(); -} - -void fileOpenCallback() -{ - - char filename[1024]; - int len = s_window->fileOpenDialog(filename,1024); - if (len) - { - //todo(erwincoumans) check if it is actually URDF - //printf("file open:%s\n", filename); - openFileDemo(filename); - } -} - -#define MAX_GRAPH_WINDOWS 5 - -struct QuickCanvas : public Common2dCanvasInterface -{ - GL3TexLoader* m_myTexLoader; - - 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_curXpos(0) - { - for (int i=0;i=MAX_GRAPH_WINDOWS) - return 0;//don't crash - - m_curNumGraphWindows++; - - MyGraphInput input(gui2->getInternalData()); - input.m_width=width; - input.m_height=height; - 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; - m_gt[slot] = new GraphingTexture; - m_gt[slot]->create(width,height); - int texId = m_gt[slot]->getTextureId(); - m_myTexLoader->m_hashMap.insert(canvasName, texId); - m_gw[slot] = setupTextureWindow(input); - - return slot; - } - return -1; - } - 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) - { - btAssert(canvasId>=0); - btAssert(canvasIdsetPixel(x,y,red,green,blue,alpha); - } - - virtual void getPixel(int canvasId, int x, int y, unsigned char& red, unsigned char& green,unsigned char& blue, unsigned char& alpha) - { - btAssert(canvasId>=0); - btAssert(canvasIdgetPixel(x,y,red,green,blue,alpha); - } - - virtual void refreshImageData(int canvasId) - { - m_gt[canvasId]->uploadImageData(); - } -}; - - -OpenGLExampleBrowser::OpenGLExampleBrowser(class ExampleEntries* examples) -{ - m_internalData = new OpenGLExampleBrowserInternalData; - - gAllExamples = examples; -} - -OpenGLExampleBrowser::~OpenGLExampleBrowser() -{ - 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[]) -{ - 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 - ///you could give it a try - ///Note that several old OpenCL physics examples still have to be ported over to this new Example Browser - if (args.CheckCmdLineFlag("enable_experimental_opencl")) - { - enable_experimental_opencl = true; - gAllExamples->initOpenCLExampleEntries(); - } - - if (args.CheckCmdLineFlag("disable_retina")) - { - gAllowRetina = false; - } - - - int width = 1024; - int height=768; -#ifndef NO_OPENGL3 - SimpleOpenGL3App* simpleApp=0; - sUseOpenGL2 =args.CheckCmdLineFlag("opengl2"); -#else - sUseOpenGL2 = true; -#endif - const char* appTitle = "Bullet Physics ExampleBrowser"; -#if defined (_DEBUG) || defined (DEBUG) - const char* optMode = "Debug build (slow)"; -#else - const char* optMode = "Release build"; -#endif - - if (sUseOpenGL2 ) - { - char title[1024]; - sprintf(title,"%s using limited OpenGL2 fallback. %s", appTitle,optMode); - s_app = new SimpleOpenGL2App(title,width,height); - s_app->m_renderer = new SimpleOpenGL2Renderer(width,height); - } - -#ifndef NO_OPENGL3 - else - { - char title[1024]; - sprintf(title,"%s using OpenGL3+. %s", appTitle,optMode); - simpleApp = new SimpleOpenGL3App(title,width,height, gAllowRetina); - s_app = simpleApp; - } -#endif - m_internalData->m_app = s_app; - char* gVideoFileName = 0; - args.GetCmdLineArgument("mp4",gVideoFileName); - #ifndef NO_OPENGL3 - if (gVideoFileName) - simpleApp->dumpFramesToVideo(gVideoFileName); - #endif - - s_instancingRenderer = s_app->m_renderer; - s_window = s_app->m_window; - - width = s_window->getWidth(); - height = s_window->getHeight(); - - prevMouseMoveCallback = s_window->getMouseMoveCallback(); - s_window->setMouseMoveCallback(MyMouseMoveCallback); - - prevMouseButtonCallback = s_window->getMouseButtonCallback(); - s_window->setMouseButtonCallback(MyMouseButtonCallback); - prevKeyboardCallback = s_window->getKeyboardCallback(); - s_window->setKeyboardCallback(MyKeyboardCallback); - - s_app->m_renderer->getActiveCamera()->setCameraDistance(13); - s_app->m_renderer->getActiveCamera()->setCameraPitch(0); - s_app->m_renderer->getActiveCamera()->setCameraTargetPosition(0,0,0); - - float mouseMoveMult= s_app->getMouseMoveMultiplier(); - if (args.GetCmdLineArgument("mouse_move_multiplier", mouseMoveMult)) - { - s_app->setMouseMoveMultiplier(mouseMoveMult); - } - - - float mouseWheelMult= s_app->getMouseWheelMultiplier(); - if (args.GetCmdLineArgument("mouse_wheel_multiplier",mouseWheelMult)) - { - s_app->setMouseWheelMultiplier(mouseWheelMult); - } - - - args.GetCmdLineArgument("shared_memory_key", gSharedMemoryKey); - - float red,green,blue; - s_app->getBackgroundColor(&red,&green,&blue); - args.GetCmdLineArgument("background_color_red",red); - args.GetCmdLineArgument("background_color_green",green); - args.GetCmdLineArgument("background_color_blue",blue); - s_app->setBackgroundColor(red,green,blue); - - b3SetCustomWarningMessageFunc(MyGuiPrintf); - b3SetCustomPrintfFunc(MyGuiPrintf); - b3SetCustomErrorMessageFunc(MyStatusBarError); - - - - assert(glGetError()==GL_NO_ERROR); - - { - GL3TexLoader* myTexLoader = new GL3TexLoader; - m_internalData->m_myTexLoader = myTexLoader; - - - if (sUseOpenGL2) - { - m_internalData->m_gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont(); - } -#ifndef NO_OPENGL3 - else - { - sth_stash* fontstash = simpleApp->getFontStash(); - m_internalData->m_gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer, fontstash, width, height, s_window->getRetinaScale(), myTexLoader); - } -#endif - - gui2 = new GwenUserInterface; - - m_internalData->m_gui = gui2; - - m_internalData->m_myTexLoader = myTexLoader; - - - - gui2->init(width, height, m_internalData->m_gwenRenderer, s_window->getRetinaScale()); - - - } - //gui = 0;// new GwenUserInterface; - - GL3TexLoader* myTexLoader = m_internalData->m_myTexLoader; - // = myTexLoader; - - - - // - - if (gui2) - { - - - - - - // 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; - m_internalData->m_handler2 = new MyMenuItemHander(-1); - - char* demoNameFromCommandOption = 0; - args.GetCmdLineArgument("start_demo_name", demoNameFromCommandOption); - if (demoNameFromCommandOption) { - selectedDemo = -1; - } - - tree->onReturnKeyDown.Add(m_internalData->m_handler2, &MyMenuItemHander::onButtonD); - int firstAvailableDemoIndex=-1; - Gwen::Controls::TreeNode* firstNode=0; - - for (int d = 0; dgetExampleName(d)); - if (gAllExamples->getExampleCreateFunc(d))//was test for gAllExamples[d].m_menuLevel==1 - { - Gwen::Controls::TreeNode* pNode = curNode->AddNode(nodeUText); - - if (firstAvailableDemoIndex<0) - { - firstAvailableDemoIndex = d; - firstNode = pNode; - } - - if (d == selectedDemo) - { - firstAvailableDemoIndex = d; - firstNode = pNode; - //pNode->SetSelected(true); - //tree->ExpandAll(); - // tree->ForceUpdateScrollBars(); - //tree->OnKeyLeft(true); - // tree->OnKeyRight(true); - - - //tree->ExpandAll(); - - // selectDemo(d); - - - } - - if (demoNameFromCommandOption ) - { - const char* demoName = gAllExamples->getExampleName(d); - int res = strcmp(demoName, demoNameFromCommandOption); - if (res==0) - { - firstAvailableDemoIndex = d; - firstNode = pNode; - } - } - -#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); -// pNode->onKeyboardPressed.Add(handler, &MyMenuItemHander::onButtonD); -// pNode->OnKeyPress - } - else - { - curNode = tree->AddNode(nodeUText); - m_internalData->m_nodes.push_back(curNode); - } - } - - if (sCurrentDemo==0) - { - if (firstAvailableDemoIndex>=0) - { - firstNode->SetSelected(true); - while (firstNode != tree) - { - firstNode->ExpandAll(); - firstNode = (Gwen::Controls::TreeNode*)firstNode->GetParent(); - } - - selectDemo(firstAvailableDemoIndex); - } - - } - free(demoNameFromCommandOption); - demoNameFromCommandOption = 0; - - btAssert(sCurrentDemo!=0); - if (sCurrentDemo==0) - { - printf("Error, no demo/example\n"); - exit(0); - } - - gui2->registerFileOpenCallback(fileOpenCallback); - gui2->registerQuitCallback(quitCallback); - } - - - return true; -} - - -CommonExampleInterface* OpenGLExampleBrowser::getCurrentExample() -{ - btAssert(sCurrentDemo); - return sCurrentDemo; -} - -bool OpenGLExampleBrowser::requestedExit() -{ - return s_window->requestedExit(); -} - -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; - dg.upAxis = s_app->getUpAxis(); - - { - BT_PROFILE("Update Camera and Light"); - - - - s_instancingRenderer->updateCamera(dg.upAxis); - } - - - static int frameCount = 0; - frameCount++; - - if (0) - { - BT_PROFILE("Draw frame counter"); - char bla[1024]; - sprintf(bla,"Frame %d", frameCount); - 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 || singleStepSimulation) - { - - //printf("---------------------------------------------------\n"); - //printf("Framecount = %d\n",frameCount); - B3_PROFILE("sCurrentDemo->stepSimulation"); - - if (gFixedTimeStep>0) - { - - sCurrentDemo->stepSimulation(gFixedTimeStep); - } else - { - sCurrentDemo->stepSimulation(deltaTime);//1./60.f); - } - } - - 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) - { - glPolygonMode( GL_FRONT_AND_BACK, GL_LINE ); - } - BT_PROFILE("Render Scene"); - sCurrentDemo->renderScene(); - } - //else - { - B3_PROFILE("physicsDebugDraw"); - glPolygonMode( GL_FRONT_AND_BACK, GL_FILL ); - sCurrentDemo->physicsDebugDraw(gDebugDrawFlags); - } - } - - - - { - - 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(); - float yaw = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraYaw(); - 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]); - gui2->setStatusBarMessage(msg, true); - } - - } - - static int toggle = 1; - if (renderGui) - { - B3_PROFILE("renderGui"); -#ifndef BT_NO_PROFILE - - if (!pauseSimulation || singleStepSimulation) - { - if (isProfileWindowVisible(s_profWindow)) - { - processProfileData(s_profWindow,false); - } - } -#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(); - } - - } - - singleStepSimulation = false; - - - toggle=1-toggle; - { - BT_PROFILE("Sync Parameters"); - if (s_parameterInterface) - { - s_parameterInterface->syncParameters(); - } - } - { - BT_PROFILE("Swap Buffers"); - s_app->swapBuffer(); - } - - if (gui2) - { - B3_PROFILE("forceUpdateScrollBars"); - gui2->forceUpdateScrollBars(); - } - -} - -void OpenGLExampleBrowser::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem) -{ - gDisableDemoSelection = true; - sSharedMem = sharedMem; -} diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.h bullet-2.87+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/OpenGLExampleBrowser.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,31 +0,0 @@ -#ifndef OPENGL_BROWSER_GUI_H -#define OPENGL_BROWSER_GUI_H - -#include "ExampleBrowserInterface.h" - -class OpenGLExampleBrowser : public ExampleBrowserInterface -{ - - struct OpenGLExampleBrowserInternalData* m_internalData; - -public: - - OpenGLExampleBrowser(class ExampleEntries* examples); - virtual ~OpenGLExampleBrowser(); - - virtual CommonExampleInterface* getCurrentExample(); - - virtual bool init(int argc, char* argv[]); - - 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-2.86.1+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.cpp bullet-2.87+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.cpp --- bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,532 +0,0 @@ -#include "OpenGLGuiHelper.h" - -#include "btBulletDynamicsCommon.h" - -#include "../CommonInterfaces/CommonGraphicsAppInterface.h" -#include "../CommonInterfaces/CommonRenderInterface.h" -#include "Bullet3Common/b3Scalar.h" -#include "CollisionShape2TriangleMesh.h" - - -#include "../OpenGLWindow/SimpleCamera.h" -#include "../OpenGLWindow/GLInstanceGraphicsShape.h" -//backwards compatibility -#include "GL_ShapeDrawer.h" - - -#define BT_LINE_BATCH_SIZE 512 - -struct MyDebugVec3 -{ - MyDebugVec3(const btVector3& org) - :x(org.x()), - y(org.y()), - z(org.z()) - { - } - - float x; - float y; - float z; -}; - -ATTRIBUTE_ALIGNED16( class )MyDebugDrawer : public btIDebugDraw -{ - CommonGraphicsApp* m_glApp; - int m_debugMode; - - btAlignedObjectArray m_linePoints; - btAlignedObjectArray m_lineIndices; - btVector3 m_currentLineColor; - DefaultColors m_ourColors; - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - MyDebugDrawer(CommonGraphicsApp* app) - : m_glApp(app) - ,m_debugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb), - m_currentLineColor(-1,-1,-1) - { - - - } - virtual DefaultColors getDefaultColors() const - { - return m_ourColors; - } - ///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors. - virtual void setDefaultColors(const DefaultColors& colors) - { - m_ourColors = colors; - } - - - virtual void drawLine(const btVector3& from1,const btVector3& to1,const btVector3& color1) - { - //float from[4] = {from1[0],from1[1],from1[2],from1[3]}; - //float to[4] = {to1[0],to1[1],to1[2],to1[3]}; - //float color[4] = {color1[0],color1[1],color1[2],color1[3]}; - //m_glApp->m_instancingRenderer->drawLine(from,to,color); - if (m_currentLineColor!=color1 || m_linePoints.size() >= BT_LINE_BATCH_SIZE) - { - flushLines(); - m_currentLineColor = color1; - } - MyDebugVec3 from(from1); - MyDebugVec3 to(to1); - - m_linePoints.push_back(from); - m_linePoints.push_back(to); - - m_lineIndices.push_back(m_lineIndices.size()); - m_lineIndices.push_back(m_lineIndices.size()); - - } - - virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color) - { - drawLine(PointOnB,PointOnB+normalOnB*distance,color); - btVector3 ncolor(0, 0, 0); - drawLine(PointOnB, PointOnB + normalOnB*0.01, ncolor); - - } - - - virtual void reportErrorWarning(const char* warningString) - { - } - - virtual void draw3dText(const btVector3& location,const char* textString) - { - } - - virtual void setDebugMode(int debugMode) - { - m_debugMode = debugMode; - } - - virtual int getDebugMode() const - { - return m_debugMode; - } - - virtual void flushLines() - { - int sz = m_linePoints.size(); - if (sz) - { - float debugColor[4]; - debugColor[0] = m_currentLineColor.x(); - debugColor[1] = m_currentLineColor.y(); - debugColor[2] = m_currentLineColor.z(); - debugColor[3] = 1.f; - m_glApp->m_renderer->drawLines(&m_linePoints[0].x,debugColor, - m_linePoints.size(),sizeof(MyDebugVec3), - &m_lineIndices[0], - m_lineIndices.size(), - 1); - m_linePoints.clear(); - m_lineIndices.clear(); - } - } - -}; - -static btVector4 sColors[4] = -{ - btVector4(0.3,0.3,1,1), - btVector4(0.6,0.6,1,1), - btVector4(0,1,0,1), - btVector4(0,1,1,1), - //btVector4(1,1,0,1), -}; - - -struct OpenGLGuiHelperInternalData -{ - 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) -{ - m_data = new OpenGLGuiHelperInternalData; - m_data->m_glApp = glApp; - m_data->m_debugDraw = 0; - - m_data->m_gl2ShapeDrawer = 0; - - if (useOpenGL2) - { - m_data->m_gl2ShapeDrawer = new GL_ShapeDrawer(); - - } -} - -OpenGLGuiHelper::~OpenGLGuiHelper() -{ - delete m_data->m_debugDraw; - delete m_data->m_gl2ShapeDrawer; - delete m_data; -} - -struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface() -{ - return m_data->m_glApp->m_renderer; -} - -void OpenGLGuiHelper::createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color) -{ - createCollisionObjectGraphicsObject(body,color); -} - -void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color) -{ - if (body->getUserIndex()<0) - { - btCollisionShape* shape = body->getCollisionShape(); - btTransform startTransform = body->getWorldTransform(); - int graphicsShapeId = shape->getUserIndex(); - if (graphicsShapeId>=0) - { - // btAssert(graphicsShapeId >= 0); - //the graphics shape is already scaled - btVector3 localScaling(1,1,1); - int graphicsInstanceId = m_data->m_glApp->m_renderer->registerGraphicsInstance(graphicsShapeId, startTransform.getOrigin(), startTransform.getRotation(), color, localScaling); - body->setUserIndex(graphicsInstanceId); - } - } -} - -int OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int height) -{ - 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; -} - -int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) -{ - return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling); -} - -void OpenGLGuiHelper::removeAllGraphicsInstances() -{ - m_data->m_glApp->m_renderer->removeAllInstances(); -} - -void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape) -{ - //already has a graphics object? - if (collisionShape->getUserIndex()>=0) - return; - - btAlignedObjectArray gfxVertices; - - btAlignedObjectArray indices; - btTransform startTrans;startTrans.setIdentity(); - - { - btAlignedObjectArray vertexPositions; - btAlignedObjectArray vertexNormals; - CollisionShape2TriangleMesh(collisionShape,startTrans,vertexPositions,vertexNormals,indices); - gfxVertices.resize(vertexPositions.size()); - for (int i=0;isetUserIndex(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(); - { - B3_PROFILE("write all InstanceTransformToCPU"); - for (int i = 0; igetCollisionObjectArray()[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); - } - } - } - { - B3_PROFILE("writeTransforms"); - m_data->m_glApp->m_renderer->writeTransforms(); - } -} - - - -void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld) -{ - 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_glApp->getUpAxis()); - } -} -void OpenGLGuiHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld) -{ - btAssert(rbWorld); - m_data->m_debugDraw = new MyDebugDrawer(m_data->m_glApp); - rbWorld->setDebugDrawer(m_data->m_debugDraw ); - - - m_data->m_debugDraw->setDebugMode( - btIDebugDraw::DBG_DrawWireframe - +btIDebugDraw::DBG_DrawAabb - //btIDebugDraw::DBG_DrawContactPoints - ); - -} - -struct Common2dCanvasInterface* OpenGLGuiHelper::get2dCanvasInterface() -{ - return m_data->m_glApp->m_2dCanvasInterface; -} - -CommonParameterInterface* OpenGLGuiHelper::getParameterInterface() -{ - return m_data->m_glApp->m_parameterInterface; -} - -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) -{ - if (getRenderInterface() && getRenderInterface()->getActiveCamera()) - { - getRenderInterface()->getActiveCamera()->setCameraDistance(camDist); - getRenderInterface()->getActiveCamera()->setCameraPitch(pitch); - getRenderInterface()->getActiveCamera()->setCameraYaw(yaw); - getRenderInterface()->getActiveCamera()->setCameraTargetPosition(camPosX,camPosY,camPosZ); - } -} - - -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 -{ - union - { - const void* m_ptr; - size_t m_int; - }; -}; -bool shapePointerCompareFunc(const btCollisionObject* colA, const btCollisionObject* colB) -{ - MyConvertPointerSizeT a,b; - a.m_ptr = colA->getCollisionShape(); - b.m_ptr = colB->getCollisionShape(); - return (a.m_int sortedObjects; - sortedObjects.reserve(rbWorld->getNumCollisionObjects()); - for (int i=0;igetNumCollisionObjects();i++) - { - btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i]; - sortedObjects.push_back(colObj); - } - sortedObjects.quickSort(shapePointerCompareFunc); - for (int i=0;igetCollisionShape()); - int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3; - - btVector3 color= sColors[colorIndex]; - createCollisionObjectGraphicsObject(colObj,color); - - } -} - -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); -} - -struct CommonGraphicsApp* OpenGLGuiHelper::getAppInterface() -{ - return m_data->m_glApp; -} - diff -Nru bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.h bullet-2.87+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.h --- bullet-2.86.1+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/OpenGLGuiHelper.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,87 +0,0 @@ -#ifndef OPENGL_GUI_HELPER_H -#define OPENGL_GUI_HELPER_H -#include "../CommonInterfaces/CommonGUIHelperInterface.h" - -class btCollisionShape; -class btTransform; -#include "LinearMath/btAlignedObjectArray.h" - -struct OpenGLGuiHelper : public GUIHelperInterface -{ - struct OpenGLGuiHelperInternalData* m_data; - - OpenGLGuiHelper(struct CommonGraphicsApp* glApp, bool useOpenGL2); - - virtual ~OpenGLGuiHelper(); - - virtual struct CommonRenderInterface* getRenderInterface(); - - virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color); - - virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color); - - 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); - - - virtual void render(const btDiscreteDynamicsWorld* rbWorld); - - virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld); - - virtual struct Common2dCanvasInterface* get2dCanvasInterface(); - - virtual CommonParameterInterface* getParameterInterface(); - - virtual struct CommonGraphicsApp* getAppInterface(); - - 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-2.86.1+dfsg/examples/ExampleBrowser/premake4.lua bullet-2.87+dfsg/examples/ExampleBrowser/premake4.lua --- bullet-2.86.1+dfsg/examples/ExampleBrowser/premake4.lua 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExampleBrowser/premake4.lua 1970-01-01 00:00:00.000000000 +0000 @@ -1,221 +0,0 @@ -project "App_BulletExampleBrowser" - - language "C++" - - kind "ConsoleApp" - - hasCL = findOpenCL("clew") - - if (hasCL) then - initOpenCL("clew") - end - - links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"} - initOpenGL() - initGlew() - - includedirs { - ".", - "../../src", - "../ThirdPartyLibs", - } - - - 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/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/*", - "../MultiThreadedDemo/*", - "../CommonInterfaces/*.h", - "../ForkLift/ForkLiftDemo.*", - "../Importers/**", - "../../Extras/Serialize/BulletWorldImporter/*", - "../../Extras/Serialize/BulletFileLoader/*", - "../Planar2D/Planar2D.*", - "../RenderingExamples/*", - "../VoronoiFracture/*", - "../SoftDemo/*", - "../RollingFrictionDemo/*", - "../FractureDemo/*", - "../DynamicControlDemo/*", - "../Constraints/*", - "../Vehicles/*", - "../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/*", - "../ThirdPartyLibs/BussIK/*", - "../GyroscopicDemo/GyroscopicSetup.cpp", - "../GyroscopicDemo/GyroscopicSetup.h", - "../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/*", - "../OpenCL/rigidbody/GpuConvexScene.cpp", - "../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 - - - diff -Nru bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/ImplicitClothExample.cpp bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/ImplicitClothExample.cpp --- bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/ImplicitClothExample.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/ImplicitClothExample.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,129 +0,0 @@ -#include "ImplicitClothExample.h" - - -#include "../CommonInterfaces/CommonExampleInterface.h" -#include "../CommonInterfaces/CommonGUIHelperInterface.h" -#include "../CommonInterfaces/CommonRenderInterface.h" -#include "../CommonInterfaces/CommonCameraInterface.h" -#include "../CommonInterfaces/CommonGraphicsAppInterface.h" -#include "../CommonInterfaces/CommonWindowInterface.h" -#include "stan/vecmath.h" -#include "stan/Cloth.h" -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3Common/b3AlignedObjectArray.h" - - -#ifdef _DEBUG -int numX = 20, numY=20; -#else -int numX = 60, numY=60; -#endif -const size_t total_points = (numX)*(numY); - - -struct ImplicitClothExample : public CommonExampleInterface -{ - struct GUIHelperInterface* m_guiHelper; - int m_option; - - Cloth* m_cloth; - - - - -public: - ImplicitClothExample(struct GUIHelperInterface* helper, int option) - :m_guiHelper(helper), - m_option(option), - m_cloth(0) - { - } - virtual void initPhysics(); - virtual void exitPhysics(); - virtual void stepSimulation(float deltaTime); - virtual void renderScene(); - virtual void physicsDebugDraw(int debugFlags);//for now we reuse the flags in Bullet/src/LinearMath/btIDebugDraw.h - 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; - float pitch = 62; - float yaw = 33; - float targetPos[3]={-3,2.4,-3.6}; - m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } - - -}; - - -void ImplicitClothExample::initPhysics() -{ - float size=10; - m_guiHelper->setUpAxis(1); - m_cloth = ClothCreate(numX,numY,size); - -} -void ImplicitClothExample::exitPhysics() -{ - delete m_cloth; - m_cloth=0; -} -void ImplicitClothExample::stepSimulation(float deltaTime) -{ - m_cloth->Simulate(deltaTime); - m_cloth->cloth_gravity.y = -9.8;//-9.8;//-9.8;//-9.8;//0;//-9.8;//0;//-9.8;//0;//-9.8; - m_cloth->cloth_gravity.z =-9.8;//0;//-9.8;//0;//-9.8; - - m_cloth->spring_struct=10000000.0f; - m_cloth->spring_shear=10000000.0f; - - //m_cloth->spring_struct=1000000.0f; - //m_cloth->spring_shear=1000000.0f; - - m_cloth->spring_damp = 0;//100; - - -} -void ImplicitClothExample::renderScene() -{ -} -void ImplicitClothExample::physicsDebugDraw(int debugFlags) -{ - - CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); - - b3AlignedObjectArray indices; - - for (int i=0;isprings.count;i++) - { - indices.push_back(m_cloth->springs[i].a); - indices.push_back(m_cloth->springs[i].b); - } - float lineColor[4]={0.4,0.4,1.0,1}; - renderer->drawLines(&m_cloth->X[0].x,lineColor,total_points,sizeof(float3),&indices[0],indices.size(),1); - - float pointColor[4]={1,0.4,0.4,1}; - -// renderer->drawPoints(&m_cloth->X[0].x,pointColor,total_points,sizeof(float3),3); - - -} - - -class CommonExampleInterface* ImplicitClothCreateFunc(struct CommonExampleOptions& options) -{ - return new ImplicitClothExample(options.m_guiHelper, options.m_option); -} diff -Nru bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/ImplicitClothExample.h bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/ImplicitClothExample.h --- bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/ImplicitClothExample.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/ImplicitClothExample.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,8 +0,0 @@ -#ifndef IMPLICIT_CLOTH_EXAMPLE_H -#define IMPLICIT_CLOTH_EXAMPLE_H - -class CommonExampleInterface* ImplicitClothCreateFunc(struct CommonExampleOptions& options); - - -#endif //IMPLICIT_CLOTH_EXAMPLE_H - diff -Nru bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/stan/array.h bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/stan/array.h --- bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/stan/array.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/stan/array.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,284 +0,0 @@ -// -// Typical template dynamic array container class. -// By S Melax 1998 -// -// anyone is free to use, inspect, learn from, or ignore -// the code here as they see fit. -// -// A very simple template array class. -// Its easiest to understand this array -// class by seeing how it is used in code. -// -// For example: -// for(i=0;i -#include - -template class Array { - public: - Array(int s=0); - Array(Array &array); - ~Array(); - void allocate(int s); - void SetSize(int s); - void Pack(); - Type& Add(Type); - void AddUnique(Type); - int Contains(Type); - void Insert(Type,int); - int IndexOf(Type); - void Remove(Type); - void DelIndex(int i); - Type& DelIndexWithLast(int i); - Type * element; - int count; - int array_size; - const Type &operator[](int i) const { assert(i>=0 && i=0 && i ©(const Array &array); - Array &operator=(Array &array); -}; - - -template Array::Array(int s) -{ - if(s==-1) return; - count=0; - array_size = 0; - element = NULL; - if(s) - { - allocate(s); - } -} - - -template Array::Array(Array &array) -{ - count=0; - array_size = 0; - element = NULL; - *this = array; -} - - - - -template Array &Array::copy(const Array &array) -{ - assert(array.array_size>=0); - count=0; - for(int i=0;i Array &Array::operator=( Array &array) -{ - if(array.array_size<0) // negative number means steal the data buffer instead of copying - { - delete[] element; - element = array.element; - array_size = -array.array_size; - count = array.count; - array.count =array.array_size = 0; - array.element = NULL; - return *this; - } - count=0; - for(int i=0;i Array::~Array() -{ - if (element != NULL && array_size!=0) - { - delete[] element; - } - count=0;array_size=0;element=NULL; -} - -template void Array::allocate(int s) -{ - assert(s>0); - assert(s>=count); - if(s==array_size) return; - Type *old = element; - array_size =s; - element = new Type[array_size]; - assert(element); - for(int i=0;i void Array::SetSize(int s) -{ - if(s==0) - { - if(element) - { - delete[] element; - element = NULL; - } - array_size = s; - } - else - { - allocate(s); - } - count=s; -} - -template void Array::Pack() -{ - allocate(count); -} - -template Type& Array::Add(Type t) -{ - assert(count<=array_size); - if(count==array_size) - { - allocate((array_size)?array_size *2:16); - } - //int i; - //for(i=0;i int Array::Contains(Type t) -{ - int i; - int found=0; - for(i=0;i void Array::AddUnique(Type t) -{ - if(!Contains(t)) Add(t); -} - - -template void Array::DelIndex(int i) -{ - assert(i Type& Array::DelIndexWithLast(int i) -{ - assert(i void Array::Remove(Type t) -{ - int i; - for(i=0;i void Array::Insert(Type t,int k) -{ - int i=count; - Add(t); // to allocate space - while(i>k) - { - element[i]=element[i-1]; - i--; - } - assert(i==k); - element[k]=t; -} - - -template int Array::IndexOf(Type t) -{ - int i; - for(i=0;i cloths; - -Cloth::Cloth(const char *_name,int _n):SpringNetwork(_n), - color(0,0.5f,1.0f) -{ - - cloths.Add(this); -} -Cloth::~Cloth() -{ - cloths.Remove(this); -} - -// -// I/O support for serialization of our springnetwork and cloth objects. -// - - - - -int cloth_showbbox = 0; // for debug visualization shows bounding box. -float cloth_showvert = 0.025f; // size of box to put around current vert selected, 0 turns off - - - -Cloth *ClothCreate(int w,int h,float size) -{ - // simple cloth generation routine that creates a typical square cloth. - // better to use a real pipeline to generate these, this is just for testing. - int i,j; - Cloth *cloth = new Cloth("cloth",w*h); - cloth->w=w; - cloth->h=h; // later for rendering. - for(i=0;iX[i*w+j] = (float3(-0.5f,-0.5f,0)+float3((float)j/(w-1.0f),1.0f-(float)i/(h-1.0f),0)) * size; - } - for(i=0;iCreateSpring(SPRING_STRUCT,i*w+j,(i+1)*w+j); // structural - if(jCreateSpring(SPRING_STRUCT,i*w+j,i*w+(j+1)); // structural - if(jCreateSpring(SPRING_SHEAR ,i*w+j,(i+1)*w+(j+1)); // shear - if(j>0 &&iCreateSpring(SPRING_SHEAR ,i*w+j,(i+1)*w+(j-1)); // shear - if(iCreateSpring(SPRING_BEND ,i*w+j,(i+2)*w+j); // benders - if(jCreateSpring(SPRING_BEND ,i*w+j,i*w+(j+2)); // benders - } - cloth->UpdateLimits(); - return cloth; -} - - -int cloth_tess = 20; -float3 cloth_spawnpoint(0,3,5.0f); - - -/* -static void ClothDrawSprings(Cloth *cloth) -{ - static const float3 color[3]={float3(1,1,0),float3(1,0,1),float3(0,1,1)}; - float3N &X = cloth->X; - for(int i=0;isprings.count;i++) - { - SpringNetwork::Spring &s = cloth->springs[i]; - extern void Line(const float3 &,const float3 &,const float3 &color_rgb); - Line(X[s.a],X[s.b],color[s.type]); - } -} -*/ -int cloth_showsprings=0; - -void DoCloths() -{ - int i; - for(i=0;iSimulate((cloth->cloth_step<0)?DeltaT:cloth->cloth_step); - //if(cloth_showsprings) - // ClothDrawSprings(cloth); // debug visualization - - } -} diff -Nru bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/stan/Cloth.h bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/stan/Cloth.h --- bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/stan/Cloth.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/stan/Cloth.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,18 +0,0 @@ -#ifndef STAN_CLOTH_H -#define STAN_CLOTH_H - -#include "SpringNetwork.h" - -class Cloth : public SpringNetwork -{ - public: - int w,h; - - float3 color; // for debug rendering - Cloth(const char* _name,int _n); - ~Cloth(); -}; - -Cloth *ClothCreate(int w,int h,float size); - -#endif //STAN_CLOTH_H diff -Nru bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/stan/SpringNetwork.cpp bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/stan/SpringNetwork.cpp --- bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/stan/SpringNetwork.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/stan/SpringNetwork.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,198 +0,0 @@ -#include "vec3n.h" -//#include "console.h" - - -extern int numX; - - -// -// Cloth - Backward Integrated Spring Network -// -// (c) Stan Melax 2006 -// http://www.melax.com/cloth -// freeware demo and source -// Although its free software, I'll gaurantee and support this software as much as is reasonable. -// However, if you choose to use any of this code, then you agree that -// I assume no financial liability should the software not meet your expectations. -// But do feel free to send any feedback. -// -// The core backward integration functionality has all been extracted into the SpringNetwork class. -// This makes it easy for you if you just want to look at or use the math and the algorithms. -// The remainder of the code builds a cloth system with basic render support, I/O, and manipulators, -// so its possible to make use of the technology within a 3D application. -// This code is separated from the SpringNetwork class in order to avoid pushing a particular style -// and prevent any dependancies of the algorithms onto unrelated systems. -// Feel free to adapt any of this into your own 3D engine/environment. -// -// Instead of having unique Hooke force and damping coefficients on each spring, the SpringNetwork -// code uses a spring 'type' that indexes a short list of shared named coefficients. -// This was just more practical for the typical application of this technology. -// Over-designed systems that are too general can be slower for -// the next guy to understand and more painful to use. -// Editing/creation is easier when only 1 number needs to be changed. -// Nonetheless, feel free to adapt to your own needs. -// - -#include -#include - -#include "vec3n.h" -//#include "console.h" -//#include "manipulatori.h" -//#include "object.h" -//#include "xmlparse.h" - - - - -static const float3x3 I(1,0,0,0,1,0,0,0,1); - -inline float3x3 dfdx_spring(const float3 &dir,float length,float rest,float k) -{ - // dir is unit length direction, rest is spring's restlength, k is spring constant. - return ( (I-outerprod(dir,dir))*Min(1.0f,rest/length) - I) * -k; -} -inline float3x3 dfdx_damp(const float3 &dir,float length,const float3& vel,float rest,float damping) -{ - // inner spring damping vel is the relative velocity of the endpoints. - return (I-outerprod(dir,dir)) * (-damping * -(dot(dir,vel)/Max(length,rest))); -} -inline float3x3 dfdv_damp(const float3 &dir,float damping) -{ - // derivative of force wrt velocity. - return outerprod(dir,dir) * damping; -} - - - -#include "SpringNetwork.h" - - -SpringNetwork::SpringNetwork(int _n):X(_n),V(_n),F(_n),dV(_n),A(_n),dFdX(_n),dFdV(_n) -{ - assert(SPRING_STRUCT==0); - assert(&spring_shear == &spring_struct +SPRING_SHEAR); - assert(&spring_bend == &spring_struct +SPRING_BEND); - assert(&spring_struct== &spring_k[SPRING_STRUCT]); - assert(&spring_shear == &spring_k[SPRING_SHEAR ]); - assert(&spring_bend == &spring_k[SPRING_BEND ]); - // spring_struct=1000000.0f; - // spring_shear=1000000.0f; - - spring_struct=1000.0f; - spring_shear=100.0f; - - spring_bend=25.0f; - spring_damp=5.0f; - spring_air=1.0f; - spring_air=1.0f; - cloth_step = 0.25f; // delta time for cloth - cloth_gravity=float3(0,-10,0); - cloth_sleepthreshold = 0.001f; - cloth_sleepcount = 100; - awake = cloth_sleepcount; - - //fix/pin two points in worldspace - float3Nx3N::Block zero; - zero.m = float3x3(0,0,0,0,0,0,0,0,0); - zero.c = 0; - zero.r = 0; - S.blocks.Add(zero); - zero.r = numX-1; - S.blocks.Add(zero); - - - -} - - -SpringNetwork::Spring &SpringNetwork::AddBlocks(Spring &s) -{ - // Called during initial creation of springs in our spring network. - // Sets up the sparse matrices corresponding to connections. - // Note the indices (s.iab,s.iba) are also stored with spring to avoid looking them up each time a spring is applied - // All 3 matrices A,dFdX, and dFdV are contstructed identically so the block array layout will be the same for each. - s.iab = A.blocks.count; // added 'ab' blocks will have this index. - A.blocks.Add(float3Nx3N::Block(s.a,s.b)); - dFdX.blocks.Add(float3Nx3N::Block(s.a,s.b)); - dFdV.blocks.Add(float3Nx3N::Block(s.a,s.b)); - s.iba = A.blocks.count; // added 'ba' blocks will have this index. - A.blocks.Add(float3Nx3N::Block(s.b,s.a)); - dFdX.blocks.Add(float3Nx3N::Block(s.b,s.a)); - dFdV.blocks.Add(float3Nx3N::Block(s.b,s.a)); - return s; -} - -void SpringNetwork::PreSolveSpring(const SpringNetwork::Spring &s) -{ - // Adds this spring's contribution into force vector F and force derivitves dFdX and dFdV - // One optimization would be premultiply dfdx by dt*dt and F and dFdV by dt right here in this function. - // However, for educational purposes we wont do that now and intead just follow the paper directly. - //assert(dFdX.blocks[s.a].c==s.a); // delete this assert, no bugs here - //assert(dFdX.blocks[s.a].r==s.a); - float3 extent = X[s.b] - X[s.a]; - float length = magnitude(extent); - float3 dir = (length==0)?float3(0,0,0): extent * 1.0f/length; - float3 vel = V[s.b] - V[s.a]; - float k = spring_k[s.type]; - float3 f = dir * ((k * (length-s.restlen) ) + spring_damp * dot(vel,dir)); // spring force + damping force - F[s.a] += f; - F[s.b] -= f; - float3x3 dfdx = dfdx_spring(dir,length,s.restlen,k) + dfdx_damp(dir,length,vel,s.restlen,spring_damp); - dFdX.blocks[s.a].m -= dfdx; // diagonal chunk dFdX[a,a] - dFdX.blocks[s.b].m -= dfdx; // diagonal chunk dFdX[b,b] - dFdX.blocks[s.iab].m += dfdx; // off-diag chunk dFdX[a,b] - dFdX.blocks[s.iba].m += dfdx; // off-diag chunk dFdX[b,a] - float3x3 dfdv = dfdv_damp(dir,spring_damp); - dFdV.blocks[s.a].m -= dfdv; // diagonal chunk dFdV[a,a] - dFdV.blocks[s.b].m -= dfdv; // diagonal chunk dFdV[b,b] - dFdV.blocks[s.iab].m += dfdv; // off-diag chunk dFdV[a,b] - dFdV.blocks[s.iba].m += dfdv; // off-diag chunk dFdV[b,a] -} - - - - -void SpringNetwork::CalcForces() -{ - // Collect forces and derivatives: F,dFdX,dFdV - dFdX.Zero(); - dFdV.InitDiagonal(-spring_air); - F.Init(cloth_gravity); - - F.element[0]=float3(0,0,0); - F.element[numX-1]=float3(0,0,0); - - F -= V * spring_air; - for(int i=0;i springs; - float3N X; // positions of all points - float3N V; // velocities - float3N F; // force on each point - float3N dV; // change in velocity - float3Nx3N A; // big matrix we solve system with - float3Nx3N dFdX; // big matrix of derivative of force wrt position - float3Nx3N dFdV; // big matrix of derivative of force wrt velocity - float3Nx3N S; // used for our constraints - contains only some diagonal blocks as needed S[i,i] - int awake; - float3 bmin,bmax; - union - { - struct - { - float spring_struct; - float spring_shear; - float spring_bend; - }; - float spring_k[3]; - }; - float spring_damp; - float spring_air; - float cloth_step; // delta time for cloth - float3 cloth_gravity; - float cloth_sleepthreshold; - int cloth_sleepcount; - - SpringNetwork(int _n); - Spring &AddBlocks(Spring &s); - Spring &CreateSpring(int type,int a,int b,float restlen){return AddBlocks(springs.Add(Spring(type,a,b,restlen)));} - Spring &CreateSpring(int type,int a,int b){return CreateSpring(type,a,b,magnitude(X[b]-X[a]));} - void UpdateLimits() { BoxLimits(X.element,X.count,bmin,bmax);} - void Wake(){awake=cloth_sleepcount;} - void Simulate(float dt); - void PreSolveSpring(const Spring &s); - void CalcForces(); -}; - -#endif //STAN_SPRING_NETWORK_H diff -Nru bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/stan/vec3n.cpp bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/stan/vec3n.cpp --- bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/stan/vec3n.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/stan/vec3n.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,152 +0,0 @@ -// -// Big Vector and Sparse Matrix Classes -// - -#include - -#include "vec3n.h" - - -float conjgrad_lasterror; -float conjgrad_epsilon = 0.1f; -int conjgrad_loopcount; -int conjgrad_looplimit = 100; - -/*EXPORTVAR(conjgrad_lasterror); -EXPORTVAR(conjgrad_epsilon ); -EXPORTVAR(conjgrad_loopcount); -EXPORTVAR(conjgrad_looplimit); -*/ - -int ConjGradient(float3N &X, float3Nx3N &A, float3N &B) -{ - // Solves for unknown X in equation AX=B - conjgrad_loopcount=0; - int n=B.count; - float3N q(n),d(n),tmp(n),r(n); - r = B - Mul(tmp,A,X); // just use B if X known to be zero - d = r; - float s = dot(r,r); - float starget = s * squared(conjgrad_epsilon); - while( s>starget && conjgrad_loopcount++ < conjgrad_looplimit) - { - Mul(q,A,d); // q = A*d; - float a = s/dot(d,q); - X = X + d*a; - if(conjgrad_loopcount%50==0) - { - r = B - Mul(tmp,A,X); - } - else - { - r = r - q*a; - } - float s_prev = s; - s = dot(r,r); - d = r+d*(s/s_prev); - } - conjgrad_lasterror = s; - return conjgrad_loopcountstarget && conjgrad_loopcount++ < conjgrad_looplimit) - { - Mul(q,A,d); // q = A*d; - q[hack[0]] = q[hack[1]] = q[hack[2]] = float3(0,0,0); - float a = s/dot(d,q); - X = X + d*a; - if(conjgrad_loopcount%50==0) - { - r = B - Mul(tmp,A,X); - r[hack[0]] = r[hack[1]] = r[hack[2]] = float3(0,0,0); - } - else - { - r = r - q*a; - } - float s_prev = s; - s = dot(r,r); - d = r+d*(s/s_prev); - d[hack[0]] = d[hack[1]] = d[hack[2]] = float3(0,0,0); - } - conjgrad_lasterror = s; - return conjgrad_loopcountstarget && conjgrad_loopcount++ < conjgrad_looplimit) - { - Mul(q,A,d); // q = A*d; - filter(q,S); - float a = s/dot(d,q); - X = X + d*a; - if(conjgrad_loopcount%50==0) - { - r = B - Mul(tmp,A,X); - filter(r,S); - } - else - { - r = r - q*a; - } - float s_prev = s; - s = dot(r,r); - d = r+d*(s/s_prev); - filter(d,S); - } - conjgrad_lasterror = s; - return conjgrad_loopcount -//template void * vec4::operator new[](size_t n){ return _mm_malloc(n,64); } -//template void vec4::operator delete[](void *a) { _mm_free(a); } - - -struct HalfConstraint { - float3 n;int vi; - float s,t; - HalfConstraint(const float3& _n,int _vi,float _t):n(_n),vi(_vi),s(0),t(_t){} - HalfConstraint():vi(-1){} -}; - -class float3Nx3N -{ - public: - class Block - { - public: - - float3x3 m; - int r,c; - float unused[16]; - - - Block(){} - Block(short _r,short _c):r(_r),c(_c){m.x=m.y=m.z=float3(0,0,0);} - }; - Array blocks; // the first n blocks use as the diagonal. - int n; - void Zero(); - void InitDiagonal(float d); - void Identity(){InitDiagonal(1.0f);} - float3Nx3N():n(0){} - float3Nx3N(int _n):n(_n) {for(int i=0;i float3Nx3N &operator= (const E& expression) {expression.evalequals(*this);return *this;} - template float3Nx3N &operator+=(const E& expression) {expression.evalpluseq(*this);return *this;} - template float3Nx3N &operator-=(const E& expression) {expression.evalmnuseq(*this);return *this;} -}; - -class float3N: public Array -{ -public: - float3N(int _count=0) - { - SetSize(_count); - } - void Zero(); - void Init(const float3 &v); // sets each subvector to v - template float3N &operator= (const E& expression) {expression.evalequals(*this);return *this;} - template float3N &operator+=(const E& expression) {expression.evalpluseq(*this);return *this;} - template float3N &operator-=(const E& expression) {expression.evalmnuseq(*this);return *this;} - float3N &operator=( const float3N &V) { this->copy(V); return *this;} -}; - -int ConjGradient(float3N &X, float3Nx3N &A, float3N &B); -int ConjGradientFiltered(float3N &X, const float3Nx3N &A, const float3N &B,const float3Nx3N &S,Array &H); -int ConjGradientFiltered(float3N &X, const float3Nx3N &A, const float3N &B,const float3Nx3N &S); - -inline float3N& Mul(float3N &r,const float3Nx3N &m, const float3N &v) -{ - int i; - for(i=0;i // for memcpy -#include - -float squared(float a){return a*a;} -float clamp(float a,const float minval, const float maxval) {return Min(maxval,Max(minval,a));} -int clamp(int a,const int minval, const int maxval) {return Min(maxval,Max(minval,a));} - - -float Round(float a,float precision) -{ - return floorf(0.5f+a/precision)*precision; -} - - -float Interpolate(const float &f0,const float &f1,float alpha) -{ - return f0*(1-alpha) + f1*alpha; -} - - -int argmin(const float a[],int n) -{ - int r=0; - for(int i=1;ia[r]) - { - r = i; - } - } - return r; -} - - - -//------------ float3 (3D) -------------- - - - -float3 vabs(const float3 &v) -{ - return float3(fabsf(v.x),fabsf(v.y),fabsf(v.z)); -} - - - -float3 safenormalize(const float3 &v) -{ - if(magnitude(v)<=0.0f) - { - return float3(1,0,0); - } - return normalize(v); -} - -float3 Round(const float3 &a,float precision) -{ - return float3(Round(a.x,precision),Round(a.y,precision),Round(a.z,precision)); -} - - -float3 Interpolate(const float3 &v0,const float3 &v1,float alpha) -{ - return v0*(1-alpha) + v1*alpha; -} - -float3 Orth(const float3& v) -{ - float3 absv=vabs(v); - float3 u(1,1,1); - u[argmax(&absv[0],3)] =0.0f; - return normalize(cross(u,v)); -} - -void BoxLimits(const float3 *verts,int verts_count, float3 &bmin,float3 &bmax) -{ - bmin=float3( FLT_MAX, FLT_MAX, FLT_MAX); - bmax=float3(-FLT_MAX,-FLT_MAX,-FLT_MAX); - for(int i=0;ibmaxb[j]) return 0; - if(bminb[j]>bmaxa[j]) return 0; - } - return 1; -} - -// the statement v1*v2 is ambiguous since there are 3 types -// of vector multiplication -// - componantwise (for example combining colors) -// - dot product -// - cross product -// Therefore we never declare/implement this function. -// So we will never see: float3 operator*(float3 a,float3 b) - - - - -//------------ float3x3 --------------- -float Determinant(const float3x3 &m) -{ - return m.x.x*m.y.y*m.z.z + m.y.x*m.z.y*m.x.z + m.z.x*m.x.y*m.y.z - -m.x.x*m.z.y*m.y.z - m.y.x*m.x.y*m.z.z - m.z.x*m.y.y*m.x.z ; -} - -float3x3 Inverse(const float3x3 &a) -{ - float3x3 b; - float d=Determinant(a); - assert(d!=0); - for(int i=0;i<3;i++) - { - for(int j=0;j<3;j++) - { - int i1=(i+1)%3; - int i2=(i+2)%3; - int j1=(j+1)%3; - int j2=(j+2)%3; - // reverse indexs i&j to take transpose - b[j][i] = (a[i1][j1]*a[i2][j2]-a[i1][j2]*a[i2][j1])/d; - } - } - // Matrix check=a*b; // Matrix 'check' should be the identity (or close to it) - return b; -} - - -float3x3 Transpose( const float3x3& m ) -{ - return float3x3( float3(m.x.x,m.y.x,m.z.x), - float3(m.x.y,m.y.y,m.z.y), - float3(m.x.z,m.y.z,m.z.z)); -} - - -float3 operator*(const float3& v , const float3x3 &m ) { - return float3((m.x.x*v.x + m.y.x*v.y + m.z.x*v.z), - (m.x.y*v.x + m.y.y*v.y + m.z.y*v.z), - (m.x.z*v.x + m.y.z*v.y + m.z.z*v.z)); -} -float3 operator*(const float3x3 &m,const float3& v ) { - return float3(dot(m.x,v),dot(m.y,v),dot(m.z,v)); -} - - -float3x3 operator*( const float3x3& a, const float3x3& b ) -{ - return float3x3(a.x*b,a.y*b,a.z*b); -} - -float3x3 operator*( const float3x3& a, const float& s ) -{ - return float3x3(a.x*s, a.y*s ,a.z*s); -} -float3x3 operator/( const float3x3& a, const float& s ) -{ - float t=1/s; - return float3x3(a.x*t, a.y*t ,a.z*t); -} -float3x3 operator+( const float3x3& a, const float3x3& b ) -{ - return float3x3(a.x+b.x, a.y+b.y, a.z+b.z); -} -float3x3 operator-( const float3x3& a, const float3x3& b ) -{ - return float3x3(a.x-b.x, a.y-b.y, a.z-b.z); -} -float3x3 &operator+=( float3x3& a, const float3x3& b ) -{ - a.x+=b.x; - a.y+=b.y; - a.z+=b.z; - return a; -} -float3x3 &operator-=( float3x3& a, const float3x3& b ) -{ - a.x-=b.x; - a.y-=b.y; - a.z-=b.z; - return a; -} -float3x3 &operator*=( float3x3& a, const float& s ) -{ - a.x*=s; - a.y*=s; - a.z*=s; - return a; -} - -float3x3 outerprod(const float3& a,const float3& b) -{ - return float3x3(a.x*b,a.y*b,a.z*b); // a is a column vector b is a row vector -} - -//--------------- 4D ---------------- - -float4 operator*( const float4& v, const float4x4& m ) -{ - return v.x*m.x + v.y*m.y + v.z*m.z + v.w*m.w; // yes this actually works -} - - -// Dont implement m*v for now, since that might confuse us -// All our transforms are based on multiplying the "row" vector on the left -//float4 operator*(const float4x4& m , const float4& v ) -//{ -// return float4(dot(v,m.x),dot(v,m.y),dot(v,m.z),dot(v,m.w)); -//} - - -float4x4 operator*( const float4x4& a, const float4x4& b ) -{ - return float4x4(a.x*b,a.y*b,a.z*b,a.w*b); -} - -float4x4 MatrixTranspose(const float4x4 &m) -{ - return float4x4( - m.x.x, m.y.x, m.z.x, m.w.x, - m.x.y, m.y.y, m.z.y, m.w.y, - m.x.z, m.y.z, m.z.z, m.w.z, - m.x.w, m.y.w, m.z.w, m.w.w ); -} - -float4x4 MatrixRigidInverse(const float4x4 &m) -{ - float4x4 trans_inverse = MatrixTranslation(-m.w.xyz()); - float4x4 rot = m; - rot.w = float4(0,0,0,1); - return trans_inverse * MatrixTranspose(rot); -} - - -float4x4 MatrixPerspectiveFov(float fovy, float aspect, float zn, float zf ) -{ - float h = 1.0f/tanf(fovy/2.0f); // view space height - float w = h / aspect ; // view space width - return float4x4( - w, 0, 0 , 0, - 0, h, 0 , 0, - 0, 0, zf/(zn-zf) , -1, - 0, 0, zn*zf/(zn-zf) , 0 ); -} - - - -float4x4 MatrixLookAt(const float3& eye, const float3& at, const float3& up) -{ - float4x4 m; - m.w.w = 1.0f; - m.w.xyz() = eye; - m.z.xyz() = normalize(eye-at); - m.x.xyz() = normalize(cross(up,m.z.xyz())); - m.y.xyz() = cross(m.z.xyz(),m.x.xyz()); - return MatrixRigidInverse(m); -} - - -float4x4 MatrixTranslation(const float3 &t) -{ - return float4x4( - 1, 0, 0, 0, - 0, 1, 0, 0, - 0, 0, 1, 0, - t.x,t.y,t.z,1 ); -} - - -float4x4 MatrixRotationZ(const float angle_radians) -{ - float s = sinf(angle_radians); - float c = cosf(angle_radians); - return float4x4( - c, s, 0, 0, - -s, c, 0, 0, - 0, 0, 1, 0, - 0, 0, 0, 1 ); -} - - - -int operator==( const float4x4 &a, const float4x4 &b ) -{ - return (a.x==b.x && a.y==b.y && a.z==b.z && a.w==b.w); -} - - -float4x4 Inverse(const float4x4 &m) -{ - float4x4 d; - float *dst = &d.x.x; - float tmp[12]; /* temp array for pairs */ - float src[16]; /* array of transpose source matrix */ - float det; /* determinant */ - /* transpose matrix */ - for ( int i = 0; i < 4; i++) { - src[i] = m(i,0) ; - src[i + 4] = m(i,1); - src[i + 8] = m(i,2); - src[i + 12] = m(i,3); - } - /* calculate pairs for first 8 elements (cofactors) */ - tmp[0] = src[10] * src[15]; - tmp[1] = src[11] * src[14]; - tmp[2] = src[9] * src[15]; - tmp[3] = src[11] * src[13]; - tmp[4] = src[9] * src[14]; - tmp[5] = src[10] * src[13]; - tmp[6] = src[8] * src[15]; - tmp[7] = src[11] * src[12]; - tmp[8] = src[8] * src[14]; - tmp[9] = src[10] * src[12]; - tmp[10] = src[8] * src[13]; - tmp[11] = src[9] * src[12]; - /* calculate first 8 elements (cofactors) */ - dst[0] = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7]; - dst[0] -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7]; - dst[1] = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7]; - dst[1] -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7]; - dst[2] = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7]; - dst[2] -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7]; - dst[3] = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6]; - dst[3] -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6]; - dst[4] = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3]; - dst[4] -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3]; - dst[5] = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3]; - dst[5] -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3]; - dst[6] = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3]; - dst[6] -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3]; - dst[7] = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2]; - dst[7] -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2]; - /* calculate pairs for second 8 elements (cofactors) */ - tmp[0] = src[2]*src[7]; - tmp[1] = src[3]*src[6]; - tmp[2] = src[1]*src[7]; - tmp[3] = src[3]*src[5]; - tmp[4] = src[1]*src[6]; - tmp[5] = src[2]*src[5]; - tmp[6] = src[0]*src[7]; - tmp[7] = src[3]*src[4]; - tmp[8] = src[0]*src[6]; - tmp[9] = src[2]*src[4]; - tmp[10] = src[0]*src[5]; - tmp[11] = src[1]*src[4]; - /* calculate second 8 elements (cofactors) */ - dst[8] = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15]; - dst[8] -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15]; - dst[9] = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15]; - dst[9] -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15]; - dst[10] = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15]; - dst[10]-= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15]; - dst[11] = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14]; - dst[11]-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14]; - dst[12] = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9]; - dst[12]-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10]; - dst[13] = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10]; - dst[13]-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8]; - dst[14] = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8]; - dst[14]-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9]; - dst[15] = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9]; - dst[15]-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8]; - /* calculate determinant */ - det=src[0]*dst[0]+src[1]*dst[1]+src[2]*dst[2]+src[3]*dst[3]; - /* calculate matrix inverse */ - det = 1/det; - for ( int j = 0; j < 16; j++) - dst[j] *= det; - return d; -} - - -//--------- Quaternion -------------- - -template<> void Quaternion::Normalize() -{ - float m = sqrtf(squared(w)+squared(x)+squared(y)+squared(z)); - if(m<0.000000001f) { - w=1.0f; - x=y=z=0.0f; - return; - } - (*this) *= (1.0f/m); -} - -float3 rotate( const Quaternion& q, const float3& v ) -{ - // The following is equivalent to: - //return (q.getmatrix() * v); - float qx2 = q.x*q.x; - float qy2 = q.y*q.y; - float qz2 = q.z*q.z; - - float qxqy = q.x*q.y; - float qxqz = q.x*q.z; - float qxqw = q.x*q.w; - float qyqz = q.y*q.z; - float qyqw = q.y*q.w; - float qzqw = q.z*q.w; - return float3( - (1-2*(qy2+qz2))*v.x + (2*(qxqy-qzqw))*v.y + (2*(qxqz+qyqw))*v.z , - (2*(qxqy+qzqw))*v.x + (1-2*(qx2+qz2))*v.y + (2*(qyqz-qxqw))*v.z , - (2*(qxqz-qyqw))*v.x + (2*(qyqz+qxqw))*v.y + (1-2*(qx2+qy2))*v.z ); -} - - -Quaternion slerp(const Quaternion &_a, const Quaternion& b, float interp ) -{ - Quaternion a=_a; - if(dot(a,b) <0.0) - { - a.w=-a.w; - a.x=-a.x; - a.y=-a.y; - a.z=-a.z; - } - float d = dot(a,b); - if(d>=1.0) { - return a; - } - float theta = acosf(d); - if(theta==0.0f) { return(a);} - return a*(sinf(theta-interp*theta)/sinf(theta)) + b*(sinf(interp*theta)/sinf(theta)); -} - - -Quaternion Interpolate(const Quaternion &q0,const Quaternion &q1,float alpha) { - return slerp(q0,q1,alpha); -} - - -Quaternion YawPitchRoll( float yaw, float pitch, float roll ) -{ - return QuatFromAxisAngle(float3(0.0f,0.0f,1.0f),DegToRad(yaw )) - * QuatFromAxisAngle(float3(1.0f,0.0f,0.0f),DegToRad(pitch)) - * QuatFromAxisAngle(float3(0.0f,1.0f,0.0f),DegToRad(roll )); -} - -float Yaw( const Quaternion& q ) -{ - static float3 v; - v=q.ydir(); - return (v.y==0.0&&v.x==0.0) ? 0.0f: RadToDeg(atan2f(-v.x,v.y)); -} - -float Pitch( const Quaternion& q ) -{ - static float3 v; - v=q.ydir(); - return RadToDeg(atan2f(v.z,sqrtf(squared(v.x)+squared(v.y)))); -} - -float Roll( const Quaternion &_q ) -{ - Quaternion q=_q; - q = QuatFromAxisAngle(float3(0.0f,0.0f,1.0f),-DegToRad(Yaw(q))) *q; - q = QuatFromAxisAngle(float3(1.0f,0.0f,0.0f),-DegToRad(Pitch(q))) *q; - return RadToDeg(atan2f(-q.xdir().z,q.xdir().x)); -} - -float Yaw( const float3& v ) -{ - return (v.y==0.0&&v.x==0.0) ? 0.0f: RadToDeg(atan2f(-v.x,v.y)); -} - -float Pitch( const float3& v ) -{ - return RadToDeg(atan2f(v.z,sqrtf(squared(v.x)+squared(v.y)))); -} - - - - - - -//--------- utility functions ------------- - -// RotationArc() -// Given two vectors v0 and v1 this function -// returns quaternion q where q*v0==v1. -// Routine taken from game programming gems. -Quaternion RotationArc(float3 v0,float3 v1){ - static Quaternion q; - v0 = normalize(v0); // Comment these two lines out if you know its not needed. - v1 = normalize(v1); // If vector is already unit length then why do it again? - float3 c = cross(v0,v1); - float d = dot(v0,v1); - if(d<=-1.0f) { float3 a=Orth(v0); return Quaternion(a.x,a.y,a.z,0);} // 180 about any orthogonal axis axis - float s = sqrtf((1+d)*2); - q.x = c.x / s; - q.y = c.y / s; - q.z = c.z / s; - q.w = s /2.0f; - return q; -} - - -float4x4 MatrixFromQuatVec(const Quaternion &q, const float3 &v) -{ - // builds a 4x4 transformation matrix based on orientation q and translation v - float qx2 = q.x*q.x; - float qy2 = q.y*q.y; - float qz2 = q.z*q.z; - - float qxqy = q.x*q.y; - float qxqz = q.x*q.z; - float qxqw = q.x*q.w; - float qyqz = q.y*q.z; - float qyqw = q.y*q.w; - float qzqw = q.z*q.w; - - return float4x4( - 1-2*(qy2+qz2), - 2*(qxqy+qzqw), - 2*(qxqz-qyqw), - 0 , - 2*(qxqy-qzqw), - 1-2*(qx2+qz2), - 2*(qyqz+qxqw), - 0 , - 2*(qxqz+qyqw), - 2*(qyqz-qxqw), - 1-2*(qx2+qy2), - 0 , - v.x , - v.y , - v.z , - 1.0f ); -} - - - -float3 PlaneLineIntersection(const float3 &normal,const float dist, const float3 &p0, const float3 &p1) -{ - // returns the point where the line p0-p1 intersects the plane n&d - float3 dif; - dif = p1-p0; - float dn= dot(normal,dif); - float t = -(dist+dot(normal,p0) )/dn; - return p0 + (dif*t); -} - -float3 LineProject(const float3 &p0, const float3 &p1, const float3 &a) -{ - // project point a on segment [p0,p1] - float3 d= p1-p0; - float t= dot(d,(a-p0)) / dot(d,d); - return p0+ d*t; -} - - -float LineProjectTime(const float3 &p0, const float3 &p1, const float3 &a) -{ - // project point a on segment [p0,p1] - float3 d= p1-p0; - float t= dot(d,(a-p0)) / dot(d,d); - return t; -} - - - -float3 TriNormal(const float3 &v0, const float3 &v1, const float3 &v2) -{ - // return the normal of the triangle - // inscribed by v0, v1, and v2 - float3 cp=cross(v1-v0,v2-v1); - float m=magnitude(cp); - if(m==0) return float3(1,0,0); - return cp*(1.0f/m); -} - - - -int BoxInside(const float3 &p, const float3 &bmin, const float3 &bmax) -{ - return (p.x >= bmin.x && p.x <=bmax.x && - p.y >= bmin.y && p.y <=bmax.y && - p.z >= bmin.z && p.z <=bmax.z ); -} - - -int BoxIntersect(const float3 &v0, const float3 &v1, const float3 &bmin, const float3 &bmax,float3 *impact) -{ - if(BoxInside(v0,bmin,bmax)) - { - *impact=v0; - return 1; - } - if(v0.x<=bmin.x && v1.x>=bmin.x) - { - float a = (bmin.x-v0.x)/(v1.x-v0.x); - //v.x = bmin.x; - float vy = (1-a) *v0.y + a*v1.y; - float vz = (1-a) *v0.z + a*v1.z; - if(vy>=bmin.y && vy<=bmax.y && vz>=bmin.z && vz<=bmax.z) - { - impact->x = bmin.x; - impact->y = vy; - impact->z = vz; - return 1; - } - } - else if(v0.x >= bmax.x && v1.x <= bmax.x) - { - float a = (bmax.x-v0.x)/(v1.x-v0.x); - //v.x = bmax.x; - float vy = (1-a) *v0.y + a*v1.y; - float vz = (1-a) *v0.z + a*v1.z; - if(vy>=bmin.y && vy<=bmax.y && vz>=bmin.z && vz<=bmax.z) - { - impact->x = bmax.x; - impact->y = vy; - impact->z = vz; - return 1; - } - } - if(v0.y<=bmin.y && v1.y>=bmin.y) - { - float a = (bmin.y-v0.y)/(v1.y-v0.y); - float vx = (1-a) *v0.x + a*v1.x; - //v.y = bmin.y; - float vz = (1-a) *v0.z + a*v1.z; - if(vx>=bmin.x && vx<=bmax.x && vz>=bmin.z && vz<=bmax.z) - { - impact->x = vx; - impact->y = bmin.y; - impact->z = vz; - return 1; - } - } - else if(v0.y >= bmax.y && v1.y <= bmax.y) - { - float a = (bmax.y-v0.y)/(v1.y-v0.y); - float vx = (1-a) *v0.x + a*v1.x; - // vy = bmax.y; - float vz = (1-a) *v0.z + a*v1.z; - if(vx>=bmin.x && vx<=bmax.x && vz>=bmin.z && vz<=bmax.z) - { - impact->x = vx; - impact->y = bmax.y; - impact->z = vz; - return 1; - } - } - if(v0.z<=bmin.z && v1.z>=bmin.z) - { - float a = (bmin.z-v0.z)/(v1.z-v0.z); - float vx = (1-a) *v0.x + a*v1.x; - float vy = (1-a) *v0.y + a*v1.y; - // v.z = bmin.z; - if(vy>=bmin.y && vy<=bmax.y && vx>=bmin.x && vx<=bmax.x) - { - impact->x = vx; - impact->y = vy; - impact->z = bmin.z; - return 1; - } - } - else if(v0.z >= bmax.z && v1.z <= bmax.z) - { - float a = (bmax.z-v0.z)/(v1.z-v0.z); - float vx = (1-a) *v0.x + a*v1.x; - float vy = (1-a) *v0.y + a*v1.y; - // v.z = bmax.z; - if(vy>=bmin.y && vy<=bmax.y && vx>=bmin.x && vx<=bmax.x) - { - impact->x = vx; - impact->y = vy; - impact->z = bmax.z; - return 1; - } - } - return 0; -} - - -float DistanceBetweenLines(const float3 &ustart, const float3 &udir, const float3 &vstart, const float3 &vdir, float3 *upoint, float3 *vpoint) -{ - static float3 cp; - cp = normalize(cross(udir,vdir)); - - float distu = -dot(cp,ustart); - float distv = -dot(cp,vstart); - float dist = (float)fabs(distu-distv); - if(upoint) - { - float3 normal = normalize(cross(vdir,cp)); - *upoint = PlaneLineIntersection(normal,-dot(normal,vstart),ustart,ustart+udir); - } - if(vpoint) - { - float3 normal = normalize(cross(udir,cp)); - *vpoint = PlaneLineIntersection(normal,-dot(normal,ustart),vstart,vstart+vdir); - } - return dist; -} - - -Quaternion VirtualTrackBall(const float3 &cop, const float3 &cor, const float3 &dir1, const float3 &dir2) -{ - // routine taken from game programming gems. - // Implement track ball functionality to spin stuf on the screen - // cop center of projection - // cor center of rotation - // dir1 old mouse direction - // dir2 new mouse direction - // pretend there is a sphere around cor. Then find the points - // where dir1 and dir2 intersect that sphere. Find the - // rotation that takes the first point to the second. - float m; - // compute plane - float3 nrml = cor - cop; - float fudgefactor = 1.0f/(magnitude(nrml) * 0.25f); // since trackball proportional to distance from cop - nrml = normalize(nrml); - float dist = -dot(nrml,cor); - float3 u= PlaneLineIntersection(nrml,dist,cop,cop+dir1); - u=u-cor; - u=u*fudgefactor; - m= magnitude(u); - if(m>1) - { - u/=m; - } - else - { - u=u - (nrml * sqrtf(1-m*m)); - } - float3 v= PlaneLineIntersection(nrml,dist,cop,cop+dir2); - v=v-cor; - v=v*fudgefactor; - m= magnitude(v); - if(m>1) - { - v/=m; - } - else - { - v=v - (nrml * sqrtf(1-m*m)); - } - return RotationArc(u,v); -} - - -int countpolyhit=0; -int HitCheckPoly(const float3 *vert, const int n, const float3 &v0, const float3 &v1, float3 *impact, float3 *normal) -{ - countpolyhit++; - int i; - float3 nrml(0,0,0); - for(i=0;i0) - { - return 0; - } - - static float3 the_point; - // By using the cached plane distances d0 and d1 - // we can optimize the following: - // the_point = planelineintersection(nrml,dist,v0,v1); - float a = d0/(d0-d1); - the_point = v0*(1-a) + v1*a; - - - int inside=1; - for(int j=0;inside && j= 0.0); - } - if(inside) - { - if(normal){*normal=nrml;} - if(impact){*impact=the_point;} - } - return inside; -} - -int SolveQuadratic(float a,float b,float c,float *ta,float *tb) // if true returns roots ta,tb where ta<=tb -{ - assert(ta); - assert(tb); - float d = b*b-4.0f*a*c; // discriminant - if(d<0.0f) return 0; - float sqd = sqrtf(d); - *ta = (-b-sqd) / (2.0f * a); - *tb = (-b+sqd) / (2.0f * a); - return 1; -} - -int HitCheckRaySphere(const float3& sphereposition,float radius, const float3& _v0, const float3& _v1, float3 *impact,float3 *normal) -{ - assert(impact); - assert(normal); - float3 dv = _v1-_v0; - float3 v0 = _v0 - sphereposition; // solve in coord system of the sphere - if(radius<=0.0f || _v0==_v1) return 0; // only true if point moves from outside to inside sphere. - float a = dot(dv,dv); - float b = 2.0f * dot(dv,v0); - float c = dot(v0,v0) - radius*radius; - if(c<0.0f) return 0; // we are already inside the sphere. - - float ta, tb; - int doesIntersect = SolveQuadratic(a, b, c, &ta, &tb); - - if (!doesIntersect) return 0; - - if (ta >= 0.0f && ta <= 1.0f && (ta <= tb || tb<=0.0f)) - { - *impact = _v0 + dv * ta; - *normal = (v0 + dv*ta)/radius; - return 1; - } - if (tb >= 0.0f && tb <= 1.0f) - { - assert(tb <= ta || ta <=0.0f); // tb must be better than ta - *impact = _v0 + dv * tb; - *normal = (v0 + dv*tb)/radius; - return 1; - } - return 0; -} - -int HitCheckRayCylinder(const float3 &p0,const float3 &p1,float radius,const float3& _v0,const float3& _v1, float3 *impact,float3 *normal) -{ - assert(impact); - assert(normal); - // only concerned about hitting the sides, not the caps for now - float3x3 m=RotationArc(p1-p0,float3(0,0,1.0f)).getmatrix(); - float h = ((p1-p0)*m ).z; - float3 v0 = (_v0-p0) *m; - float3 v1 = (_v1-p0) *m; - if(v0.z <= 0.0f && v1.z <= 0.0f) return 0; // entirely below cylinder - if(v0.z >= h && v1.z >= h ) return 0; // ray is above cylinder - if(v0.z <0.0f ) v0 = PlaneLineIntersection(float3(0,0,1.0f), 0,v0,v1); // crop to cylinder range - if(v1.z <0.0f ) v1 = PlaneLineIntersection(float3(0,0,1.0f), 0,v0,v1); - if(v0.z > h ) v0 = PlaneLineIntersection(float3(0,0,1.0f),-h,v0,v1); - if(v1.z > h ) v1 = PlaneLineIntersection(float3(0,0,1.0f),-h,v0,v1); - if(v0.x==v1.x && v0.y==v1.y) return 0; - float3 dv = v1-v0; - - float a = dv.x*dv.x+dv.y*dv.y; - float b = 2.0f * (dv.x*v0.x+dv.y*v0.y); - float c = (v0.x*v0.x+v0.y*v0.y) - radius*radius; - if(c<0.0f) return 0; // we are already inside the cylinder . - - float ta, tb; - int doesIntersect = SolveQuadratic(a, b, c, &ta, &tb); - - if (!doesIntersect) return 0; - - if (ta >= 0.0f && ta <= 1.0f && (ta <= tb || tb<=0.0f)) - { - *impact = (v0 + dv * ta)*Transpose(m) + p0; - *normal = (float3(v0.x,v0.y,0.0f) + float3(dv.x,dv.y,0) * ta) /radius * Transpose(m); - return 1; - } - if (tb >= 0.0f && tb <= 1.0f) - { - assert(tb <= ta || ta <=0.0f); // tb must be better than ta - *impact = (v0 + dv * tb)*Transpose(m) + p0; // compute intersection in original space - *normal = (float3(v0.x,v0.y,0.0f) + float3(dv.x,dv.y,0) * tb) /radius * Transpose(m); - return 1; - } - return 0; -} - -int HitCheckSweptSphereTri(const float3 &p0,const float3 &p1,const float3 &p2,float radius, const float3& v0,const float3& _v1, float3 *impact,float3 *normal) -{ - float3 unused; - if(!normal) normal=&unused; - float3 v1=_v1; // so we can update v1 after each sub intersection test if necessary - int hit=0; - float3 cp = cross(p1-p0,p2-p0); - if(dot(cp,v1-v0)>=0.0f) return 0; // coming from behind and/or moving away - float3 n = normalize(cp); - float3 tv[3]; - tv[0] = p0 + n*radius; - tv[1] = p1 + n*radius; - tv[2] = p2 + n*radius; - hit += HitCheckPoly(tv,3,v0,v1,&v1,normal); - hit += HitCheckRayCylinder(p0,p1,radius,v0,v1,&v1,normal); - hit += HitCheckRayCylinder(p1,p2,radius,v0,v1,&v1,normal); - hit += HitCheckRayCylinder(p2,p0,radius,v0,v1,&v1,normal); - hit += HitCheckRaySphere(p0,radius,v0,v1,&v1,normal); - hit += HitCheckRaySphere(p1,radius,v0,v1,&v1,normal); - hit += HitCheckRaySphere(p2,radius,v0,v1,&v1,normal); - if(hit && impact) *impact = v1 + *normal * 0.001f; - return hit; -} - - -float3 PlanesIntersection(const Plane &p0,const Plane &p1, const Plane &p2) -{ - float3x3 mp =Transpose(float3x3(p0.normal(),p1.normal(),p2.normal())); - float3x3 mi = Inverse(mp); - float3 b(p0.dist(),p1.dist(),p2.dist()); - return -b * mi; -} - - -float3 PlanesIntersection(const Plane *planes,int planes_count,const float3 &seed) -{ - int i; - float3x3 A; // gets initilized to 0 matrix - float3 b(0,0,0); - for(i=0;i= count+1 - assert(verts_out); - int n=0; - int prev_status = (dot(plane_normal,verts_in[count_in-1])+plane_dist > 0) ; - for(int i=0;i 0) ; - if(status != prev_status) - { - verts_out[n++] = PlaneLineIntersection(plane_normal,plane_dist,verts_in[(i==0)?count_in-1:i-1],verts_in[i]); - } - if(status==0) // under - { - verts_out[n++] = verts_in[i]; - } - } - assert(n<=count_in+1); // remove if intention to use this routine on convex polygons - return n; -} - -int ClipPolyPoly(const float3 &normal,const float3 *clipper,int clipper_count,const float3 *verts_in, int in_count,float3 *scratch) -{ - // clips polys against each other. - // requires sufficiently allocated temporary memory in scratch buffer - // function returns final number of vertices in clipped polygon. - // Resulting vertices are returned in the scratch buffer. - // if the arrays are the same &verts_in==&scratch the routine should still work anyways. - // the first argument (normal) is the normal of polygon clipper. - // its generally assumed both are convex polygons. - assert(scratch); // size should be >= 2*(clipper_count+in_count) - int i; - int bsize = clipper_count+in_count; - int count = in_count; - for(i=0;iom.y&&om.x>om.z)?0: (om.y>om.z)? 1 : 2; // index of largest element of offdiag - int k1 = (k+1)%3; - int k2 = (k+2)%3; - if(offdiag[k]==0.0f) break; // diagonal already - float thet = (D[k2][k2]-D[k1][k1])/(2.0f*offdiag[k]); - float sgn = (thet>0.0f)?1.0f:-1.0f; - thet *= sgn; // make it positive - float t = sgn /(thet +((thet<1.E6f)?sqrtf(squared(thet)+1.0f):thet)) ; // sign(T)/(|T|+sqrt(T^2+1)) - float c = 1.0f/sqrtf(squared(t)+1.0f); // c= 1/(t^2+1) , t=s/c - if(c==1.0f) break; // no room for improvement - reached machine precision. - Quaternion jr(0,0,0,0); // jacobi rotation for this iteration. - jr[k] = sgn*sqrtf((1.0f-c)/2.0f); // using 1/2 angle identity sin(a/2) = sqrt((1-cos(a))/2) - jr[k] *= -1.0f; // since our quat-to-matrix convention was for v*M instead of M*v - jr.w = sqrtf(1.0f - squared(jr[k])); - if(jr.w==1.0f) break; // reached limits of floating point precision - q = q*jr; - q.Normalize(); - } - return q; -} - -float3 Diagonal(const float3x3 &M) -{ - return float3(M[0][0],M[1][1],M[2][2]); -} diff -Nru bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/stan/vecmath.h bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/stan/vecmath.h --- bullet-2.86.1+dfsg/examples/Experiments/ImplicitCloth/stan/vecmath.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Experiments/ImplicitCloth/stan/vecmath.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,466 +0,0 @@ -// -// -// Typical 3d vector math code. -// By S Melax 1998-2008 -// -// - -#ifndef SM_VEC_MATH_H -#define SM_VEC_MATH_H - -#include -#include -#include -#include - -#define M_PIf (3.1415926535897932384626433832795f) - -inline float DegToRad(float angle_degrees) { return angle_degrees * M_PIf / 180.0f; } // returns Radians. -inline float RadToDeg(float angle_radians) { return angle_radians * 180.0f / M_PIf; } // returns Degrees. - -#define OFFSET(Class,Member) (((char*) (&(((Class*)NULL)-> Member )))- ((char*)NULL)) - - - - -int argmin(const float a[],int n); -int argmax(const float a[],int n); -float squared(float a); -float clamp(float a,const float minval=0.0f, const float maxval=1.0f); -int clamp(int a,const int minval,const int maxval) ; -float Round(float a,float precision); -float Interpolate(const float &f0,const float &f1,float alpha) ; - -template -void Swap(T &a,T &b) -{ - T tmp = a; - a=b; - b=tmp; -} - - - -template -T Max(const T &a,const T &b) -{ - return (a>b)?a:b; -} - -template -T Min(const T &a,const T &b) -{ - return (a -class vec2 -{ - public: - T x,y; - inline vec2(){x=0;y=0;} - inline vec2(const T &_x, const T &_y){x=_x;y=_y;} - inline T& operator[](int i) {return ((T*)this)[i];} - inline const T& operator[](int i) const {return ((T*)this)[i];} -}; - -typedef vec2 int2; -typedef vec2 float2; - - -template inline int operator ==(const vec2 &a,const vec2 &b) {return (a.x==b.x && a.y==b.y);} -template inline vec2 operator-( const vec2& a, const vec2& b ){return vec2(a.x-b.x,a.y-b.y);} -template inline vec2 operator+( const vec2& a, const vec2& b ){return float2(a.x+b.x,a.y+b.y);} - -//--------- 3D --------- - - - -template -class vec3 -{ - public: - T x,y,z; - inline vec3(){x=0;y=0;z=0;}; - inline vec3(const T &_x,const T &_y,const T &_z){x=_x;y=_y;z=_z;}; - inline T& operator[](int i) {return ((T*)this)[i];} - inline const T& operator[](int i) const {return ((T*)this)[i];} -}; - - -typedef vec3 int3; -typedef vec3 short3; -typedef vec3 float3; - -// due to ambiguity there is no overloaded operators for v3*v3 use dot,cross,outerprod,cmul -template inline int operator==(const vec3 &a,const vec3 &b) {return (a.x==b.x && a.y==b.y && a.z==b.z);} -template inline int operator!=(const vec3 &a,const vec3 &b) {return !(a==b);} -template inline vec3 operator+(const vec3& a, const vec3& b ){return vec3(a.x+b.x, a.y+b.y, a.z+b.z);} -template inline vec3 operator-(const vec3& a, const vec3& b ){return vec3(a.x-b.x, a.y-b.y, a.z-b.z);} -template inline vec3 operator-(const vec3& v){return vec3(-v.x,-v.y,-v.z );} -template inline vec3 operator*(const vec3& v, const T &s ){ return vec3( v.x*s, v.y*s, v.z*s );} -template inline vec3 operator*(T s, const vec3& v ){return v*s;} -template inline vec3 operator/(const vec3& v, T s ){return vec3( v.x/s, v.y/s, v.z/s );} -template inline T dot (const vec3& a, const vec3& b){return a.x*b.x + a.y*b.y + a.z*b.z;} -template inline vec3 cmul (const vec3& a, const vec3& b){return vec3(a.x*b.x, a.y*b.y, a.z*b.z);} -template inline vec3 cross(const vec3& a, const vec3& b){return vec3(a.y*b.z-a.z*b.y, a.z*b.x-a.x*b.z, a.x*b.y-a.y*b.x);} -template inline T magnitude( const vec3& v ){return squareroot(dot(v,v));} -template inline vec3 normalize( const vec3& v ){return v/magnitude(v);} -template inline vec3& operator+=(vec3& a, const vec3& b){a.x+=b.x;a.y+=b.y;a.z+=b.z;return a;} -template inline vec3& operator-=(vec3& a, const vec3& b){a.x-=b.x;a.y-=b.y;a.z-=b.z;return a;} -template inline vec3& operator*=(vec3& v, T s){v.x*=s;v.y*=s;v.z*= s;return v;} -template inline vec3& operator/=(vec3& v, T s){v.x/=s;v.y/=s;v.z/=s;return v;} - - -float3 safenormalize(const float3 &v); -float3 vabs(const float3 &v); -float3 Interpolate(const float3 &v0,const float3 &v1,float alpha); -float3 Round(const float3& a,float precision); -template inline vec3VectorMin(const vec3 &a,const vec3 &b) {return vec3(Min(a.x,b.x),Min(a.y,b.y),Min(a.z,b.z));} -template inline vec3VectorMax(const vec3 &a,const vec3 &b) {return vec3(Max(a.x,b.x),Max(a.y,b.y),Max(a.z,b.z));} -int overlap(const float3 &bmina,const float3 &bmaxa,const float3 &bminb,const float3 &bmaxb); - -template -class mat3x3 -{ - public: - vec3 x,y,z; // the 3 rows of the Matrix - inline mat3x3(){} - inline mat3x3(const T &xx,const T &xy,const T &xz,const T &yx,const T &yy,const T &yz,const T &zx,const T &zy,const T &zz):x(xx,xy,xz),y(yx,yy,yz),z(zx,zy,zz){} - inline mat3x3(const vec3 &_x,const vec3 &_y,const vec3 &_z):x(_x),y(_y),z(_z){} - inline vec3& operator[](int i) {return (&x)[i];} - inline const vec3& operator[](int i) const {return (&x)[i];} - inline T& operator()(int r, int c) {return ((&x)[r])[c];} - inline const T& operator()(int r, int c) const {return ((&x)[r])[c];} -}; -typedef mat3x3 float3x3; - -float3x3 Transpose( const float3x3& m ); -template vec3 operator*( const vec3& v , const mat3x3& m ) -{ - return vec3((m.x.x*v.x + m.y.x*v.y + m.z.x*v.z), - (m.x.y*v.x + m.y.y*v.y + m.z.y*v.z), - (m.x.z*v.x + m.y.z*v.y + m.z.z*v.z)); -} - -float3 operator*( const float3x3& m , const float3& v ); -float3x3 operator*( const float3x3& m , const float& s ); -float3x3 operator*( const float3x3& ma, const float3x3& mb ); -float3x3 operator/( const float3x3& a, const float& s ) ; -float3x3 operator+( const float3x3& a, const float3x3& b ); -float3x3 operator-( const float3x3& a, const float3x3& b ); -float3x3 &operator+=( float3x3& a, const float3x3& b ); -float3x3 &operator-=( float3x3& a, const float3x3& b ); -float3x3 &operator*=( float3x3& a, const float& s ); -float Determinant(const float3x3& m ); -float3x3 Inverse(const float3x3& a); // its just 3x3 so we simply do that cofactor method -float3x3 outerprod(const float3& a,const float3& b); - -//-------- 4D Math -------- - -template -class vec4 -{ -public: - T x,y,z,w; - inline vec4(){x=0;y=0;z=0;w=0;}; - inline vec4(const T &_x, const T &_y, const T &_z, const T &_w){x=_x;y=_y;z=_z;w=_w;} - inline vec4(const vec3 &v,const T &_w){x=v.x;y=v.y;z=v.z;w=_w;} - //operator float *() { return &x;}; - T& operator[](int i) {return ((T*)this)[i];} - const T& operator[](int i) const {return ((T*)this)[i];} - inline const vec3& xyz() const { return *((vec3*)this);} - inline vec3& xyz() { return *((vec3*)this);} -}; - - -typedef vec4 float4; -typedef vec4 int4; -typedef vec4 byte4; - - -template inline int operator==(const vec4 &a,const vec4 &b) {return (a.x==b.x && a.y==b.y && a.z==b.z && a.w==b.w);} -template inline int operator!=(const vec4 &a,const vec4 &b) {return !(a==b);} -template inline vec4 operator+(const vec4& a, const vec4& b ){return vec4(a.x+b.x,a.y+b.y,a.z+b.z,a.w+b.w);} -template inline vec4 operator-(const vec4& a, const vec4& b ){return vec4(a.x-b.x,a.y-b.y,a.z-b.z,a.w-b.w);} -template inline vec4 operator-(const vec4& v){return vec4(-v.x,-v.y,-v.z,-v.w);} -template inline vec4 operator*(const vec4& v, const T &s ){ return vec4( v.x*s, v.y*s, v.z*s,v.w*s);} -template inline vec4 operator*(T s, const vec4& v ){return v*s;} -template inline vec4 operator/(const vec4& v, T s ){return vec4( v.x/s, v.y/s, v.z/s,v.w/s );} -template inline T dot(const vec4& a, const vec4& b ){return a.x*b.x + a.y*b.y + a.z*b.z+a.w*b.w;} -template inline vec4 cmul(const vec4 &a, const vec4 &b) {return vec4(a.x*b.x, a.y*b.y, a.z*b.z,a.w*b.w);} -template inline vec4& operator+=(vec4& a, const vec4& b ){a.x+=b.x;a.y+=b.y;a.z+=b.z;a.w+=b.w;return a;} -template inline vec4& operator-=(vec4& a, const vec4& b ){a.x-=b.x;a.y-=b.y;a.z-=b.z;a.w-=b.w;return a;} -template inline vec4& operator*=(vec4& v, T s){v.x*=s;v.y*=s;v.z*=s;v.w*=s;return v;} -template inline vec4& operator/=(vec4& v, T s){v.x/=s;v.y/=s;v.z/=s;v.w/=s;return v;} -template inline T magnitude( const vec4& v ){return squareroot(dot(v,v));} -template inline vec4 normalize( const vec4& v ){return v/magnitude(v);} - - - -struct D3DXMATRIX; - -template -class mat4x4 -{ - public: - vec4 x,y,z,w; // the 4 rows - inline mat4x4(){} - inline mat4x4(const vec4 &_x, const vec4 &_y, const vec4 &_z, const vec4 &_w):x(_x),y(_y),z(_z),w(_w){} - inline mat4x4(const T& m00, const T& m01, const T& m02, const T& m03, - const T& m10, const T& m11, const T& m12, const T& m13, - const T& m20, const T& m21, const T& m22, const T& m23, - const T& m30, const T& m31, const T& m32, const T& m33 ) - :x(m00,m01,m02,m03),y(m10,m11,m12,m13),z(m20,m21,m22,m23),w(m30,m31,m32,m33){} - inline vec4& operator[](int i) {assert(i>=0&&i<4);return (&x)[i];} - inline const vec4& operator[](int i) const {assert(i>=0&&i<4);return (&x)[i];} - inline T& operator()(int r, int c) {assert(r>=0&&r<4&&c>=0&&c<4);return ((&x)[r])[c];} - inline const T& operator()(int r, int c) const {assert(r>=0&&r<4&&c>=0&&c<4);return ((&x)[r])[c];} - inline operator T* () {return &x.x;} - inline operator const T* () const {return &x.x;} - operator struct D3DXMATRIX* () { return (struct D3DXMATRIX*) this;} - operator const struct D3DXMATRIX* () const { return (struct D3DXMATRIX*) this;} -}; - -typedef mat4x4 float4x4; - - -float4x4 operator*( const float4x4& a, const float4x4& b ); -float4 operator*( const float4& v, const float4x4& m ); -float4x4 Inverse(const float4x4 &m); -float4x4 MatrixRigidInverse(const float4x4 &m); -float4x4 MatrixTranspose(const float4x4 &m); -float4x4 MatrixPerspectiveFov(float fovy, float Aspect, float zn, float zf ); -float4x4 MatrixTranslation(const float3 &t); -float4x4 MatrixRotationZ(const float angle_radians); -float4x4 MatrixLookAt(const float3& eye, const float3& at, const float3& up); -int operator==( const float4x4 &a, const float4x4 &b ); - - -//-------- Quaternion ------------ - -template -class quaternion : public vec4 -{ - public: - inline quaternion() { this->x = this->y = this->z = 0.0f; this->w = 1.0f; } - inline quaternion(const T &_x, const T &_y, const T &_z, const T &_w){this->x=_x;this->y=_y;this->z=_z;this->w=_w;} - inline explicit quaternion(const vec4 &v):vec4(v){} - T angle() const { return acosf(this->w)*2.0f; } - vec3 axis() const { vec3 a(this->x,this->y,this->z); if(fabsf(angle())<0.0000001f) return vec3(1,0,0); return a*(1/sinf(angle()/2.0f)); } - inline vec3 xdir() const { return vec3( 1-2*(this->y*this->y+this->z*this->z), 2*(this->x*this->y+this->w*this->z), - 2*(this->x*this->z-this->w*this->y) ); } - inline vec3 ydir() const { return vec3( 2*(this->x*this->y-this->w*this->z),1-2*(this->x*this->x+this->z*this->z), 2*(this->y*this->z+this->w*this->x) ); } - inline vec3 zdir() const { return vec3( 2*(this->x*this->z+this->w*this->y), - 2*(this->y*this->z-this->w*this->x),1- - 2*(this->x*this->x+this->y*this->y) ); } - inline mat3x3 getmatrix() const { return mat3x3( xdir(), ydir(), zdir() ); } - //operator float3x3() { return getmatrix(); } - void Normalize(); -}; - -template -inline quaternion quatfrommat(const mat3x3 &m) -{ - T magw = m[0 ][ 0] + m[1 ][ 1] + m[2 ][ 2]; - T magxy; - T magzw; - vec3 pre; - vec3 prexy; - vec3 prezw; - quaternion postxy; - quaternion postzw; - quaternion post; - int wvsz = (magw > m[2][2] ) ; - magzw = (wvsz) ? magw : m[2][2]; - prezw = (wvsz) ? vec3(1.0f,1.0f,1.0f) : vec3(-1.0f,-1.0f,1.0f) ; - postzw = (wvsz) ? quaternion(0.0f,0.0f,0.0f,1.0f): quaternion(0.0f,0.0f,1.0f,0.0f); - int xvsy = (m[0][0]>m[1][1]); - magxy = (xvsy) ? m[0][0] : m[1][1]; - prexy = (xvsy) ? vec3(1.0f,-1.0f,-1.0f) : vec3(-1.0f,1.0f,-1.0f) ; - postxy = (xvsy) ? quaternion(1.0f,0.0f,0.0f,0.0f): quaternion(0.0f,1.0f,0.0f,0.0f); - int zwvsxy = (magzw > magxy); - pre = (zwvsxy) ? prezw : prexy ; - post = (zwvsxy) ? postzw : postxy; - - T t = pre.x * m[0 ][ 0] + pre.y * m[1 ][ 1] + pre.z * m[2 ][ 2] + 1.0f; - T s = 1/sqrt(t) * 0.5f; - quaternion qp; - qp.x = ( pre.y * m[1][2] - pre.z * m[2][1] ) * s; - qp.y = ( pre.z * m[2][0] - pre.x * m[0][2] ) * s; - qp.z = ( pre.x * m[0][1] - pre.y * m[1][0] ) * s; - qp.w = t * s ; - return qp * post ; -} - -typedef quaternion Quaternion; - -inline Quaternion QuatFromAxisAngle(const float3 &_v, float angle_radians ) -{ - float3 v = normalize(_v)*sinf(angle_radians/2.0f); - return Quaternion(v.x,v.y,v.z,cosf(angle_radians/2.0f)); -} - -template inline quaternion Conjugate(const quaternion &q){return quaternion(-q.x,-q.y,-q.z,q.w);} -template inline quaternion Inverse(const quaternion &q){return Conjugate(q);} -template inline quaternion normalize( const quaternion & a ){return quaternion (normalize((vec4&)a));} -template inline quaternion& operator*=(quaternion& a, T s ){return (quaternion&)((vec4&)a *=s);} -template inline quaternion operator*( const quaternion& a, float s ){return quaternion((vec4&)a*s);} -template inline quaternion operator+( const quaternion& a, const quaternion& b){return quaternion((vec4&)a+(vec4&)b);} -template inline quaternion operator-( const quaternion& a, const quaternion& b){return quaternion((vec4&)a-(vec4&)b);} -template inline quaternion operator-( const quaternion& b){return quaternion(-(vec4&)b);} -template inline quaternion operator*( const quaternion& a, const quaternion& b) -{ - return quaternion( - a.w*b.x + a.x*b.w + a.y*b.z - a.z*b.y, //x - a.w*b.y - a.x*b.z + a.y*b.w + a.z*b.x, //y - a.w*b.z + a.x*b.y - a.y*b.x + a.z*b.w, //z - a.w*b.w - a.x*b.x - a.y*b.y - a.z*b.z ); //w -} - - -float3 rotate( const Quaternion& q, const float3& v ); -//float3 operator*( const Quaternion& q, const float3& v ); -//float3 operator*( const float3& v, const Quaternion& q ); - -Quaternion slerp(const Quaternion &a, const Quaternion& b, float t ); -Quaternion Interpolate(const Quaternion &q0,const Quaternion &q1,float t); -Quaternion RotationArc(float3 v0, float3 v1 ); // returns quat q where q*v0*q^-1=v1 -float4x4 MatrixFromQuatVec(const Quaternion &q, const float3 &v); - -inline Quaternion QuatFromMat(const float3 &t, const float3 &b, const float3 &n) -{ - return normalize(quatfrommat(float3x3(t,b,n))); -} - - -//---------------- Pose ------------------ - -class Pose -{ -public: - float3 position; - Quaternion orientation; - Pose(){} - Pose(const float3 &p,const Quaternion &q):position(p),orientation(q){} - Pose &pose(){return *this;} - const Pose &pose() const {return *this;} -}; - -inline float3 operator*(const Pose &a,const float3 &v) -{ - return a.position + rotate(a.orientation,v); -} - -inline Pose operator*(const Pose &a,const Pose &b) -{ - return Pose(a.position + rotate(a.orientation,b.position),a.orientation*b.orientation); -} - -inline Pose Inverse(const Pose &a) -{ - Quaternion q = Inverse(a.orientation); - return Pose(rotate(q,-a.position),q); -} - -inline Pose slerp(const Pose &p0,const Pose &p1,float t) -{ - return Pose(p0.position * (1.0f-t) + p1.position * t,slerp(p0.orientation,p1.orientation,t)); -} - -inline float4x4 MatrixFromPose(const Pose &pose) -{ - return MatrixFromQuatVec(pose.orientation,pose.position); -} - -//------ Euler Angle ----- - -Quaternion YawPitchRoll( float yaw, float pitch, float roll ); -float Yaw( const Quaternion& q ); -float Pitch( const Quaternion& q ); -float Roll( const Quaternion &q ); -float Yaw( const float3& v ); -float Pitch( const float3& v ); - -//------- Plane ---------- -class Plane : public float4 -{ - public: - float3& normal(){ return xyz(); } - const float3& normal() const { return xyz(); } - float& dist(){return w;} // distance below origin - the D from plane equasion Ax+By+Cz+D=0 - const float& dist() const{return w;} // distance below origin - the D from plane equasion Ax+By+Cz+D=0 - Plane(const float3 &n,float d):float4(n,d){} - Plane(){dist()=0;} - explicit Plane(const float4 &v):float4(v){} -}; - -Plane Transform(const Plane &p, const float3 &translation, const Quaternion &rotation); - -inline Plane PlaneFlip(const Plane &p){return Plane(-p.normal(),-p.dist());} -inline int operator==( const Plane &a, const Plane &b ) { return (a.normal()==b.normal() && a.dist()==b.dist()); } -inline int coplanar( const Plane &a, const Plane &b ) { return (a==b || a==PlaneFlip(b)); } - -float3 PlaneLineIntersection(const Plane &plane, const float3 &p0, const float3 &p1); -float3 PlaneProject(const Plane &plane, const float3 &point); -float3 PlanesIntersection(const Plane &p0,const Plane &p1, const Plane &p2); -float3 PlanesIntersection(const Plane *planes,int planes_count,const float3 &seed=float3(0,0,0)); - -int Clip(const Plane &p,const float3 *verts_in,int count,float* verts_out); // verts_out must be preallocated with sufficient size >= count+1 or more if concave -int ClipPolyPoly(const float3 &normal,const float3 *clipper,int clipper_count,const float3 *verts_in, int in_count,float3 *scratch); //scratch must be preallocated - - -//--------- Utility Functions ------ - -float3 PlaneLineIntersection(const float3 &normal,const float dist, const float3 &p0, const float3 &p1); -float3 LineProject(const float3 &p0, const float3 &p1, const float3 &a); // projects a onto infinite line p0p1 -float LineProjectTime(const float3 &p0, const float3 &p1, const float3 &a); -int BoxInside(const float3 &p,const float3 &bmin, const float3 &bmax) ; -int BoxIntersect(const float3 &v0, const float3 &v1, const float3 &bmin, const float3 &bmax, float3 *impact); -float DistanceBetweenLines(const float3 &ustart, const float3 &udir, const float3 &vstart, const float3 &vdir, float3 *upoint=NULL, float3 *vpoint=NULL); -float3 TriNormal(const float3 &v0, const float3 &v1, const float3 &v2); -float3 NormalOf(const float3 *vert, const int n); -Quaternion VirtualTrackBall(const float3 &cop, const float3 &cor, const float3 &dir0, const float3 &dir1); -int Clip(const float3 &plane_normal,float plane_dist,const float3 *verts_in,int count,float* verts_out); // verts_out must be preallocated with sufficient size >= count+1 or more if concave -int ClipPolyPoly(const float3 &normal,const float3 *clipper,int clipper_count,const float3 *verts_in, int in_count,float3 *scratch); //scratch must be preallocated -float3 Diagonal(const float3x3 &M); -Quaternion Diagonalizer(const float3x3 &A); -float3 Orth(const float3& v); -int SolveQuadratic(float a,float b,float c,float *ta,float *tb); // if true returns roots ta,tb where ta<=tb -int HitCheckPoly(const float3 *vert,const int n,const float3 &v0, const float3 &v1, float3 *impact=NULL, float3 *normal=NULL); -int HitCheckRaySphere(const float3& sphereposition,float radius, const float3& _v0, const float3& _v1, float3 *impact,float3 *normal); -int HitCheckRayCylinder(const float3 &p0,const float3 &p1,float radius,const float3& _v0,const float3& _v1, float3 *impact,float3 *normal); -int HitCheckSweptSphereTri(const float3 &p0,const float3 &p1,const float3 &p2,float radius, const float3& v0,const float3& _v1, float3 *impact,float3 *normal); -void BoxLimits(const float3 *verts,int verts_count, float3 &bmin_out,float3 &bmax_out); -void BoxLimits(const float4 *verts,int verts_count, float3 &bmin_out,float3 &bmax_out); - - -template -inline int maxdir(const T *p,int count,const T &dir) -{ - assert(count); - int m=0; - for(int i=1;idot(p[m],dir)) m=i; - } - return m; -} - -float3 CenterOfMass(const float3 *vertices, const int3 *tris, const int count) ; -float3x3 Inertia(const float3 *vertices, const int3 *tris, const int count, const float3& com=float3(0,0,0)) ; -float Volume(const float3 *vertices, const int3 *tris, const int count) ; -int calchull(float3 *verts,int verts_count, int3 *&tris_out, int &tris_count,int vlimit); // computes convex hull see hull.cpp - -#endif // VEC_MATH_H diff -Nru bullet-2.86.1+dfsg/examples/ExtendedTutorials/Bridge.cpp bullet-2.87+dfsg/examples/ExtendedTutorials/Bridge.cpp --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/Bridge.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/Bridge.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,150 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/Bridge.h bullet-2.87+dfsg/examples/ExtendedTutorials/Bridge.h --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/Bridge.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/Bridge.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/Chain.cpp bullet-2.87+dfsg/examples/ExtendedTutorials/Chain.cpp --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/Chain.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/Chain.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,137 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/Chain.h bullet-2.87+dfsg/examples/ExtendedTutorials/Chain.h --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/Chain.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/Chain.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/InclinedPlane.cpp bullet-2.87+dfsg/examples/ExtendedTutorials/InclinedPlane.cpp --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/InclinedPlane.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/InclinedPlane.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,372 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/InclinedPlane.h bullet-2.87+dfsg/examples/ExtendedTutorials/InclinedPlane.h --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/InclinedPlane.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/InclinedPlane.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/MultiPendulum.cpp bullet-2.87+dfsg/examples/ExtendedTutorials/MultiPendulum.cpp --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultiPendulum.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/MultiPendulum.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,426 +0,0 @@ -/* - 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-2.86.1+dfsg/examples/ExtendedTutorials/MultiPendulum.h bullet-2.87+dfsg/examples/ExtendedTutorials/MultiPendulum.h --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultiPendulum.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/MultiPendulum.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/MultipleBoxes.cpp bullet-2.87+dfsg/examples/ExtendedTutorials/MultipleBoxes.cpp --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultipleBoxes.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/MultipleBoxes.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,120 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/MultipleBoxes.h bullet-2.87+dfsg/examples/ExtendedTutorials/MultipleBoxes.h --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/MultipleBoxes.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/MultipleBoxes.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsCradle.cpp bullet-2.87+dfsg/examples/ExtendedTutorials/NewtonsCradle.cpp --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsCradle.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/NewtonsCradle.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,370 +0,0 @@ -/* - 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-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsCradle.h bullet-2.87+dfsg/examples/ExtendedTutorials/NewtonsCradle.h --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsCradle.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/NewtonsCradle.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.cpp bullet-2.87+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.cpp --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,376 +0,0 @@ -/* - 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-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.h bullet-2.87+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.h --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/NewtonsRopeCradle.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/premake4.lua bullet-2.87+dfsg/examples/ExtendedTutorials/premake4.lua --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/premake4.lua 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/premake4.lua 1970-01-01 00:00:00.000000000 +0000 @@ -1,228 +0,0 @@ - -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-2.86.1+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.cpp bullet-2.87+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.cpp --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,165 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.h bullet-2.87+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.h --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/RigidBodyFromObj.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,28 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/SimpleBox.cpp bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleBox.cpp --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleBox.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleBox.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,118 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/SimpleBox.h bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleBox.h --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleBox.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleBox.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/SimpleCloth.cpp bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleCloth.cpp --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleCloth.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleCloth.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,162 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/SimpleCloth.h bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleCloth.h --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleCloth.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleCloth.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/SimpleJoint.cpp bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleJoint.cpp --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleJoint.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleJoint.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,133 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ExtendedTutorials/SimpleJoint.h bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleJoint.h --- bullet-2.86.1+dfsg/examples/ExtendedTutorials/SimpleJoint.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ExtendedTutorials/SimpleJoint.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -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-2.86.1+dfsg/examples/ForkLift/ForkLiftDemo.cpp bullet-2.87+dfsg/examples/ForkLift/ForkLiftDemo.cpp --- bullet-2.86.1+dfsg/examples/ForkLift/ForkLiftDemo.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ForkLift/ForkLiftDemo.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,1214 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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. -*/ - -///September 2006: VehicleDemo is work in progress, this file is mostly just a placeholder -///This VehicleDemo file is very early in development, please check it later -///@todo is a basic engine model: -///A function that maps user input (throttle) into torque/force applied on the wheels -///with gears etc. -#include "btBulletDynamicsCommon.h" -#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" - - -#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h" -#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h" -#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h" - -class btVehicleTuning; -struct btVehicleRaycaster; -class btCollisionShape; - -#include "BulletDynamics/Vehicle/btRaycastVehicle.h" -#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" -#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" - -#include "../CommonInterfaces/CommonExampleInterface.h" -#include "LinearMath/btAlignedObjectArray.h" -#include "btBulletCollisionCommon.h" -#include "../CommonInterfaces/CommonGUIHelperInterface.h" -#include "../CommonInterfaces/CommonRenderInterface.h" -#include "../CommonInterfaces/CommonWindowInterface.h" -#include "../CommonInterfaces/CommonGraphicsAppInterface.h" - -///VehicleDemo shows how to setup and use the built-in raycast vehicle -class ForkLiftDemo : public CommonExampleInterface -{ - public: - GUIHelperInterface* m_guiHelper; - - /* extra stuff*/ - btVector3 m_cameraPosition; - class btDiscreteDynamicsWorld* m_dynamicsWorld; - btDiscreteDynamicsWorld* getDynamicsWorld() - { - return m_dynamicsWorld; - } - btRigidBody* m_carChassis; - btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape); - - int m_wheelInstances[4]; - -//---------------------------- - btRigidBody* m_liftBody; - btVector3 m_liftStartPos; - btHingeConstraint* m_liftHinge; - - btRigidBody* m_forkBody; - btVector3 m_forkStartPos; - btSliderConstraint* m_forkSlider; - - btRigidBody* m_loadBody; - btVector3 m_loadStartPos; - - void lockLiftHinge(void); - void lockForkSlider(void); - - bool m_useDefaultCamera; -//---------------------------- - - - btAlignedObjectArray m_collisionShapes; - - class btBroadphaseInterface* m_overlappingPairCache; - - class btCollisionDispatcher* m_dispatcher; - - class btConstraintSolver* m_constraintSolver; - - class btDefaultCollisionConfiguration* m_collisionConfiguration; - - class btTriangleIndexVertexArray* m_indexVertexArrays; - - btVector3* m_vertices; - - - btRaycastVehicle::btVehicleTuning m_tuning; - btVehicleRaycaster* m_vehicleRayCaster; - btRaycastVehicle* m_vehicle; - btCollisionShape* m_wheelShape; - - float m_cameraHeight; - - float m_minCameraDistance; - float m_maxCameraDistance; - - - ForkLiftDemo(struct GUIHelperInterface* helper); - - virtual ~ForkLiftDemo(); - - virtual void stepSimulation(float deltaTime); - - virtual void resetForklift(); - - virtual void clientResetScene(); - - virtual void displayCallback(); - - virtual void specialKeyboard(int key, int x, int y); - - virtual void specialKeyboardUp(int key, int x, int y); - - 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); - - virtual void renderScene(); - - virtual void physicsDebugDraw(int debugFlags); - - - void initPhysics(); - void exitPhysics(); - - virtual void resetCamera() - { - float dist = 8; - float pitch = -45; - float yaw = 32; - float targetPos[3]={-0.33,-0.72,4.5}; - m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } - - /*static DemoApplication* Create() - { - ForkLiftDemo* demo = new ForkLiftDemo(); - demo->myinit(); - demo->initPhysics(); - return demo; - } - */ -}; - - -btScalar maxMotorImpulse = 4000.f; - -//the sequential impulse solver has difficulties dealing with large mass ratios (differences), between loadMass and the fork parts -btScalar loadMass = 350.f;// -//btScalar loadMass = 10.f;//this should work fine for the SI solver - - -#ifndef M_PI -#define M_PI 3.14159265358979323846 -#endif - -#ifndef M_PI_2 -#define M_PI_2 1.57079632679489661923 -#endif - -#ifndef M_PI_4 -#define M_PI_4 0.785398163397448309616 -#endif - - int rightIndex = 0; - int upIndex = 1; - int forwardIndex = 2; - btVector3 wheelDirectionCS0(0,-1,0); - btVector3 wheelAxleCS(-1,0,0); - -bool useMCLPSolver = true; - - -#include //printf debugging - - -#include "ForkLiftDemo.h" - - - -///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 -///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts -float gEngineForce = 0.f; - -float defaultBreakingForce = 10.f; -float gBreakingForce = 100.f; - -float maxEngineForce = 1000.f;//this should be engine/velocity dependent -float maxBreakingForce = 100.f; - -float gVehicleSteering = 0.f; -float steeringIncrement = 0.04f; -float steeringClamp = 0.3f; -float wheelRadius = 0.5f; -float wheelWidth = 0.4f; -float wheelFriction = 1000;//BT_LARGE_FLOAT; -float suspensionStiffness = 20.f; -float suspensionDamping = 2.3f; -float suspensionCompression = 4.4f; -float rollInfluence = 0.1f;//1.0f; - - -btScalar suspensionRestLength(0.6); - -#define CUBE_HALF_EXTENTS 1 - - - -//////////////////////////////////// - - - - -ForkLiftDemo::ForkLiftDemo(struct GUIHelperInterface* helper) -:m_guiHelper(helper), -m_carChassis(0), -m_liftBody(0), -m_forkBody(0), -m_loadBody(0), -m_indexVertexArrays(0), -m_vertices(0), -m_cameraHeight(4.f), -m_minCameraDistance(3.f), -m_maxCameraDistance(10.f) -{ - helper->setUpAxis(1); - m_vehicle = 0; - m_wheelShape = 0; - m_cameraPosition = btVector3(30,30,30); - m_useDefaultCamera = false; -// setTexturing(true); -// setShadows(true); - -} - - -void ForkLiftDemo::exitPhysics() -{ - //cleanup in the reverse order of creation/initialization - - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - - while (body->getNumConstraintRefs()) - { - btTypedConstraint* constraint = body->getConstraintRef(0); - m_dynamicsWorld->removeConstraint(constraint); - delete constraint; - } - delete body->getMotionState(); - m_dynamicsWorld->removeRigidBody(body); - } else - { - m_dynamicsWorld->removeCollisionObject( obj ); - } - delete obj; - } - - //delete collision shapes - for (int j=0;jsetUpAxis(upAxis); - - btVector3 groundExtents(50,50,50); - groundExtents[upAxis]=3; - btCollisionShape* groundShape = new btBoxShape(groundExtents); - m_collisionShapes.push_back(groundShape); - m_collisionConfiguration = new btDefaultCollisionConfiguration(); - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - btVector3 worldMin(-1000,-1000,-1000); - btVector3 worldMax(1000,1000,1000); - m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax); - if (useMCLPSolver) - { - btDantzigSolver* mlcp = new btDantzigSolver(); - //btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel; - btMLCPSolver* sol = new btMLCPSolver(mlcp); - m_constraintSolver = sol; - } else - { - m_constraintSolver = new btSequentialImpulseConstraintSolver(); - } - m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration); - if (useMCLPSolver) - { - m_dynamicsWorld ->getSolverInfo().m_minimumSolverBatchSize = 1;//for direct 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->getSolverInfo().m_globalCfm = 0.00001; - - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - - //m_dynamicsWorld->setGravity(btVector3(0,0,0)); -btTransform tr; -tr.setIdentity(); -tr.setOrigin(btVector3(0,-3,0)); - -//either use heightfield or triangle mesh - - - //create ground object - localCreateRigidBody(0,tr,groundShape); - - btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f)); - m_collisionShapes.push_back(chassisShape); - - btCompoundShape* compound = new btCompoundShape(); - m_collisionShapes.push_back(compound); - btTransform localTrans; - localTrans.setIdentity(); - //localTrans effectively shifts the center of mass with respect to the chassis - localTrans.setOrigin(btVector3(0,1,0)); - - compound->addChildShape(localTrans,chassisShape); - - { - btCollisionShape* suppShape = new btBoxShape(btVector3(0.5f,0.1f,0.5f)); - btTransform suppLocalTrans; - suppLocalTrans.setIdentity(); - //localTrans effectively shifts the center of mass with respect to the chassis - suppLocalTrans.setOrigin(btVector3(0,1.0,2.5)); - compound->addChildShape(suppLocalTrans, suppShape); - } - - tr.setOrigin(btVector3(0,0.f,0)); - - m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape); - //m_carChassis->setDamping(0.2,0.2); - - m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius)); - - m_guiHelper->createCollisionShapeGraphicsObject(m_wheelShape); - int wheelGraphicsIndex = m_wheelShape->getUserIndex(); - - const float position[4]={0,10,10,0}; - const float quaternion[4]={0,0,0,1}; - const float color[4]={0,1,0,1}; - const float scaling[4] = {1,1,1,1}; - - for (int i=0;i<4;i++) - { - m_wheelInstances[i] = m_guiHelper->registerGraphicsInstance(wheelGraphicsIndex, position, quaternion, color, scaling); - } - - - - { - btCollisionShape* liftShape = new btBoxShape(btVector3(0.5f,2.0f,0.05f)); - m_collisionShapes.push_back(liftShape); - btTransform liftTrans; - m_liftStartPos = btVector3(0.0f, 2.5f, 3.05f); - liftTrans.setIdentity(); - liftTrans.setOrigin(m_liftStartPos); - m_liftBody = localCreateRigidBody(10,liftTrans, liftShape); - - btTransform localA, localB; - localA.setIdentity(); - localB.setIdentity(); - localA.getBasis().setEulerZYX(0, M_PI_2, 0); - localA.setOrigin(btVector3(0.0, 1.0, 3.05)); - localB.getBasis().setEulerZYX(0, M_PI_2, 0); - localB.setOrigin(btVector3(0.0, -1.5, -0.05)); - m_liftHinge = new btHingeConstraint(*m_carChassis,*m_liftBody, localA, localB); -// m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS); - m_liftHinge->setLimit(0.0f, 0.0f); - m_dynamicsWorld->addConstraint(m_liftHinge, true); - - btCollisionShape* forkShapeA = new btBoxShape(btVector3(1.0f,0.1f,0.1f)); - m_collisionShapes.push_back(forkShapeA); - btCompoundShape* forkCompound = new btCompoundShape(); - m_collisionShapes.push_back(forkCompound); - btTransform forkLocalTrans; - forkLocalTrans.setIdentity(); - forkCompound->addChildShape(forkLocalTrans, forkShapeA); - - btCollisionShape* forkShapeB = new btBoxShape(btVector3(0.1f,0.02f,0.6f)); - m_collisionShapes.push_back(forkShapeB); - forkLocalTrans.setIdentity(); - forkLocalTrans.setOrigin(btVector3(-0.9f, -0.08f, 0.7f)); - forkCompound->addChildShape(forkLocalTrans, forkShapeB); - - btCollisionShape* forkShapeC = new btBoxShape(btVector3(0.1f,0.02f,0.6f)); - m_collisionShapes.push_back(forkShapeC); - forkLocalTrans.setIdentity(); - forkLocalTrans.setOrigin(btVector3(0.9f, -0.08f, 0.7f)); - forkCompound->addChildShape(forkLocalTrans, forkShapeC); - - btTransform forkTrans; - m_forkStartPos = btVector3(0.0f, 0.6f, 3.2f); - forkTrans.setIdentity(); - forkTrans.setOrigin(m_forkStartPos); - m_forkBody = localCreateRigidBody(5, forkTrans, forkCompound); - - localA.setIdentity(); - localB.setIdentity(); - localA.getBasis().setEulerZYX(0, 0, M_PI_2); - localA.setOrigin(btVector3(0.0f, -1.9f, 0.05f)); - localB.getBasis().setEulerZYX(0, 0, M_PI_2); - localB.setOrigin(btVector3(0.0, 0.0, -0.1)); - m_forkSlider = new btSliderConstraint(*m_liftBody, *m_forkBody, localA, localB, true); - m_forkSlider->setLowerLinLimit(0.1f); - m_forkSlider->setUpperLinLimit(0.1f); -// m_forkSlider->setLowerAngLimit(-LIFT_EPS); -// m_forkSlider->setUpperAngLimit(LIFT_EPS); - m_forkSlider->setLowerAngLimit(0.0f); - m_forkSlider->setUpperAngLimit(0.0f); - m_dynamicsWorld->addConstraint(m_forkSlider, true); - - - btCompoundShape* loadCompound = new btCompoundShape(); - m_collisionShapes.push_back(loadCompound); - btCollisionShape* loadShapeA = new btBoxShape(btVector3(2.0f,0.5f,0.5f)); - m_collisionShapes.push_back(loadShapeA); - btTransform loadTrans; - loadTrans.setIdentity(); - loadCompound->addChildShape(loadTrans, loadShapeA); - btCollisionShape* loadShapeB = new btBoxShape(btVector3(0.1f,1.0f,1.0f)); - m_collisionShapes.push_back(loadShapeB); - loadTrans.setIdentity(); - loadTrans.setOrigin(btVector3(2.1f, 0.0f, 0.0f)); - loadCompound->addChildShape(loadTrans, loadShapeB); - btCollisionShape* loadShapeC = new btBoxShape(btVector3(0.1f,1.0f,1.0f)); - m_collisionShapes.push_back(loadShapeC); - loadTrans.setIdentity(); - loadTrans.setOrigin(btVector3(-2.1f, 0.0f, 0.0f)); - loadCompound->addChildShape(loadTrans, loadShapeC); - loadTrans.setIdentity(); - m_loadStartPos = btVector3(0.0f, 3.5f, 7.0f); - loadTrans.setOrigin(m_loadStartPos); - m_loadBody = localCreateRigidBody(loadMass, loadTrans, loadCompound); - } - - - - - - /// create vehicle - { - - m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld); - m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster); - - ///never deactivate the vehicle - m_carChassis->setActivationState(DISABLE_DEACTIVATION); - - m_dynamicsWorld->addVehicle(m_vehicle); - - float connectionHeight = 1.2f; - - - bool isFrontWheel=true; - - //choose coordinate system - m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex); - - btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius); - - m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel); - connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius); - - m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel); - connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius); - isFrontWheel = false; - m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel); - connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius); - m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel); - - for (int i=0;igetNumWheels();i++) - { - btWheelInfo& wheel = m_vehicle->getWheelInfo(i); - wheel.m_suspensionStiffness = suspensionStiffness; - wheel.m_wheelsDampingRelaxation = suspensionDamping; - wheel.m_wheelsDampingCompression = suspensionCompression; - wheel.m_frictionSlip = wheelFriction; - wheel.m_rollInfluence = rollInfluence; - } - } - - resetForklift(); - -// setCameraDistance(26.f); - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -void ForkLiftDemo::physicsDebugDraw(int debugFlags) -{ - if (m_dynamicsWorld && m_dynamicsWorld->getDebugDrawer()) - { - m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugFlags); - m_dynamicsWorld->debugDrawWorld(); - } -} - -//to be implemented by the demo -void ForkLiftDemo::renderScene() -{ - m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld); - - for (int i=0;igetNumWheels();i++) - { - //synchronize the wheels with the (interpolated) chassis worldtransform - m_vehicle->updateWheelTransform(i,true); - - CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); - if (renderer) - { - btTransform tr = m_vehicle->getWheelInfo(i).m_worldTransform; - btVector3 pos=tr.getOrigin(); - btQuaternion orn = tr.getRotation(); - renderer->writeSingleInstanceTransformToCPU(pos,orn,m_wheelInstances[i]); - } - } - - - m_guiHelper->render(m_dynamicsWorld); - - - - ATTRIBUTE_ALIGNED16(btScalar) m[16]; - int i; - - btVector3 wheelColor(1,0,0); - - btVector3 worldBoundsMin,worldBoundsMax; - getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax); - - - - for (i=0;igetNumWheels();i++) - { - //synchronize the wheels with the (interpolated) chassis worldtransform - m_vehicle->updateWheelTransform(i,true); - //draw wheels (cylinders) - m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m); -// m_shapeDrawer->drawOpenGL(m,m_wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax); - } - -#if 0 - int lineWidth=400; - int xStart = m_glutScreenWidth - lineWidth; - int yStart = 20; - - if((getDebugMode() & btIDebugDraw::DBG_NoHelpText)==0) - { - setOrthographicProjection(); - glDisable(GL_LIGHTING); - glColor3f(0, 0, 0); - char buf[124]; - - sprintf(buf,"SHIFT+Cursor Left/Right - rotate lift"); - GLDebugDrawString(xStart,20,buf); - yStart+=20; - sprintf(buf,"SHIFT+Cursor UP/Down - fork up/down"); - yStart+=20; - GLDebugDrawString(xStart,yStart,buf); - - if (m_useDefaultCamera) - { - sprintf(buf,"F5 - camera mode (free)"); - } else - { - sprintf(buf,"F5 - camera mode (follow)"); - } - yStart+=20; - GLDebugDrawString(xStart,yStart,buf); - - yStart+=20; - if (m_dynamicsWorld->getConstraintSolver()->getSolverType()==BT_MLCP_SOLVER) - { - sprintf(buf,"F6 - solver (direct MLCP)"); - } else - { - sprintf(buf,"F6 - solver (sequential impulse)"); - } - GLDebugDrawString(xStart,yStart,buf); - btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*) m_dynamicsWorld; - if (world->getLatencyMotionStateInterpolation()) - { - sprintf(buf,"F7 - motionstate interpolation (on)"); - } else - { - sprintf(buf,"F7 - motionstate interpolation (off)"); - } - yStart+=20; - GLDebugDrawString(xStart,yStart,buf); - - sprintf(buf,"Click window for keyboard focus"); - yStart+=20; - GLDebugDrawString(xStart,yStart,buf); - - - resetPerspectiveProjection(); - glEnable(GL_LIGHTING); - } -#endif -} - -void ForkLiftDemo::stepSimulation(float deltaTime) -{ - - //glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - - { - int wheelIndex = 2; - m_vehicle->applyEngineForce(gEngineForce,wheelIndex); - m_vehicle->setBrake(gBreakingForce,wheelIndex); - wheelIndex = 3; - m_vehicle->applyEngineForce(gEngineForce,wheelIndex); - m_vehicle->setBrake(gBreakingForce,wheelIndex); - - - wheelIndex = 0; - m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex); - wheelIndex = 1; - m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex); - - } - - - float dt = deltaTime; - - if (m_dynamicsWorld) - { - //during idle mode, just run 1 simulation step maximum - int maxSimSubSteps = 2; - - int numSimSteps; - numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps); - - if (m_dynamicsWorld->getConstraintSolver()->getSolverType()==BT_MLCP_SOLVER) - { - btMLCPSolver* sol = (btMLCPSolver*) m_dynamicsWorld->getConstraintSolver(); - int numFallbacks = sol->getNumFallbacks(); - if (numFallbacks) - { - static int totalFailures = 0; - totalFailures+=numFallbacks; - printf("MLCP solver failed %d times, falling back to btSequentialImpulseSolver (SI)\n",totalFailures); - } - sol->setNumFallbacks(0); - } - - -//#define VERBOSE_FEEDBACK -#ifdef VERBOSE_FEEDBACK - if (!numSimSteps) - printf("Interpolated transforms\n"); - else - { - if (numSimSteps > maxSimSubSteps) - { - //detect dropping frames - printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps); - } else - { - printf("Simulated (%i) steps\n",numSimSteps); - } - } -#endif //VERBOSE_FEEDBACK - - } - - - - -} - - - -void ForkLiftDemo::displayCallback(void) -{ -// glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - //renderme(); - -//optional but useful: debug drawing - if (m_dynamicsWorld) - m_dynamicsWorld->debugDrawWorld(); - -// glFlush(); -// glutSwapBuffers(); -} - - -void ForkLiftDemo::clientResetScene() -{ - exitPhysics(); - initPhysics(); -} - -void ForkLiftDemo::resetForklift() -{ - gVehicleSteering = 0.f; - gBreakingForce = defaultBreakingForce; - gEngineForce = 0.f; - - m_carChassis->setCenterOfMassTransform(btTransform::getIdentity()); - m_carChassis->setLinearVelocity(btVector3(0,0,0)); - m_carChassis->setAngularVelocity(btVector3(0,0,0)); - m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_carChassis->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher()); - if (m_vehicle) - { - m_vehicle->resetSuspension(); - for (int i=0;igetNumWheels();i++) - { - //synchronize the wheels with the (interpolated) chassis worldtransform - m_vehicle->updateWheelTransform(i,true); - } - } - btTransform liftTrans; - liftTrans.setIdentity(); - liftTrans.setOrigin(m_liftStartPos); - m_liftBody->activate(); - m_liftBody->setCenterOfMassTransform(liftTrans); - m_liftBody->setLinearVelocity(btVector3(0,0,0)); - m_liftBody->setAngularVelocity(btVector3(0,0,0)); - - btTransform forkTrans; - forkTrans.setIdentity(); - forkTrans.setOrigin(m_forkStartPos); - m_forkBody->activate(); - m_forkBody->setCenterOfMassTransform(forkTrans); - m_forkBody->setLinearVelocity(btVector3(0,0,0)); - m_forkBody->setAngularVelocity(btVector3(0,0,0)); - -// m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS); - m_liftHinge->setLimit(0.0f, 0.0f); - m_liftHinge->enableAngularMotor(false, 0, 0); - - - m_forkSlider->setLowerLinLimit(0.1f); - m_forkSlider->setUpperLinLimit(0.1f); - m_forkSlider->setPoweredLinMotor(false); - - btTransform loadTrans; - loadTrans.setIdentity(); - loadTrans.setOrigin(m_loadStartPos); - m_loadBody->activate(); - m_loadBody->setCenterOfMassTransform(loadTrans); - m_loadBody->setLinearVelocity(btVector3(0,0,0)); - m_loadBody->setAngularVelocity(btVector3(0,0,0)); - -} - - -bool ForkLiftDemo::keyboardCallback(int key, int state) -{ - bool handled = false; - bool isShiftPressed = m_guiHelper->getAppInterface()->m_window->isModifierKeyPressed(B3G_SHIFT); - - if (state) - { - if (isShiftPressed) - { - switch (key) - { - case B3G_LEFT_ARROW : - { - - m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f); - m_liftHinge->enableAngularMotor(true, -0.1, maxMotorImpulse); - handled = true; - break; - } - case B3G_RIGHT_ARROW : - { - - m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f); - m_liftHinge->enableAngularMotor(true, 0.1, maxMotorImpulse); - handled = true; - break; - } - case B3G_UP_ARROW : - { - m_forkSlider->setLowerLinLimit(0.1f); - m_forkSlider->setUpperLinLimit(3.9f); - m_forkSlider->setPoweredLinMotor(true); - m_forkSlider->setMaxLinMotorForce(maxMotorImpulse); - m_forkSlider->setTargetLinMotorVelocity(1.0); - handled = true; - break; - } - case B3G_DOWN_ARROW : - { - m_forkSlider->setLowerLinLimit(0.1f); - m_forkSlider->setUpperLinLimit(3.9f); - m_forkSlider->setPoweredLinMotor(true); - m_forkSlider->setMaxLinMotorForce(maxMotorImpulse); - m_forkSlider->setTargetLinMotorVelocity(-1.0); - handled = true; - break; - } - } - - } else - { - switch (key) - { - case B3G_LEFT_ARROW : - { - handled = true; - gVehicleSteering += steeringIncrement; - if ( gVehicleSteering > steeringClamp) - gVehicleSteering = steeringClamp; - - break; - } - case B3G_RIGHT_ARROW : - { - handled = true; - gVehicleSteering -= steeringIncrement; - if ( gVehicleSteering < -steeringClamp) - gVehicleSteering = -steeringClamp; - - break; - } - case B3G_UP_ARROW : - { - handled = true; - gEngineForce = maxEngineForce; - gBreakingForce = 0.f; - break; - } - case B3G_DOWN_ARROW : - { - handled = true; - gEngineForce = -maxEngineForce; - gBreakingForce = 0.f; - break; - } - - case B3G_F7: - { - handled = true; - btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*)m_dynamicsWorld; - world->setLatencyMotionStateInterpolation(!world->getLatencyMotionStateInterpolation()); - printf("world latencyMotionStateInterpolation = %d\n", world->getLatencyMotionStateInterpolation()); - break; - } - case B3G_F6: - { - handled = true; - //switch solver (needs demo restart) - useMCLPSolver = !useMCLPSolver; - printf("switching to useMLCPSolver = %d\n", useMCLPSolver); - - delete m_constraintSolver; - if (useMCLPSolver) - { - btDantzigSolver* mlcp = new btDantzigSolver(); - //btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel; - btMLCPSolver* sol = new btMLCPSolver(mlcp); - m_constraintSolver = sol; - } else - { - m_constraintSolver = new btSequentialImpulseConstraintSolver(); - } - - m_dynamicsWorld->setConstraintSolver(m_constraintSolver); - - - //exitPhysics(); - //initPhysics(); - break; - } - - case B3G_F5: - handled = true; - m_useDefaultCamera = !m_useDefaultCamera; - break; - default: - break; - } - } - - } else - { - switch (key) - { - case B3G_UP_ARROW: - { - lockForkSlider(); - gEngineForce = 0.f; - gBreakingForce = defaultBreakingForce; - handled=true; - break; - } - case B3G_DOWN_ARROW: - { - lockForkSlider(); - gEngineForce = 0.f; - gBreakingForce = defaultBreakingForce; - handled=true; - break; - } - case B3G_LEFT_ARROW: - case B3G_RIGHT_ARROW: - { - lockLiftHinge(); - handled=true; - break; - } - default: - - break; - } - } - return handled; -} - -void ForkLiftDemo::specialKeyboardUp(int key, int x, int y) -{ -#if 0 - -#endif -} - - -void ForkLiftDemo::specialKeyboard(int key, int x, int y) -{ -#if 0 - if (key==GLUT_KEY_END) - return; - - // printf("key = %i x=%i y=%i\n",key,x,y); - - int state; - state=glutGetModifiers(); - if (state & GLUT_ACTIVE_SHIFT) - { - switch (key) - { - case GLUT_KEY_LEFT : - { - - m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f); - m_liftHinge->enableAngularMotor(true, -0.1, maxMotorImpulse); - break; - } - case GLUT_KEY_RIGHT : - { - - m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f); - m_liftHinge->enableAngularMotor(true, 0.1, maxMotorImpulse); - break; - } - case GLUT_KEY_UP : - { - m_forkSlider->setLowerLinLimit(0.1f); - m_forkSlider->setUpperLinLimit(3.9f); - m_forkSlider->setPoweredLinMotor(true); - m_forkSlider->setMaxLinMotorForce(maxMotorImpulse); - m_forkSlider->setTargetLinMotorVelocity(1.0); - break; - } - case GLUT_KEY_DOWN : - { - m_forkSlider->setLowerLinLimit(0.1f); - m_forkSlider->setUpperLinLimit(3.9f); - m_forkSlider->setPoweredLinMotor(true); - m_forkSlider->setMaxLinMotorForce(maxMotorImpulse); - m_forkSlider->setTargetLinMotorVelocity(-1.0); - break; - } - - default: - DemoApplication::specialKeyboard(key,x,y); - break; - } - - } else - { - switch (key) - { - case GLUT_KEY_LEFT : - { - gVehicleSteering += steeringIncrement; - if ( gVehicleSteering > steeringClamp) - gVehicleSteering = steeringClamp; - - break; - } - case GLUT_KEY_RIGHT : - { - gVehicleSteering -= steeringIncrement; - if ( gVehicleSteering < -steeringClamp) - gVehicleSteering = -steeringClamp; - - break; - } - case GLUT_KEY_UP : - { - gEngineForce = maxEngineForce; - gBreakingForce = 0.f; - break; - } - case GLUT_KEY_DOWN : - { - gEngineForce = -maxEngineForce; - gBreakingForce = 0.f; - break; - } - - case GLUT_KEY_F7: - { - btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*)m_dynamicsWorld; - world->setLatencyMotionStateInterpolation(!world->getLatencyMotionStateInterpolation()); - printf("world latencyMotionStateInterpolation = %d\n", world->getLatencyMotionStateInterpolation()); - break; - } - case GLUT_KEY_F6: - { - //switch solver (needs demo restart) - useMCLPSolver = !useMCLPSolver; - printf("switching to useMLCPSolver = %d\n", useMCLPSolver); - - delete m_constraintSolver; - if (useMCLPSolver) - { - btDantzigSolver* mlcp = new btDantzigSolver(); - //btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel; - btMLCPSolver* sol = new btMLCPSolver(mlcp); - m_constraintSolver = sol; - } else - { - m_constraintSolver = new btSequentialImpulseConstraintSolver(); - } - - m_dynamicsWorld->setConstraintSolver(m_constraintSolver); - - - //exitPhysics(); - //initPhysics(); - break; - } - - case GLUT_KEY_F5: - m_useDefaultCamera = !m_useDefaultCamera; - break; - default: - DemoApplication::specialKeyboard(key,x,y); - break; - } - - } - // glutPostRedisplay(); - -#endif -} - - -void ForkLiftDemo::lockLiftHinge(void) -{ - btScalar hingeAngle = m_liftHinge->getHingeAngle(); - btScalar lowLim = m_liftHinge->getLowerLimit(); - btScalar hiLim = m_liftHinge->getUpperLimit(); - m_liftHinge->enableAngularMotor(false, 0, 0); - if(hingeAngle < lowLim) - { -// m_liftHinge->setLimit(lowLim, lowLim + LIFT_EPS); - m_liftHinge->setLimit(lowLim, lowLim); - } - else if(hingeAngle > hiLim) - { -// m_liftHinge->setLimit(hiLim - LIFT_EPS, hiLim); - m_liftHinge->setLimit(hiLim, hiLim); - } - else - { -// m_liftHinge->setLimit(hingeAngle - LIFT_EPS, hingeAngle + LIFT_EPS); - m_liftHinge->setLimit(hingeAngle, hingeAngle); - } - return; -} // ForkLiftDemo::lockLiftHinge() - -void ForkLiftDemo::lockForkSlider(void) -{ - btScalar linDepth = m_forkSlider->getLinearPos(); - btScalar lowLim = m_forkSlider->getLowerLinLimit(); - btScalar hiLim = m_forkSlider->getUpperLinLimit(); - m_forkSlider->setPoweredLinMotor(false); - if(linDepth <= lowLim) - { - m_forkSlider->setLowerLinLimit(lowLim); - m_forkSlider->setUpperLinLimit(lowLim); - } - else if(linDepth > hiLim) - { - m_forkSlider->setLowerLinLimit(hiLim); - m_forkSlider->setUpperLinLimit(hiLim); - } - else - { - m_forkSlider->setLowerLinLimit(linDepth); - m_forkSlider->setUpperLinLimit(linDepth); - } - return; -} // ForkLiftDemo::lockForkSlider() - -btRigidBody* ForkLiftDemo::localCreateRigidBody(btScalar mass, const btTransform& startTransform, btCollisionShape* shape) -{ - btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE)); - - //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) - shape->calculateLocalInertia(mass,localInertia); - - //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects - -#define USE_MOTIONSTATE 1 -#ifdef USE_MOTIONSTATE - btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); - - btRigidBody::btRigidBodyConstructionInfo cInfo(mass,myMotionState,shape,localInertia); - - btRigidBody* body = new btRigidBody(cInfo); - //body->setContactProcessingThreshold(m_defaultContactProcessingThreshold); - -#else - btRigidBody* body = new btRigidBody(mass,0,shape,localInertia); - body->setWorldTransform(startTransform); -#endif// - - m_dynamicsWorld->addRigidBody(body); - return body; -} - -CommonExampleInterface* ForkLiftCreateFunc(struct CommonExampleOptions& options) -{ - return new ForkLiftDemo(options.m_guiHelper); -} diff -Nru bullet-2.86.1+dfsg/examples/ForkLift/ForkLiftDemo.h bullet-2.87+dfsg/examples/ForkLift/ForkLiftDemo.h --- bullet-2.86.1+dfsg/examples/ForkLift/ForkLiftDemo.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/ForkLift/ForkLiftDemo.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,22 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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 FORKLIFT_DEMO_H -#define FORKLIFT_DEMO_H - -class CommonExampleInterface* ForkLiftCreateFunc(struct CommonExampleOptions& options); - -#endif // FORKLIFT_DEMO_H - - diff -Nru bullet-2.86.1+dfsg/examples/FractureDemo/btFractureBody.cpp bullet-2.87+dfsg/examples/FractureDemo/btFractureBody.cpp --- bullet-2.86.1+dfsg/examples/FractureDemo/btFractureBody.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/FractureDemo/btFractureBody.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,139 +0,0 @@ - -#include "btFractureBody.h" -#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" -#include "BulletCollision/CollisionShapes/btCompoundShape.h" -#include "BulletDynamics/Dynamics/btDynamicsWorld.h" - - - -void btFractureBody::recomputeConnectivity(btCollisionWorld* world) -{ - m_connections.clear(); - //@todo use the AABB tree to avoid N^2 checks - - if (getCollisionShape()->isCompound()) - { - btCompoundShape* compound = (btCompoundShape*)getCollisionShape(); - for (int i=0;igetNumChildShapes();i++) - { - for (int j=i+1;jgetNumChildShapes();j++) - { - - struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback - { - bool m_connected; - btScalar m_margin; - MyContactResultCallback() :m_connected(false),m_margin(0.05) - { - } - virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1) - { - if (cp.getDistance()<=m_margin) - m_connected = true; - return 1.f; - } - }; - - MyContactResultCallback result; - - btCollisionObject obA; - obA.setWorldTransform(compound->getChildTransform(i)); - obA.setCollisionShape(compound->getChildShape(i)); - btCollisionObject obB; - obB.setWorldTransform(compound->getChildTransform(j)); - obB.setCollisionShape(compound->getChildShape(j)); - world->contactPairTest(&obA,&obB,result); - if (result.m_connected) - { - btConnection tmp; - tmp.m_childIndex0 = i; - tmp.m_childIndex1 = j; - tmp.m_childShape0 = compound->getChildShape(i); - tmp.m_childShape1 = compound->getChildShape(j); - tmp.m_strength = 1.f;//?? - m_connections.push_back(tmp); - } - } - } - } - - -} - -btCompoundShape* btFractureBody::shiftTransformDistributeMass(btCompoundShape* boxCompound,btScalar mass,btTransform& shift) -{ - - btVector3 principalInertia; - - btScalar* masses = new btScalar[boxCompound->getNumChildShapes()]; - for (int j=0;jgetNumChildShapes();j++) - { - //evenly distribute mass - masses[j]=mass/boxCompound->getNumChildShapes(); - } - - return shiftTransform(boxCompound,masses,shift,principalInertia); - -} - - -btCompoundShape* btFractureBody::shiftTransform(btCompoundShape* boxCompound,btScalar* masses,btTransform& shift, btVector3& principalInertia) -{ - btTransform principal; - - boxCompound->calculatePrincipalAxisTransform(masses,principal,principalInertia); - - - ///create a new compound with world transform/center of mass properly aligned with the principal axis - - ///non-recursive compound shapes perform better - -#ifdef USE_RECURSIVE_COMPOUND - - btCompoundShape* newCompound = new btCompoundShape(); - newCompound->addChildShape(principal.inverse(),boxCompound); - newBoxCompound = newCompound; - //m_collisionShapes.push_back(newCompound); - - //btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); - //btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,newCompound,principalInertia); - -#else -#ifdef CHANGE_COMPOUND_INPLACE - newBoxCompound = boxCompound; - for (int i=0;igetNumChildShapes();i++) - { - btTransform newChildTransform = principal.inverse()*boxCompound->getChildTransform(i); - ///updateChildTransform is really slow, because it re-calculates the AABB each time. todo: add option to disable this update - boxCompound->updateChildTransform(i,newChildTransform); - } - bool isDynamic = (mass != 0.f); - btVector3 localInertia(0,0,0); - if (isDynamic) - boxCompound->calculateLocalInertia(mass,localInertia); - -#else - ///creation is faster using a new compound to store the shifted children - btCompoundShape* newBoxCompound = new btCompoundShape(); - for (int i=0;igetNumChildShapes();i++) - { - btTransform newChildTransform = principal.inverse()*boxCompound->getChildTransform(i); - ///updateChildTransform is really slow, because it re-calculates the AABB each time. todo: add option to disable this update - newBoxCompound->addChildShape(newChildTransform,boxCompound->getChildShape(i)); - } - - - -#endif - -#endif//USE_RECURSIVE_COMPOUND - - shift = principal; - return newBoxCompound; -} - - - - - - diff -Nru bullet-2.86.1+dfsg/examples/FractureDemo/btFractureBody.h bullet-2.87+dfsg/examples/FractureDemo/btFractureBody.h --- bullet-2.86.1+dfsg/examples/FractureDemo/btFractureBody.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/FractureDemo/btFractureBody.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,78 +0,0 @@ - -#ifndef BT_FRACTURE_BODY -#define BT_FRACTURE_BODY - -class btCollisionShape; -class btDynamicsWorld; -class btCollisionWorld; -class btCompoundShape; -class btManifoldPoint; - -#include "LinearMath/btAlignedObjectArray.h" -#include "BulletDynamics/Dynamics/btRigidBody.h" - -#define CUSTOM_FRACTURE_TYPE (btRigidBody::CO_USER_TYPE+1) - - -struct btConnection -{ - - btCollisionShape* m_childShape0; - btCollisionShape* m_childShape1; - int m_childIndex0; - int m_childIndex1; - btScalar m_strength; -}; - -class btFractureBody : public btRigidBody -{ - //connections -public: - - btDynamicsWorld* m_world; - btAlignedObjectArray m_masses; - btAlignedObjectArray m_connections; - - - - btFractureBody( const btRigidBodyConstructionInfo& constructionInfo, btDynamicsWorld* world) - :btRigidBody(constructionInfo), - m_world(world) - { - m_masses.push_back(constructionInfo.m_mass); - m_internalType=CUSTOM_FRACTURE_TYPE+CO_RIGID_BODY; - } - - - - ///btRigidBody constructor for backwards compatibility. - ///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo) - btFractureBody( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia, btScalar* masses, int numMasses, btDynamicsWorld* world) - :btRigidBody(mass,motionState,collisionShape,localInertia), - m_world(world) - { - - for (int i=0;igetNumManifolds(); - - ///first build the islands based on axis aligned bounding box overlap - - btUnionFind unionFind; - - int index = 0; - { - - int i; - for (i=0;iisStaticOrKinematicObject()) - { - collisionObject->setIslandTag(index++); - } else - { - collisionObject->setIslandTag(-1); - } -#else - collisionObject->setIslandTag(i); - index=i+1; -#endif - } - } - - unionFind.reset(index); - - int numElem = unionFind.getNumElements(); - - for (int i=0;igetManifoldByIndexInternal(i); - if (!manifold->getNumContacts()) - continue; - - btScalar minDist = 1e30f; - for (int v=0;vgetNumContacts();v++) - { - minDist = btMin(minDist,manifold->getContactPoint(v).getDistance()); - } - if (minDist>0.) - continue; - - btCollisionObject* colObj0 = (btCollisionObject*)manifold->getBody0(); - btCollisionObject* colObj1 = (btCollisionObject*)manifold->getBody1(); - int tag0 = (colObj0)->getIslandTag(); - int tag1 = (colObj1)->getIslandTag(); - //btRigidBody* body0 = btRigidBody::upcast(colObj0); - //btRigidBody* body1 = btRigidBody::upcast(colObj1); - - - if (!colObj0->isStaticOrKinematicObject() && !colObj1->isStaticOrKinematicObject()) - { - unionFind.unite(tag0, tag1); - } - } - - - - - numElem = unionFind.getNumElements(); - - - - index=0; - for (int ai=0;aiisStaticOrKinematicObject()) - { - int tag = unionFind.find(index); - - collisionObject->setIslandTag( tag); - - //Set the correct object offset in Collision Object Array -#if STATIC_SIMULATION_ISLAND_OPTIMIZATION - unionFind.getElement(index).m_sz = ai; -#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION - - index++; - } - } - unionFind.sortIslands(); - - - - int endIslandIndex=1; - int startIslandIndex; - - btAlignedObjectArray removedObjects; - - ///iterate over all islands - for ( startIslandIndex=0;startIslandIndexgetInternalType()& CUSTOM_FRACTURE_TYPE) - { - fractureObjectIndex = i; - } - btRigidBody* otherObject = btRigidBody::upcast(colObj0); - if (!otherObject || !otherObject->getInvMass()) - continue; - numObjects++; - } - - ///Then for each island that contains at least two objects and one fracture object - if (fractureObjectIndex>=0 && numObjects>1) - { - - btFractureBody* fracObj = (btFractureBody*)getCollisionObjectArray()[fractureObjectIndex]; - - ///glueing objects means creating a new compound and removing the old objects - ///delay the removal of old objects to avoid array indexing problems - removedObjects.push_back(fracObj); - m_fractureBodies.remove(fracObj); - - btAlignedObjectArray massArray; - - btAlignedObjectArray oldImpulses; - btAlignedObjectArray oldCenterOfMassesWS; - - oldImpulses.push_back(fracObj->getLinearVelocity()/1./fracObj->getInvMass()); - oldCenterOfMassesWS.push_back(fracObj->getCenterOfMassPosition()); - - btScalar totalMass = 0.f; - - - btCompoundShape* compound = new btCompoundShape(); - if (fracObj->getCollisionShape()->isCompound()) - { - btTransform tr; - tr.setIdentity(); - btCompoundShape* oldCompound = (btCompoundShape*)fracObj->getCollisionShape(); - for (int c=0;cgetNumChildShapes();c++) - { - compound->addChildShape(oldCompound->getChildTransform(c),oldCompound->getChildShape(c)); - massArray.push_back(fracObj->m_masses[c]); - totalMass+=fracObj->m_masses[c]; - } - - } else - { - btTransform tr; - tr.setIdentity(); - compound->addChildShape(tr,fracObj->getCollisionShape()); - massArray.push_back(fracObj->m_masses[0]); - totalMass+=fracObj->m_masses[0]; - } - - for (idx=startIslandIndex;idxgetInvMass()) - continue; - - - oldImpulses.push_back(otherObject->getLinearVelocity()*(1.f/otherObject->getInvMass())); - oldCenterOfMassesWS.push_back(otherObject->getCenterOfMassPosition()); - - removedObjects.push_back(otherObject); - m_fractureBodies.remove((btFractureBody*)otherObject); - - btScalar curMass = 1.f/otherObject->getInvMass(); - - - if (otherObject->getCollisionShape()->isCompound()) - { - btTransform tr; - btCompoundShape* oldCompound = (btCompoundShape*)otherObject->getCollisionShape(); - for (int c=0;cgetNumChildShapes();c++) - { - tr = fracObj->getWorldTransform().inverseTimes(otherObject->getWorldTransform()*oldCompound->getChildTransform(c)); - compound->addChildShape(tr,oldCompound->getChildShape(c)); - massArray.push_back(curMass/(btScalar)oldCompound->getNumChildShapes()); - - } - } else - { - btTransform tr; - tr = fracObj->getWorldTransform().inverseTimes(otherObject->getWorldTransform()); - compound->addChildShape(tr,otherObject->getCollisionShape()); - massArray.push_back(curMass); - } - totalMass+=curMass; - } - - - - btTransform shift; - shift.setIdentity(); - btCompoundShape* newCompound = btFractureBody::shiftTransformDistributeMass(compound,totalMass,shift); - int numChildren = newCompound->getNumChildShapes(); - btAssert(numChildren == massArray.size()); - - btVector3 localInertia; - newCompound->calculateLocalInertia(totalMass,localInertia); - btFractureBody* newBody = new btFractureBody(totalMass,0,newCompound,localInertia, &massArray[0], numChildren,this); - newBody->recomputeConnectivity(this); - newBody->setWorldTransform(fracObj->getWorldTransform()*shift); - - //now the linear/angular velocity is still zero, apply the impulses - - for (int i=0;igetCenterOfMassPosition(); - const btVector3& imp = oldImpulses[i]; - newBody->applyImpulse(imp, rel_pos); - } - - addRigidBody(newBody); - - - } - - - } - - //remove the objects from the world at the very end, - //otherwise the island tags would not match the world collision object array indices anymore - while (removedObjects.size()) - { - btCollisionObject* otherCollider = removedObjects[removedObjects.size()-1]; - removedObjects.pop_back(); - - btRigidBody* otherObject = btRigidBody::upcast(otherCollider); - if (!otherObject || !otherObject->getInvMass()) - continue; - removeRigidBody(otherObject); - } - -} - - -struct btFracturePair -{ - btFractureBody* m_fracObj; - btAlignedObjectArray m_contactManifolds; -}; - - - -void btFractureDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) -{ - // todo: after fracture we should run the solver again for better realism - // for example - // save all velocities and if one or more objects fracture: - // 1) revert all velocties - // 2) apply impulses for the fracture bodies at the contact locations - // 3)and run the constaint solver again - - btDiscreteDynamicsWorld::solveConstraints(solverInfo); - - fractureCallback(); -} - -btFractureBody* btFractureDynamicsWorld::addNewBody(const btTransform& oldTransform,btScalar* masses, btCompoundShape* oldCompound) -{ - int i; - - btTransform shift; - shift.setIdentity(); - btVector3 localInertia; - btCompoundShape* newCompound = btFractureBody::shiftTransform(oldCompound,masses,shift,localInertia); - btScalar totalMass = 0; - for (i=0;igetNumChildShapes();i++) - totalMass += masses[i]; - //newCompound->calculateLocalInertia(totalMass,localInertia); - - btFractureBody* newBody = new btFractureBody(totalMass,0,newCompound,localInertia, masses,newCompound->getNumChildShapes(), this); - newBody->recomputeConnectivity(this); - - newBody->setCollisionFlags(newBody->getCollisionFlags()|btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK); - newBody->setWorldTransform(oldTransform*shift); - addRigidBody(newBody); - return newBody; -} - -void btFractureDynamicsWorld::addRigidBody(btRigidBody* body) -{ - if (body->getInternalType() & CUSTOM_FRACTURE_TYPE) - { - btFractureBody* fbody = (btFractureBody*)body; - m_fractureBodies.push_back(fbody); - } - btDiscreteDynamicsWorld::addRigidBody(body); -} - -void btFractureDynamicsWorld::removeRigidBody(btRigidBody* body) -{ - if (body->getInternalType() & CUSTOM_FRACTURE_TYPE) - { - btFractureBody* fbody = (btFractureBody*)body; - btAlignedObjectArray tmpConstraints; - - for (int i=0;igetNumConstraintRefs();i++) - { - tmpConstraints.push_back(fbody->getConstraintRef(i)); - } - - //remove all constraints attached to this rigid body too - for (int i=0;igetCollisionShape()->isCompound()) - return; - - btCompoundShape* compound = (btCompoundShape*)fracObj->getCollisionShape(); - int numChildren = compound->getNumChildShapes(); - - if (numChildren<=1) - return; - - //compute connectivity - btUnionFind unionFind; - - btAlignedObjectArray tags; - tags.resize(numChildren); - int i, index = 0; - for ( i=0;im_connections.size();i++) - { - btConnection& connection = fracObj->m_connections[i]; - if (connection.m_strength > 0.) - { - int tag0 = tags[connection.m_childIndex0]; - int tag1 = tags[connection.m_childIndex1]; - unionFind.unite(tag0, tag1); - } - } - numElem = unionFind.getNumElements(); - - index=0; - for (int ai=0;ai removedObjects; - - int numIslands = 0; - - for ( startIslandIndex=0;startIslandIndex masses; - - int idx; - for (idx=startIslandIndex;idxgetChildShape(i); - newCompound->addChildShape(compound->getChildTransform(i),compound->getChildShape(i)); - masses.push_back(fracObj->m_masses[i]); - numShapes++; - } - if (numShapes) - { - btFractureBody* newBody = addNewBody(fracObj->getWorldTransform(),&masses[0],newCompound); - newBody->setLinearVelocity(fracObj->getLinearVelocity()); - newBody->setAngularVelocity(fracObj->getAngularVelocity()); - - numIslands++; - } - } - - - - - - removeRigidBody(fracObj);//should it also be removed from the array? - - -} - -#include - - -void btFractureDynamicsWorld::fractureCallback( ) -{ - - btAlignedObjectArray sFracturePairs; - - if (!m_fracturingMode) - { - glueCallback(); - return; - } - - int numManifolds = getDispatcher()->getNumManifolds(); - - sFracturePairs.clear(); - - - for (int i=0;igetManifoldByIndexInternal(i); - if (!manifold->getNumContacts()) - continue; - - btScalar totalImpact = 0.f; - for (int p=0;pgetNumContacts();p++) - { - totalImpact += manifold->getContactPoint(p).m_appliedImpulse; - } - - -// printf("totalImpact=%f\n",totalImpact); - - static float maxImpact = 0; - if (totalImpact>maxImpact) - maxImpact = totalImpact; - - //some threshold otherwise resting contact would break objects after a while - if (totalImpact < 40.f) - continue; - - // printf("strong impact\n"); - - - //@todo: add better logic to decide what parts to fracture - //For example use the idea from the SIGGRAPH talk about the fracture in the movie 2012: - // - //Breaking thresholds can be stored as connectivity information between child shapes in the fracture object - // - //You can calculate some "impact value" by simulating all the individual child shapes - //as rigid bodies, without constraints, running it in a separate simulation world - //(or by running the constraint solver without actually modifying the dynamics world) - //Then measure some "impact value" using the offset and applied impulse for each child shape - //weaken the connections based on this "impact value" and only break - //if this impact value exceeds the breaking threshold. - //you can propagate the weakening and breaking of connections using the connectivity information - - int f0 = m_fractureBodies.findLinearSearch((btFractureBody*)manifold->getBody0()); - int f1 = m_fractureBodies.findLinearSearch((btFractureBody*)manifold->getBody1()); - - if (f0 == f1 == m_fractureBodies.size()) - continue; - - - if (f0getBody1(); - // btRigidBody* otherOb = btRigidBody::upcast(colOb); - // if (!otherOb->getInvMass()) - // continue; - - int pi=-1; - - for (int p=0;pgetBody0(); - //btRigidBody* otherOb = btRigidBody::upcast(colOb); - // if (!otherOb->getInvMass()) - // continue; - - - int pi=-1; - - for (int p=0;pgetCollisionShape()->isCompound()) - { - btTransform tr; - tr.setIdentity(); - btCompoundShape* oldCompound = (btCompoundShape*)sFracturePairs[i].m_fracObj->getCollisionShape(); - if (oldCompound->getNumChildShapes()>1) - { - bool needsBreakingCheck = false; - - - //weaken/break the connections - - //@todo: propagate along the connection graph - for (int j=0;jgetNumContacts();k++) - { - btManifoldPoint& pt = manifold->getContactPoint(k); - if (manifold->getBody0()==sFracturePairs[i].m_fracObj) - { - for (int f=0;fm_connections.size();f++) - { - btConnection& connection = sFracturePairs[i].m_fracObj->m_connections[f]; - if ( (connection.m_childIndex0 == pt.m_index0) || - (connection.m_childIndex1 == pt.m_index0) - ) - { - connection.m_strength -= pt.m_appliedImpulse; - if (connection.m_strength<0) - { - //remove or set to zero - connection.m_strength=0.f; - needsBreakingCheck = true; - } - } - } - } else - { - for (int f=0;fm_connections.size();f++) - { - btConnection& connection = sFracturePairs[i].m_fracObj->m_connections[f]; - if ( (connection.m_childIndex0 == pt.m_index1) || - (connection.m_childIndex1 == pt.m_index1) - ) - { - connection.m_strength -= pt.m_appliedImpulse; - if (connection.m_strength<0) - { - //remove or set to zero - connection.m_strength=0.f; - needsBreakingCheck = true; - } - } - } - } - } - } - - if (needsBreakingCheck) - { - breakDisconnectedParts(sFracturePairs[i].m_fracObj); - } - } - - } - - } - } - - sFracturePairs.clear(); - -} - diff -Nru bullet-2.86.1+dfsg/examples/FractureDemo/btFractureDynamicsWorld.h bullet-2.87+dfsg/examples/FractureDemo/btFractureDynamicsWorld.h --- bullet-2.86.1+dfsg/examples/FractureDemo/btFractureDynamicsWorld.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/FractureDemo/btFractureDynamicsWorld.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,51 +0,0 @@ -#ifndef _BT_FRACTURE_DYNAMICS_WORLD_H -#define _BT_FRACTURE_DYNAMICS_WORLD_H - -#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" -#include "LinearMath/btAlignedObjectArray.h" - -class btFractureBody; -class btCompoundShape; -class btTransform; - - -///The btFractureDynamicsWorld class enabled basic glue and fracture of objects. -///If/once this implementation is stablized/tested we might merge it into btDiscreteDynamicsWorld and remove the class. -class btFractureDynamicsWorld : public btDiscreteDynamicsWorld -{ - btAlignedObjectArray m_fractureBodies; - - bool m_fracturingMode; - - btFractureBody* addNewBody(const btTransform& oldTransform,btScalar* masses, btCompoundShape* oldCompound); - - void breakDisconnectedParts( btFractureBody* fracObj); - -public: - - btFractureDynamicsWorld ( btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); - - virtual void addRigidBody(btRigidBody* body); - - virtual void removeRigidBody(btRigidBody* body); - - void solveConstraints(btContactSolverInfo& solverInfo); - - ///either fracture or glue (!fracture) - void setFractureMode(bool fracture) - { - m_fracturingMode = fracture; - } - - bool getFractureMode() const { return m_fracturingMode;} - - ///normally those callbacks are called internally by the 'solveConstraints' - void glueCallback(); - - ///normally those callbacks are called internally by the 'solveConstraints' - void fractureCallback(); - -}; - -#endif //_BT_FRACTURE_DYNAMICS_WORLD_H - diff -Nru bullet-2.86.1+dfsg/examples/FractureDemo/FractureDemo.cpp bullet-2.87+dfsg/examples/FractureDemo/FractureDemo.cpp --- bullet-2.86.1+dfsg/examples/FractureDemo/FractureDemo.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/FractureDemo/FractureDemo.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,410 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2011 Erwin Coumans http://continuousphysics.com/Bullet/ - -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. -*/ - - -///FractureDemo shows how to break objects. -///It assumes a btCompoundShaps (where the childshapes are the pre-fractured pieces) -///The btFractureBody is a class derived from btRigidBody, dealing with the collision impacts. -///Press the F key to toggle between fracture and glue mode -///This is preliminary work - - -#define CUBE_HALF_EXTENTS 1.f -#define EXTRA_HEIGHT 1.f -///scaling of the objects (0.1 = 20 centimeter boxes ) -#define SCALING 1. -#define START_POS_X -5 -#define START_POS_Y -5 -#define START_POS_Z -3 - -#include "FractureDemo.h" -///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. -#include "btBulletDynamicsCommon.h" - - -#include //printf debugging - - -int sFrameNumber = 0; - -#include "btFractureBody.h" -#include "btFractureDynamicsWorld.h" - - -#include "LinearMath/btAlignedObjectArray.h" - -#include "../CommonInterfaces/CommonRigidBodyBase.h" - - -///FractureDemo shows basic breaking and glueing of objects -class FractureDemo : public CommonRigidBodyBase -{ - - -public: - - FractureDemo(struct GUIHelperInterface* helper) - :CommonRigidBodyBase(helper) - { - } - virtual ~FractureDemo() - { - } - void initPhysics(); - - void exitPhysics(); - - virtual void stepSimulation(float deltaTime) - { - CommonRigidBodyBase::stepSimulation(deltaTime); - - { - BT_PROFILE("recreate graphics"); - //@todo: make this graphics re-creation better - //right now: brute force remove all graphics objects, and re-create them every frame - m_guiHelper->getRenderInterface()->removeAllInstances(); - for (int i=0;igetNumCollisionObjects();i++) - { - btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i]; - colObj->getCollisionShape()->setUserIndex(-1); - colObj->setUserIndex(-1); - } - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); - } - } - - 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 FractureDemo::initPhysics() -{ - - m_guiHelper->setUpAxis(1); - - - ///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); - - m_broadphase = new btDbvtBroadphase(); - - ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) - btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; - m_solver = sol; - - //m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); - - btFractureDynamicsWorld* fractureWorld = new btFractureDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); - m_dynamicsWorld = fractureWorld; - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - - //m_splitImpulse removes the penetration resolution from the applied impulse, otherwise objects might fracture due to deep penetrations. - m_dynamicsWorld->getSolverInfo().m_splitImpulse = true; - - { - ///create a few basic rigid bodies - btCollisionShape* groundShape = new btBoxShape(btVector3(50,1,50)); - /// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),0); - m_collisionShapes.push_back(groundShape); - btTransform groundTransform; - groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0,0,0)); - createRigidBody(0.f,groundTransform,groundShape); - } - - { - ///create a few basic rigid bodies - btCollisionShape* shape = new btBoxShape(btVector3(1,1,1)); - m_collisionShapes.push_back(shape); - btTransform tr; - tr.setIdentity(); - tr.setOrigin(btVector3(5,2,0)); - createRigidBody(0.f,tr,shape); - } - - - - { - //create a few dynamic rigidbodies - // Re-using the same collision is better for memory usage and performance - - btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1)); - //btCollisionShape* colShape = new btCapsuleShape(SCALING*0.4,SCALING*1); - //btCollisionShape* colShape = new btSphereShape(btScalar(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); - - - int gNumObjects = 10; - - for (int i=0;isetLinearVelocity(btVector3(0,-10,0)); - - m_dynamicsWorld->addRigidBody(body); - - } - - } - - - - fractureWorld->stepSimulation(1./60.,0); - fractureWorld->glueCallback(); - - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -#if 0 -void FractureDemo::showMessage() -{ - if((getDebugMode() & btIDebugDraw::DBG_DrawText)) - { - setOrthographicProjection(); - glDisable(GL_LIGHTING); - glColor3f(0, 0, 0); - char buf[124]; - - int lineWidth=380; - int xStart = m_glutScreenWidth - lineWidth; - int yStart = 20; - - btFractureDynamicsWorld* world = (btFractureDynamicsWorld*)m_dynamicsWorld; - if (world->getFractureMode()) - { - sprintf(buf,"Fracture mode"); - } else - { - sprintf(buf,"Glue mode"); - } - GLDebugDrawString(xStart,yStart,buf); - sprintf(buf,"f to toggle fracture/glue mode"); - yStart+=20; - GLDebugDrawString(xStart,yStart,buf); - sprintf(buf,"space to restart, mouse to pick/shoot"); - yStart+=20; - GLDebugDrawString(xStart,yStart,buf); - - resetPerspectiveProjection(); - glEnable(GL_LIGHTING); - } - -} -#endif - -#if 0 -void FractureDemo::displayCallback(void) { - - glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - - renderme(); - - showMessage(); - - //optional but useful: debug drawing to detect problems - if (m_dynamicsWorld) - m_dynamicsWorld->debugDrawWorld(); - - glFlush(); - swapBuffers(); -} -#endif - - -bool FractureDemo::keyboardCallback(int key, int state) -{ - - if (key=='f' && (state==0)) - { - btFractureDynamicsWorld* world = (btFractureDynamicsWorld*)m_dynamicsWorld; - world->setFractureMode(!world->getFractureMode()); - if (world->getFractureMode()) - { - b3Printf("Fracturing mode"); - } else - { - b3Printf("Gluing mode"); - - } - return true; - } - - return false; -} - - -#if 0 -void FractureDemo::keyboardUpCallback(unsigned char key, int x, int y) -{ - if (key=='f') - { - btFractureDynamicsWorld* world = (btFractureDynamicsWorld*)m_dynamicsWorld; - world->setFractureMode(!world->getFractureMode()); - } - - PlatformDemoApplication::keyboardUpCallback(key,x,y); - -} -#endif - -#if 0 -void FractureDemo::shootBox(const btVector3& destination) -{ - - if (m_dynamicsWorld) - { - btScalar mass = 1.f; - btTransform startTransform; - startTransform.setIdentity(); - btVector3 camPos = getCameraPosition(); - startTransform.setOrigin(camPos); - - setShootBoxShape (); - - btAssert((!m_shootBoxShape || m_shootBoxShape->getShapeType() != INVALID_SHAPE_PROXYTYPE)); - - //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) - m_shootBoxShape->calculateLocalInertia(mass,localInertia); - - //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects - - btFractureBody* body = new btFractureBody(mass,0,m_shootBoxShape,localInertia,&mass,1,m_dynamicsWorld); - - body->setWorldTransform(startTransform); - - m_dynamicsWorld->addRigidBody(body); - - - body->setLinearFactor(btVector3(1,1,1)); - //body->setRestitution(1); - - btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]); - linVel.normalize(); - linVel*=m_ShootBoxInitialSpeed; - - body->getWorldTransform().setOrigin(camPos); - body->getWorldTransform().setRotation(btQuaternion(0,0,0,1)); - body->setLinearVelocity(linVel); - body->setAngularVelocity(btVector3(0,0,0)); - body->setCcdMotionThreshold(1.); - body->setCcdSweptSphereRadius(0.2f); - - } -} -#endif - - - - - - - -void FractureDemo::exitPhysics() -{ - - //cleanup in the reverse order of creation/initialization - - //remove the rigidbodies from the dynamics world and delete them - int i; - for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--) - { - btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - m_dynamicsWorld->removeCollisionObject( obj ); - delete obj; - } - - //delete collision shapes - for (int j=0;jresetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } - -}; - - -static int gyroflags[4] = { - 0,//none, no gyroscopic term - BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT, - BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD, - BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY -}; - -static const char* gyroNames[4] = { - "No Gyroscopic", - "Explicit", - "Implicit (World)", - "Implicit (Body)" -}; - - -GyroscopicSetup::GyroscopicSetup(struct GUIHelperInterface* helper) -:CommonRigidBodyBase(helper) -{ - -} - -void GyroscopicSetup::initPhysics() -{ - m_guiHelper->setUpAxis(1); - createEmptyDynamicsWorld(); - m_dynamicsWorld->setGravity(btVector3(0, 0, 0)); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - - - btVector3 positions[4] = { - btVector3( -10, 8,4), - btVector3( -5, 8,4), - btVector3( 0, 8,4), - btVector3( 5, 8,4), - }; - - - for (int i = 0; i<4; i++) - { - btCylinderShapeZ* pin = new btCylinderShapeZ(btVector3(0.1,0.1, 0.2)); - btBoxShape* box = new btBoxShape(btVector3(1,0.1,0.1)); - box->setMargin(0.01); - pin->setMargin(0.01); - btCompoundShape* compound = new btCompoundShape(); - compound->addChildShape(btTransform::getIdentity(), pin); - btTransform offsetBox(btMatrix3x3::getIdentity(),btVector3(0,0,0.2)); - compound->addChildShape(offsetBox, box); - btScalar masses[2] = {0.3,0.1}; - btVector3 localInertia; - btTransform principal; - compound->calculatePrincipalAxisTransform(masses,principal,localInertia); - - btRigidBody* body = new btRigidBody(1, 0, compound, localInertia); - btTransform tr; - tr.setIdentity(); - tr.setOrigin(positions[i]); - body->setCenterOfMassTransform(tr); - body->setAngularVelocity(btVector3(0, 0.1, 10));//51)); - //body->setLinearVelocity(btVector3(3, 0, 0)); - body->setFriction(btSqrt(1)); - m_dynamicsWorld->addRigidBody(body); - body->setFlags(gyroflags[i]); - m_dynamicsWorld->getSolverInfo().m_maxGyroscopicForce = 10.f; - body->setDamping(0.0000f, 0.000f); - - - } - - { - //btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(0.5))); - btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 0); - - m_collisionShapes.push_back(groundShape); - btTransform groundTransform; - groundTransform.setIdentity(); - groundTransform.setOrigin(btVector3(0, 0, 0)); - btRigidBody* groundBody; - groundBody = createRigidBody(0, groundTransform, groundShape); - groundBody->setFriction(btSqrt(2)); - } - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -void GyroscopicSetup::physicsDebugDraw(int debugFlags) -{ - CommonRigidBodyBase::physicsDebugDraw(debugFlags); - - //render method names above objects - for (int i=0;igetNumCollisionObjects();i++) - { - btRigidBody* body = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[i]); - if (body && body->getInvMass()>0) - { - btTransform tr = body->getWorldTransform(); - btVector3 pos = tr.getOrigin()+btVector3(0,0,2); - btScalar size=1; - m_guiHelper->drawText3D(gyroNames[i],pos.x(),pos.y(),pos.z(),size); - } - } -} - - -class CommonExampleInterface* GyroscopicCreateFunc(CommonExampleOptions& options) -{ - return new GyroscopicSetup(options.m_guiHelper); -} \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/examples/GyroscopicDemo/GyroscopicSetup.h bullet-2.87+dfsg/examples/GyroscopicDemo/GyroscopicSetup.h --- bullet-2.86.1+dfsg/examples/GyroscopicDemo/GyroscopicSetup.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/GyroscopicDemo/GyroscopicSetup.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,7 +0,0 @@ - -#ifndef GYROSCOPIC_SETUP_H -#define GYROSCOPIC_SETUP_H - -class CommonExampleInterface* GyroscopicCreateFunc(struct CommonExampleOptions& options); - -#endif //GYROSCOPIC_SETUP_H diff -Nru bullet-2.86.1+dfsg/examples/HelloWorld/CMakeLists.txt bullet-2.87+dfsg/examples/HelloWorld/CMakeLists.txt --- bullet-2.86.1+dfsg/examples/HelloWorld/CMakeLists.txt 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/HelloWorld/CMakeLists.txt 1970-01-01 00:00:00.000000000 +0000 @@ -1,29 +0,0 @@ -# HelloWorld is a minimal sample creating, stepping and deleting a Bullet dynamics world - -INCLUDE_DIRECTORIES( -${BULLET_PHYSICS_SOURCE_DIR}/src -) - -LINK_LIBRARIES( - BulletDynamics BulletCollision LinearMath -) - -IF (WIN32) - ADD_EXECUTABLE(App_HelloWorld - HelloWorld.cpp - ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc - ) -ELSE() - ADD_EXECUTABLE(App_HelloWorld - HelloWorld.cpp - ) -ENDIF() - - - - -IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES) - 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) diff -Nru bullet-2.86.1+dfsg/examples/HelloWorld/HelloWorld.cpp bullet-2.87+dfsg/examples/HelloWorld/HelloWorld.cpp --- bullet-2.86.1+dfsg/examples/HelloWorld/HelloWorld.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/HelloWorld/HelloWorld.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,186 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ - -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. -*/ - -///-----includes_start----- -#include "btBulletDynamicsCommon.h" -#include - -/// This is a Hello World program for running a basic Bullet physics simulation - -int main(int argc, char** argv) -{ - ///-----includes_end----- - - int i; - ///-----initialization_start----- - - ///collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration. - btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(); - - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration); - - ///btDbvtBroadphase is a good general purpose broadphase. You can also try out btAxis3Sweep. - btBroadphaseInterface* overlappingPairCache = new btDbvtBroadphase(); - - ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) - btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver; - - btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration); - - dynamicsWorld->setGravity(btVector3(0,-10,0)); - - ///-----initialization_end----- - - //keep track of the shapes, we release memory at exit. - //make sure to re-use collision shapes among rigid bodies whenever possible! - btAlignedObjectArray collisionShapes; - - - ///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 - bool isDynamic = (mass != 0.f); - - btVector3 localInertia(0,0,0); - if (isDynamic) - groundShape->calculateLocalInertia(mass,localInertia); - - //using motionstate is optional, it provides interpolation capabilities, and only synchronizes 'active' objects - btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); - btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia); - btRigidBody* body = new btRigidBody(rbInfo); - - //add the body to the dynamics world - dynamicsWorld->addRigidBody(body); - } - - - { - //create a dynamic rigidbody - - //btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1)); - btCollisionShape* colShape = new btSphereShape(btScalar(1.)); - 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(2,10,0)); - - //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects - btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); - btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia); - btRigidBody* body = new btRigidBody(rbInfo); - - dynamicsWorld->addRigidBody(body); - } - - - -/// Do some simulation - - - ///-----stepsimulation_start----- - for (i=0;i<150;i++) - { - dynamicsWorld->stepSimulation(1.f/60.f,10); - - //print positions of all objects - for (int j=dynamicsWorld->getNumCollisionObjects()-1; j>=0 ;j--) - { - btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[j]; - btRigidBody* body = btRigidBody::upcast(obj); - btTransform trans; - if (body && body->getMotionState()) - { - body->getMotionState()->getWorldTransform(trans); - - } else - { - trans = obj->getWorldTransform(); - } - printf("world pos object %d = %f,%f,%f\n",j,float(trans.getOrigin().getX()),float(trans.getOrigin().getY()),float(trans.getOrigin().getZ())); - } - } - - ///-----stepsimulation_end----- - - //cleanup in the reverse order of creation/initialization - - ///-----cleanup_start----- - - //remove the rigidbodies from the dynamics world and delete them - for (i=dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--) - { - btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[i]; - btRigidBody* body = btRigidBody::upcast(obj); - if (body && body->getMotionState()) - { - delete body->getMotionState(); - } - dynamicsWorld->removeCollisionObject( obj ); - delete obj; - } - - //delete collision shapes - for (int j=0;j -#include - - -void BspConverter::convertBsp(BspLoader& bspLoader,float scaling) -{ - { - - float playstartf[3] = {0,0,100}; - - if (bspLoader.findVectorByName(&playstartf[0],"info_player_start")) - { - printf("found playerstart\n"); - } - else - { - if (bspLoader.findVectorByName(&playstartf[0],"info_player_deathmatch")) - { - printf("found deatchmatch start\n"); - } - } - - btVector3 playerStart (playstartf[0],playstartf[1],playstartf[2]); - - - playerStart[2] += 20.f; //start a bit higher - - playerStart *= scaling; - - - - //progressBegin("Loading bsp"); - - for (int i=0;i planeEquations; - - int brushid = bspLoader.m_dleafbrushes[leaf.firstLeafBrush+b]; - - BSPBrush& brush = bspLoader.m_dbrushes[brushid]; - if (brush.shaderNum!=-1) - { - if (bspLoader.m_dshaders[ brush.shaderNum ].contentFlags & BSPCONTENTS_SOLID) - { - brush.shaderNum = -1; - - for (int p=0;p vertices; - btGeometryUtil::getVerticesFromPlaneEquations(planeEquations,vertices); - - bool isEntity = false; - btVector3 entityTarget(0.f,0.f,0.f); - addConvexVerticesCollider(vertices,isEntity,entityTarget); - - } - } - } - } - } - -#define USE_ENTITIES -#ifdef USE_ENTITIES - - - { - int i; - for (i=0;i=0) && (modelnr < bspLoader.m_nummodels)) - { - const BSPModel& model = bspLoader.m_dmodels[modelnr]; - for (int n=0;n planeEquations; - bool isValidBrush = false; - - //convert brush - const BSPBrush& brush = bspLoader.m_dbrushes[model.firstBrush+n]; - { - for (int p=0;p vertices; - btGeometryUtil::getVerticesFromPlaneEquations(planeEquations,vertices); - - bool isEntity=true; - addConvexVerticesCollider(vertices,isEntity,targetLocation); - - } - } - - } - } - } - else - { - printf("unsupported trigger_push model, md3 ?\n"); - } - } - - } - } - } - } - -#endif //USE_ENTITIES - - - - //progressEnd(); - } - - } - - - - - - diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportBsp/BspConverter.h bullet-2.87+dfsg/examples/Importers/ImportBsp/BspConverter.h --- bullet-2.86.1+dfsg/examples/Importers/ImportBsp/BspConverter.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportBsp/BspConverter.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,39 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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 BSP_CONVERTER_H -#define BSP_CONVERTER_H - -class BspLoader; -#include "LinearMath/btVector3.h" -#include "LinearMath/btAlignedObjectArray.h" - -///BspConverter turns a loaded bsp level into convex parts (vertices) -class BspConverter -{ - public: - - void convertBsp(BspLoader& bspLoader,float scaling); - virtual ~BspConverter() - { - } - - ///this callback is called for each brush that succesfully converted into vertices - virtual void addConvexVerticesCollider(btAlignedObjectArray& vertices, bool isEntity, const btVector3& entityTargetLocation) = 0; - -}; - -#endif //BSP_CONVERTER_H - diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportBsp/BspLoader.cpp bullet-2.87+dfsg/examples/Importers/ImportBsp/BspLoader.cpp --- bullet-2.86.1+dfsg/examples/Importers/ImportBsp/BspLoader.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportBsp/BspLoader.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,730 +0,0 @@ -/* -=========================================================================== -Copyright (C) 1999-2005 Id Software, Inc. - -This file is part of Quake III Arena source code. - -Quake III Arena source code is free software; you can redistribute it -and/or modify it under the terms of the GNU bteral Public License as -published by the Free Software Foundation; either version 2 of the License, -or (at your option) any later version. - -Quake III Arena source code is distributed in the hope that it will be -useful, but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU bteral Public License for more details. - -You should have received a copy of the GNU bteral Public License -along with Foobar; if not, write to the Free Software -Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA -=========================================================================== -*/ - - -#include "BspLoader.h" -#include -#include - -typedef struct -{ - char filename[1024]; - char *buffer,*script_p,*end_p; - int line; -} BSPScript; - -#define MAX_INCLUDES 8 -BSPScript scriptstack[MAX_INCLUDES]; -BSPScript *script; -int scriptline; - -char token[BSPMAXTOKEN]; -bool endofscript; -bool tokenready; // only true if UnGetToken was just called - -// -//loadBSPFile -// - -int extrasize = 100; - -BspLoader::BspLoader() - :m_num_entities(0) -{ - m_Endianness = getMachineEndianness(); - if (m_Endianness == BSP_BIG_ENDIAN) - { - printf("Machine is BIG_ENDIAN\n"); - } else - { - printf("Machine is Little Endian\n"); - } -} - - -bool BspLoader::loadBSPFile( void* memoryBuffer) { - - BSPHeader *header = (BSPHeader*) memoryBuffer; - - // load the file header - if (header) - { - // swap the header - swapBlock( (int *)header, sizeof(*header) ); - - int length = (header->lumps[BSPLUMP_SHADERS].filelen) / sizeof(BSPShader); - m_dshaders.resize(length+extrasize); - m_numShaders = copyLump( header, BSPLUMP_SHADERS, &m_dshaders[0], sizeof(BSPShader) ); - - length = (header->lumps[LUMP_MODELS].filelen) / sizeof(BSPModel); - m_dmodels.resize(length+extrasize); - m_nummodels = copyLump( header, LUMP_MODELS, &m_dmodels[0], sizeof(BSPModel) ); - - length = (header->lumps[BSPLUMP_PLANES].filelen) / sizeof(BSPPlane); - m_dplanes.resize(length+extrasize); - m_numplanes = copyLump( header, BSPLUMP_PLANES, &m_dplanes[0], sizeof(BSPPlane) ); - - length = (header->lumps[BSPLUMP_LEAFS].filelen) / sizeof(BSPLeaf); - m_dleafs.resize(length+extrasize); - m_numleafs = copyLump( header, BSPLUMP_LEAFS, &m_dleafs[0], sizeof(BSPLeaf) ); - - length = (header->lumps[BSPLUMP_NODES].filelen) / sizeof(BSPNode); - m_dnodes.resize(length+extrasize); - m_numnodes = copyLump( header, BSPLUMP_NODES, &m_dnodes[0], sizeof(BSPNode) ); - - length = (header->lumps[BSPLUMP_LEAFSURFACES].filelen) / sizeof(m_dleafsurfaces[0]); - m_dleafsurfaces.resize(length+extrasize); - m_numleafsurfaces = copyLump( header, BSPLUMP_LEAFSURFACES, &m_dleafsurfaces[0], sizeof(m_dleafsurfaces[0]) ); - - length = (header->lumps[BSPLUMP_LEAFBRUSHES].filelen) / sizeof(m_dleafbrushes[0]) ; - m_dleafbrushes.resize(length+extrasize); - m_numleafbrushes = copyLump( header, BSPLUMP_LEAFBRUSHES, &m_dleafbrushes[0], sizeof(m_dleafbrushes[0]) ); - - length = (header->lumps[LUMP_BRUSHES].filelen) / sizeof(BSPBrush); - m_dbrushes.resize(length+extrasize); - m_numbrushes = copyLump( header, LUMP_BRUSHES, &m_dbrushes[0], sizeof(BSPBrush) ); - - - length = (header->lumps[LUMP_BRUSHSIDES].filelen) / sizeof(BSPBrushSide); - m_dbrushsides.resize(length+extrasize); - m_numbrushsides = copyLump( header, LUMP_BRUSHSIDES, &m_dbrushsides[0], sizeof(BSPBrushSide) ); - - - length = (header->lumps[LUMP_SURFACES].filelen) / sizeof(BSPSurface); - m_drawSurfaces.resize(length+extrasize); - m_numDrawSurfaces = copyLump( header, LUMP_SURFACES, &m_drawSurfaces[0], sizeof(BSPSurface) ); - - - length = (header->lumps[LUMP_DRAWINDEXES].filelen) / sizeof(m_drawIndexes[0]); - m_drawIndexes.resize(length+extrasize); - m_numDrawIndexes = copyLump( header, LUMP_DRAWINDEXES, &m_drawIndexes[0], sizeof(m_drawIndexes[0]) ); - - length = (header->lumps[LUMP_VISIBILITY].filelen) / 1; - m_visBytes.resize(length+extrasize); - m_numVisBytes = copyLump( header, LUMP_VISIBILITY, &m_visBytes[0], 1 ); - - length = (header->lumps[LUMP_LIGHTMAPS].filelen) / 1; - m_lightBytes.resize(length+extrasize); - m_numLightBytes = copyLump( header, LUMP_LIGHTMAPS, &m_lightBytes[0], 1 ); - - length = (header->lumps[BSPLUMP_ENTITIES].filelen) / 1; - m_dentdata.resize(length+extrasize); - m_entdatasize = copyLump( header, BSPLUMP_ENTITIES, &m_dentdata[0], 1); - - length = (header->lumps[LUMP_LIGHTGRID].filelen) / 1; - m_gridData.resize(length+extrasize); - m_numGridPoints = copyLump( header, LUMP_LIGHTGRID, &m_gridData[0], 8 ); - - // swap everything - swapBSPFile(); - - return true; - - } - return false; -} - - - -const char* BspLoader::getValueForKey( const BSPEntity* ent, const char* key ) const { - - const BSPKeyValuePair* ep; - - for (ep=ent->epairs ; ep ; ep=ep->next) { - if (!strcmp(ep->key, key) ) { - return ep->value; - } - } - return ""; -} - -float BspLoader::getFloatForKey( const BSPEntity *ent, const char *key ) { - const char *k; - - k = getValueForKey( ent, key ); - return float(atof(k)); -} - -bool BspLoader::getVectorForKey( const BSPEntity *ent, const char *key, BSPVector3 vec ) { - - const char *k; - k = getValueForKey (ent, key); - if (strcmp(k, "")) - { - sscanf (k, "%f %f %f", &vec[0], &vec[1], &vec[2]); - return true; - } - return false; -} - - - - -/* -============== -parseFromMemory -============== -*/ -void BspLoader::parseFromMemory (char *buffer, int size) -{ - script = scriptstack; - script++; - if (script == &scriptstack[MAX_INCLUDES]) - { - //printf("script file exceeded MAX_INCLUDES"); - } - strcpy (script->filename, "memory buffer" ); - - script->buffer = buffer; - script->line = 1; - script->script_p = script->buffer; - script->end_p = script->buffer + size; - - endofscript = false; - tokenready = false; -} - - -bool BspLoader::isEndOfScript (bool crossline) -{ - if (!crossline) - //printf("Line %i is incomplete\n",scriptline); - - if (!strcmp (script->filename, "memory buffer")) - { - endofscript = true; - return false; - } - - //free (script->buffer); - if (script == scriptstack+1) - { - endofscript = true; - return false; - } - script--; - scriptline = script->line; - //printf ("returning to %s\n", script->filename); - return getToken (crossline); -} - -/* - -============== -getToken -============== -*/ -bool BspLoader::getToken (bool crossline) -{ - char *token_p; - - if (tokenready) // is a token allready waiting? - { - tokenready = false; - return true; - } - - if (script->script_p >= script->end_p) - return isEndOfScript (crossline); - -// -// skip space -// -skipspace: - while (*script->script_p <= 32) - { - if (script->script_p >= script->end_p) - return isEndOfScript (crossline); - if (*script->script_p++ == '\n') - { - if (!crossline) - { - //printf("Line %i is incomplete\n",scriptline); - } - scriptline = script->line++; - } - } - - if (script->script_p >= script->end_p) - return isEndOfScript (crossline); - - // ; # // comments - if (*script->script_p == ';' || *script->script_p == '#' - || ( script->script_p[0] == '/' && script->script_p[1] == '/') ) - { - if (!crossline) - { - //printf("Line %i is incomplete\n",scriptline); - } - while (*script->script_p++ != '\n') - if (script->script_p >= script->end_p) - return isEndOfScript (crossline); - scriptline = script->line++; - goto skipspace; - } - - // /* */ comments - if (script->script_p[0] == '/' && script->script_p[1] == '*') - { - if (!crossline) - { - //printf("Line %i is incomplete\n",scriptline); - } - script->script_p+=2; - while (script->script_p[0] != '*' && script->script_p[1] != '/') - { - if ( *script->script_p == '\n' ) { - scriptline = script->line++; - } - script->script_p++; - if (script->script_p >= script->end_p) - return isEndOfScript (crossline); - } - script->script_p += 2; - goto skipspace; - } - -// -// copy token -// - token_p = token; - - if (*script->script_p == '"') - { - // quoted token - script->script_p++; - while (*script->script_p != '"') - { - *token_p++ = *script->script_p++; - if (script->script_p == script->end_p) - break; - if (token_p == &token[BSPMAXTOKEN]) - { - //printf ("Token too large on line %i\n",scriptline); - } - } - script->script_p++; - } - else // regular token - while ( *script->script_p > 32 && *script->script_p != ';') - { - *token_p++ = *script->script_p++; - if (script->script_p == script->end_p) - break; - if (token_p == &token[BSPMAXTOKEN]) - { - //printf ("Token too large on line %i\n",scriptline); - } - } - - *token_p = 0; - - if (!strcmp (token, "$include")) - { - //getToken (false); - //AddScriptToStack (token); - return false;//getToken (crossline); - } - - return true; -} - -char *BspLoader::copystring(const char *s) -{ - char *b; - b = (char*) malloc( strlen(s)+1); - strcpy (b, s); - return b; -} - -void BspLoader::stripTrailing( char *e ) { - char *s; - - s = e + strlen(e)-1; - while (s >= e && *s <= 32) - { - *s = 0; - s--; - } -} -/* -================= -parseEpair -================= -*/ -BSPKeyValuePair *BspLoader::parseEpair( void ) { - BSPKeyValuePair *e; - - e = (struct BSPPair*) malloc( sizeof(BSPKeyValuePair)); - memset( e, 0, sizeof(BSPKeyValuePair) ); - - if ( strlen(token) >= BSPMAX_KEY-1 ) { - //printf ("ParseEpar: token too long"); - } - e->key = copystring( token ); - getToken( false ); - if ( strlen(token) >= BSPMAX_VALUE-1 ) { - - //printf ("ParseEpar: token too long"); - } - e->value = copystring( token ); - - // strip trailing spaces that sometimes get accidentally - // added in the editor - stripTrailing( e->key ); - stripTrailing( e->value ); - - return e; -} - - -/* -================ -parseEntity -================ -*/ -bool BspLoader::parseEntity( void ) { - BSPKeyValuePair *e; - BSPEntity *mapent; - - if ( !getToken (true) ) { - return false; - } - - if ( strcmp (token, "{") ) { - - //printf ("parseEntity: { not found"); - } - - BSPEntity bla; - bla.brushes = 0; - bla.epairs = 0; - bla.firstDrawSurf = 0; - bla.origin[0] = 0.f; - bla.origin[1] = 0.f; - bla.origin[2] = 0.f; - bla.patches = 0; - - m_entities.push_back(bla); - mapent = &m_entities[m_entities.size()-1]; - m_num_entities++; - - do { - if ( !getToken (true) ) { - //printf("parseEntity: EOF without closing brace"); - } - if ( !strcmp (token, "}") ) { - break; - } - e = (struct BSPPair*)parseEpair (); - e->next = mapent->epairs; - mapent->epairs = e; - } while (1); - - return true; -} - -/* -================ -parseEntities - -Parses the dentdata string into entities -================ -*/ -void BspLoader::parseEntities( void ) { - m_num_entities = 0; - m_entities.clear(); - - parseFromMemory( &m_dentdata[0], m_entdatasize ); - - while ( parseEntity () ) { - } -} - - - -int BspLoader::getMachineEndianness() -{ - long int i = 1; - const char *p = (const char *) &i; - if (p[0] == 1) // Lowest address contains the least significant byte - return BSP_LITTLE_ENDIAN; - else - return BSP_BIG_ENDIAN; -} - -short BspLoader::isLittleShort (short l) -{ - if (machineEndianness() == BSP_BIG_ENDIAN) - { - unsigned char b1,b2; - - b1 = l&255; - b2 = (l>>8)&255; - - return (b1<<8) + b2; - } - //little endian - return l; -} - -short BspLoader::isBigShort (short l) -{ - if (machineEndianness() == BSP_BIG_ENDIAN) - { - return l; - } - - unsigned char b1,b2; - - b1 = l&255; - b2 = (l>>8)&255; - - return (b1<<8) + b2; - - - -} - - -int BspLoader::isLittleLong (int l) -{ - if (machineEndianness() == BSP_BIG_ENDIAN) - { - unsigned char b1,b2,b3,b4; - - b1 = l&255; - b2 = (l>>8)&255; - b3 = (l>>16)&255; - b4 = (l>>24)&255; - - return ((int)b1<<24) + ((int)b2<<16) + ((int)b3<<8) + b4; - } - - //little endian - return l; - -} - -int BspLoader::isBigLong (int l) -{ - if (machineEndianness() == BSP_BIG_ENDIAN) - { - return l; - } - - - unsigned char b1,b2,b3,b4; - - b1 = l&255; - b2 = (l>>8)&255; - b3 = (l>>16)&255; - b4 = (l>>24)&255; - - return ((int)b1<<24) + ((int)b2<<16) + ((int)b3<<8) + b4; - -} - - -float BspLoader::isLittleFloat (float l) -{ - if (machineEndianness() == BSP_BIG_ENDIAN) - { - union {unsigned char b[4]; float f;} in, out; - - in.f = l; - out.b[0] = in.b[3]; - out.b[1] = in.b[2]; - out.b[2] = in.b[1]; - out.b[3] = in.b[0]; - - return out.f; - } - - //little endian - return l; -} - -float BspLoader::isBigFloat (float l) -{ - if (machineEndianness() == BSP_BIG_ENDIAN) - { - return l; - } - //little endian - union {unsigned char b[4]; float f;} in, out; - - in.f = l; - out.b[0] = in.b[3]; - out.b[1] = in.b[2]; - out.b[2] = in.b[1]; - out.b[3] = in.b[0]; - - return out.f; -} - - - - - - -// -// swapBlock -// If all values are 32 bits, this can be used to swap everything -// - -void BspLoader::swapBlock( int *block, int sizeOfBlock ) { - int i; - - sizeOfBlock >>= 2; - for ( i = 0 ; i < sizeOfBlock ; i++ ) { - block[i] = isLittleLong( block[i] ); - } -} - -// -// copyLump -// - -int BspLoader::copyLump( BSPHeader *header, int lump, void *dest, int size ) { - int length, ofs; - - length = header->lumps[lump].filelen; - ofs = header->lumps[lump].fileofs; - - //if ( length % size ) { - // printf ("loadBSPFile: odd lump size"); - //} - - memcpy( dest, (unsigned char *)header + ofs, length ); - - return length / size; -} - - - - -// -// swapBSPFile -// - -void BspLoader::swapBSPFile( void ) { - int i; - - // models - swapBlock( (int *) &m_dmodels[0], m_nummodels * sizeof( m_dmodels[0] ) ); - - // shaders (don't swap the name) - for ( i = 0 ; i < m_numShaders ; i++ ) { - m_dshaders[i].contentFlags = isLittleLong( m_dshaders[i].contentFlags ); - m_dshaders[i].surfaceFlags = isLittleLong( m_dshaders[i].surfaceFlags ); - } - - // planes - swapBlock( (int *)&m_dplanes[0], m_numplanes * sizeof( m_dplanes[0] ) ); - - // nodes - swapBlock( (int *)&m_dnodes[0], m_numnodes * sizeof( m_dnodes[0] ) ); - - // leafs - swapBlock( (int *)&m_dleafs[0], m_numleafs * sizeof( m_dleafs[0] ) ); - - // leaffaces - swapBlock( (int *)&m_dleafsurfaces[0], m_numleafsurfaces * sizeof( m_dleafsurfaces[0] ) ); - - // leafbrushes - swapBlock( (int *)&m_dleafbrushes[0], m_numleafbrushes * sizeof( m_dleafbrushes[0] ) ); - - // brushes - swapBlock( (int *)&m_dbrushes[0], m_numbrushes * sizeof( m_dbrushes[0] ) ); - - // brushsides - swapBlock( (int *)&m_dbrushsides[0], m_numbrushsides * sizeof( m_dbrushsides[0] ) ); - - // vis - ((int *)&m_visBytes)[0] = isLittleLong( ((int *)&m_visBytes)[0] ); - ((int *)&m_visBytes)[1] = isLittleLong( ((int *)&m_visBytes)[1] ); - - - // drawindexes - swapBlock( (int *)&m_drawIndexes[0], m_numDrawIndexes * sizeof( m_drawIndexes[0] ) ); - - // drawsurfs - swapBlock( (int *)&m_drawSurfaces[0], m_numDrawSurfaces * sizeof( m_drawSurfaces[0] ) ); - -} - - - - - -bool BspLoader::findVectorByName(float* outvec,const char* name) -{ - const char *cl; - BSPVector3 origin; - - bool found = false; - - parseEntities(); - - for ( int i = 1; i < m_num_entities; i++ ) { - cl = getValueForKey (&m_entities[i], "classname"); - if ( !strcmp( cl, "info_player_start" ) ) { - getVectorForKey( &m_entities[i], "origin", origin ); - found = true; - break; - } - if ( !strcmp( cl, "info_player_deathmatch" ) ) { - getVectorForKey( &m_entities[i], "origin", origin ); - found = true; - break; - } - } - - if (found) - { - outvec[0] = origin[0]; - outvec[1] = origin[1]; - outvec[2] = origin[2]; - } - return found; -} - - - -const BSPEntity * BspLoader::getEntityByValue( const char* name, const char* value) -{ - const BSPEntity* entity = NULL; - - for ( int i = 1; i < m_num_entities; i++ ) { - - const BSPEntity& ent = m_entities[i]; - - const char* cl = getValueForKey (&m_entities[i], name); - if ( !strcmp( cl, value ) ) { - entity = &ent; - break; - } - } - return entity; -} - diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportBsp/BspLoader.h bullet-2.87+dfsg/examples/Importers/ImportBsp/BspLoader.h --- bullet-2.86.1+dfsg/examples/Importers/ImportBsp/BspLoader.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportBsp/BspLoader.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,295 +0,0 @@ -/* -=========================================================================== -Copyright (C) 1999-2005 Id Software, Inc. - -This file is part of Quake III Arena source code. - -Quake III Arena source code is free software; you can redistribute it -and/or modify it under the terms of the GNU bteral Public License as -published by the Free Software Foundation; either version 2 of the License, -or (at your option) any later version. - -Quake III Arena source code is distributed in the hope that it will be -useful, but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU bteral Public License for more details. - -You should have received a copy of the GNU bteral Public License -along with Foobar; if not, write to the Free Software -Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA -=========================================================================== -*/ - - - -#ifndef BSP_LOADER_H -#define BSP_LOADER_H - -#include "LinearMath/btAlignedObjectArray.h" - -#define BSPMAXTOKEN 1024 -#define BSPMAX_KEY 32 -#define BSPMAX_VALUE 1024 -#define BSPCONTENTS_SOLID 1 -#define BSPCONTENTS_AREAPORTAL 0x8000 -#define BSPLUMP_ENTITIES 0 -#define BSPLUMP_SHADERS 1 -#define BSPLUMP_PLANES 2 -#define BSPLUMP_NODES 3 -#define BSPLUMP_LEAFS 4 -#define BSPLUMP_LEAFSURFACES 5 -#define BSPLUMP_LEAFBRUSHES 6 -#define LUMP_MODELS 7 -#define LUMP_BRUSHES 8 -#define LUMP_BRUSHSIDES 9 -#define LUMP_DRAWVERTS 10 -#define LUMP_DRAWINDEXES 11 -#define LUMP_SURFACES 13 -#define LUMP_LIGHTMAPS 14 -#define LUMP_LIGHTGRID 15 -#define LUMP_VISIBILITY 16 -#define HEADER_LUMPS 17 -#define MAX_QPATH 64 - - - -typedef struct { - int fileofs, filelen; -} BSPLump; - -typedef float BSPVector3[3]; - -typedef struct { - int ident; - int version; - - BSPLump lumps[HEADER_LUMPS]; -} BSPHeader; - - -typedef struct { - float mins[3], maxs[3]; - int firstSurface, numSurfaces; - int firstBrush, numBrushes; -} BSPModel; - -typedef struct { - char shader[MAX_QPATH]; - int surfaceFlags; - int contentFlags; -} BSPShader; - -typedef struct { - float normal[3]; - float dist; -} BSPPlane; - -typedef struct { - int planeNum; - int children[2]; - int mins[3]; - int maxs[3]; -} BSPNode; - -typedef struct { - int cluster; - int area; - - int mins[3]; - int maxs[3]; - - int firstLeafSurface; - int numLeafSurfaces; - - int firstLeafBrush; - int numLeafBrushes; -} BSPLeaf; - -typedef struct { - int planeNum; - int shaderNum; -} BSPBrushSide; - -typedef struct { - int firstSide; - int numSides; - int shaderNum; -} BSPBrush; - - - - -typedef struct BSPPair { - struct BSPPair *next; - char *key; - char *value; -} BSPKeyValuePair; - -typedef struct { - BSPVector3 origin; - struct bspbrush_s *brushes; - struct parseMesh_s *patches; - int firstDrawSurf; - BSPKeyValuePair *epairs; -} BSPEntity; - -typedef enum { - MST_BAD, - MST_PLANAR, - MST_PATCH, - MST_TRIANGLE_SOUP, - MST_FLARE -} BSPMapSurface; - -typedef struct { - int shaderNum; - int fogNum; - int surfaceType; - - int firstVert; - int numVerts; - - int firstIndex; - int numIndexes; - - int lightmapNum; - int lightmapX, lightmapY; - int lightmapWidth, lightmapHeight; - - BSPVector3 lightmapOrigin; - BSPVector3 lightmapVecs[3]; - - int patchWidth; - int patchHeight; -} BSPSurface; - - - -///GPL code from IdSofware to parse a Quake 3 BSP file -///check that your platform define __BIG_ENDIAN__ correctly (in BspLoader.cpp) -class BspLoader -{ - int m_Endianness; - - public: - - BspLoader(); - - bool loadBSPFile( void* memoryBuffer); - - const char* getValueForKey( const BSPEntity *ent, const char *key ) const; - - bool getVectorForKey( const BSPEntity *ent, const char *key, BSPVector3 vec ); - - float getFloatForKey( const BSPEntity *ent, const char *key ); - - void parseEntities( void ); - - bool findVectorByName(float* outvec,const char* name); - - const BSPEntity * getEntityByValue( const char* name, const char* value); - - - protected: - - void parseFromMemory (char *buffer, int size); - - - - bool isEndOfScript (bool crossline); - - bool getToken (bool crossline); - - char *copystring(const char *s); - - void stripTrailing( char *e ); - - BSPKeyValuePair * parseEpair( void ); - - bool parseEntity( void ); - - short isLittleShort (short l); - int isLittleLong (int l); - float isLittleFloat (float l); - - int isBigLong (int l); - short isBigShort (short l); - float isBigFloat (float l); - - void swapBlock( int *block, int sizeOfBlock ); - - int copyLump( BSPHeader *header, int lump, void *dest, int size ); - - void swapBSPFile( void ); - - - - - public: //easier for conversion - int m_num_entities; - btAlignedObjectArray m_entities; - - int m_nummodels; - btAlignedObjectArray m_dmodels; - - int m_numShaders; - btAlignedObjectArray m_dshaders; - - int m_entdatasize; - btAlignedObjectArray m_dentdata; - - int m_numleafs; - btAlignedObjectArray m_dleafs; - - int m_numplanes; - btAlignedObjectArray m_dplanes; - - int m_numnodes; - btAlignedObjectArray m_dnodes; - - int m_numleafsurfaces; - btAlignedObjectArray m_dleafsurfaces; - - int m_numleafbrushes; - btAlignedObjectArray m_dleafbrushes; - - int m_numbrushes; - btAlignedObjectArray m_dbrushes; - - int m_numbrushsides; - btAlignedObjectArray m_dbrushsides; - - int m_numLightBytes; - btAlignedObjectArray m_lightBytes; - - int m_numGridPoints; - btAlignedObjectArray m_gridData; - - int m_numVisBytes; - btAlignedObjectArray m_visBytes; - - - int m_numDrawIndexes; - btAlignedObjectArray m_drawIndexes; - - int m_numDrawSurfaces; - btAlignedObjectArray m_drawSurfaces; - - enum - { - BSP_LITTLE_ENDIAN = 0, - BSP_BIG_ENDIAN = 1 - }; - - //returns machines big endian / little endian - // - int getMachineEndianness(); - - inline int machineEndianness() - { - return m_Endianness; - } - -}; - -#endif //BSP_LOADER_H diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportBsp/ImportBspExample.cpp bullet-2.87+dfsg/examples/Importers/ImportBsp/ImportBspExample.cpp --- bullet-2.86.1+dfsg/examples/Importers/ImportBsp/ImportBspExample.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportBsp/ImportBspExample.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,304 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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 "ImportBspExample.h" - -#include "btBulletDynamicsCommon.h" - -#include "LinearMath/btQuickprof.h" - - - - -#define QUAKE_BSP_IMPORTING 1 - -#ifdef QUAKE_BSP_IMPORTING -#include "BspLoader.h" -#include "BspConverter.h" -#endif //QUAKE_BSP_IMPORTING - - -#include //printf debugging - - - - - - -#include "LinearMath/btAlignedObjectArray.h" - - - - -#include "../CommonInterfaces/CommonRigidBodyBase.h" - - -///BspDemo shows the convex collision detection, by converting a Quake BSP file into convex objects and allowing interaction with boxes. -class BspDemo : public CommonRigidBodyBase -{ - public: - - //keep the collision shapes, for deletion/cleanup - - - BspDemo(struct GUIHelperInterface* helper) - :CommonRigidBodyBase(helper) - { - } - - virtual ~BspDemo(); - - virtual void initPhysics(); - - void initPhysics(const char* bspfilename); - - virtual void resetCamera() - { - float dist = 43; - float pitch = -175; - float yaw = 12; - float targetPos[3]={4,-25,-6}; - m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } - - -}; - - -#define CUBE_HALF_EXTENTS 1 -#define EXTRA_HEIGHT -20.f - - - -///BspToBulletConverter extends the BspConverter to convert to Bullet datastructures -class BspToBulletConverter : public BspConverter -{ - BspDemo* m_demoApp; - -public: - - BspToBulletConverter(BspDemo* demoApp) - :m_demoApp(demoApp) - { - } - - virtual void addConvexVerticesCollider(btAlignedObjectArray& vertices, bool isEntity, const btVector3& entityTargetLocation) - { - ///perhaps we can do something special with entities (isEntity) - ///like adding a collision Triggering (as example) - - if (vertices.size() > 0) - { - float mass = 0.f; - btTransform startTransform; - //can use a shift - startTransform.setIdentity(); - startTransform.setOrigin(btVector3(0,0,-10.f)); - //this create an internal copy of the vertices - - btCollisionShape* shape = new btConvexHullShape(&(vertices[0].getX()),vertices.size()); - m_demoApp->m_collisionShapes.push_back(shape); - - //btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape); - m_demoApp->createRigidBody(mass, startTransform,shape); - } - } -}; - - - - - -//////////////////////////////////// - - - - - - - -BspDemo::~BspDemo() -{ - exitPhysics(); //will delete all default data -} - -void BspDemo::initPhysics() -{ - const char* bspfilename = "BspDemo.bsp"; - - initPhysics(bspfilename); -} - - - -void BspDemo::initPhysics(const char* bspfilename) -{ - - int cameraUpAxis =2; - m_guiHelper->setUpAxis(cameraUpAxis); - btVector3 grav(0,0,0); - grav[cameraUpAxis] = -10; - m_guiHelper->setUpAxis(cameraUpAxis); - -//_cameraUp = btVector3(0,0,1); -//_forwardAxis = 1; - -//etCameraDistance(22.f); - - ///Setup a Physics Simulation Environment - - m_collisionConfiguration = new btDefaultCollisionConfiguration(); -// btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50)); - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - btVector3 worldMin(-1000,-1000,-1000); - btVector3 worldMax(1000,1000,1000); - m_broadphase = new btDbvtBroadphase(); - //m_broadphase = new btAxisSweep3(worldMin,worldMax); - //btOverlappingPairCache* broadphase = new btSimpleBroadphase(); - m_solver = new btSequentialImpulseConstraintSolver(); - //ConstraintSolver* solver = new OdeConstraintSolver; - m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - m_dynamicsWorld->setGravity(grav); - - -#ifdef QUAKE_BSP_IMPORTING - - void* memoryBuffer = 0; - - const char* filename = "BspDemo.bsp"; - - const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"}; - int numPrefixes = sizeof(prefix)/sizeof(const char*); - char relativeFileName[1024]; - FILE* file=0; - - for (int i=0;iautogenerateGraphicsObjects(m_dynamicsWorld); - - -} - - - - - - - - - -//some code that de-mangles the windows filename passed in as argument -char cleaned_filename[512]; -char* getLastFileName() -{ - return cleaned_filename; -} -char* makeExeToBspFilename(const char* lpCmdLine) -{ - - - // We might get a windows-style path on the command line, this can mess up the DOM which expects - // all paths to be URI's. This block of code does some conversion to try and make the input - // compliant without breaking the ability to accept a properly formatted URI. Right now this only - // displays the first filename - const char *in = lpCmdLine; - char* out = cleaned_filename; - *out = '\0'; - // If the first character is a ", skip it (filenames with spaces in them are quoted) - if(*in == '\"') - { - in++; - } - int i; - for(i =0; i<512; i++) - { - //if we get '.' we stop as well, unless it's the first character. Then we add .bsp as extension - // If we hit a null or a quote, stop copying. This will get just the first filename. - if(i && (in[0] == '.') && (in[1] == 'e') && (in[2] == 'x') && (in[3] == 'e')) - break; - - // If we hit a null or a quote, stop copying. This will get just the first filename. - if(*in == '\0' || *in == '\"') - break; - // Copy while swapping backslashes for forward ones - if(*in == '\\') - { - *out = '/'; - } - else - { - *out = *in; - } - in++; - out++; - } - *(out++) = '.'; - *(out++) = 'b'; - *(out++) = 's'; - *(out++) = 'p'; - *(out++) = 0; - - return cleaned_filename; -} - - -CommonExampleInterface* ImportBspCreateFunc(struct CommonExampleOptions& options) -{ - BspDemo* demo = new BspDemo(options.m_guiHelper); - - demo->initPhysics("BspDemo.bsp"); - return demo; - -} -/* -static DemoApplication* Create() - { - BspDemo* demo = new BspDemo; - demo->myinit(); - demo->initPhysics("BspDemo.bsp"); - return demo; - } - */ \ No newline at end of file diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportBsp/ImportBspExample.h bullet-2.87+dfsg/examples/Importers/ImportBsp/ImportBspExample.h --- bullet-2.86.1+dfsg/examples/Importers/ImportBsp/ImportBspExample.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportBsp/ImportBspExample.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,23 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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 BSP_DEMO_H -#define BSP_DEMO_H - -class CommonExampleInterface* ImportBspCreateFunc(struct CommonExampleOptions& options); - - -#endif //BSP_DEMO_H - - diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportBullet/SerializeSetup.cpp bullet-2.87+dfsg/examples/Importers/ImportBullet/SerializeSetup.cpp --- bullet-2.86.1+dfsg/examples/Importers/ImportBullet/SerializeSetup.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportBullet/SerializeSetup.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,114 +0,0 @@ -#include "SerializeSetup.h" -#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h" - - -#include "../CommonInterfaces/CommonRigidBodyBase.h" - -class SerializeSetup : public CommonRigidBodyBase -{ - - char m_fileName[1024]; - -public: - SerializeSetup(struct GUIHelperInterface* helper, const char* fileName); - virtual ~SerializeSetup(); - - virtual void initPhysics(); - virtual void stepSimulation(float deltaTime); - virtual void setFileName(const char* fileName) - { - memcpy(m_fileName,fileName,strlen(fileName)+1); - } - virtual void resetCamera() - { - float dist = 9.5; - float pitch = -2.8; - float yaw = 20; - float targetPos[3]={-0.2,-1.4,3.5}; - m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } - -}; - - -SerializeSetup::SerializeSetup(struct GUIHelperInterface* helper, const char* fileName) -:CommonRigidBodyBase(helper) -{ - if (fileName) - { - setFileName(fileName); - } else - { - setFileName("spider.bullet"); - } -} -SerializeSetup::~SerializeSetup() -{ - -} - -void SerializeSetup::initPhysics() -{ - this->createEmptyDynamicsWorld(); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints); - btBulletWorldImporter* importer = new btBulletWorldImporter(m_dynamicsWorld); - - - const char* prefix[]={"","./","./data/","../data/","../../data/","../../../data/","../../../../data/"}; - int numPrefixes = sizeof(prefix)/sizeof(const char*); - char relativeFileName[1024]; - FILE* f=0; - - for (int i=0;!f && iloadFile(relativeFileName); - - //for now, guess the up axis from gravity - if (m_dynamicsWorld->getGravity()[1] == 0.f) - { - m_guiHelper->setUpAxis(2); - } else - { - m_guiHelper->setUpAxis(1); - } - - - //example code to export the dynamics world to a .bullet file - - - btDefaultSerializer* serializer = new btDefaultSerializer(); - m_dynamicsWorld->serialize(serializer); - - FILE* file = fopen("SerializeSetupTestFile.bullet","wb"); - fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file); - fclose(file); - - - - - m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); -} - -void SerializeSetup::stepSimulation(float deltaTime) -{ - CommonRigidBodyBase::stepSimulation(deltaTime); -} - -class CommonExampleInterface* SerializeBulletCreateFunc(struct CommonExampleOptions& options) -{ - return new SerializeSetup(options.m_guiHelper, options.m_fileName); -} diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportBullet/SerializeSetup.h bullet-2.87+dfsg/examples/Importers/ImportBullet/SerializeSetup.h --- bullet-2.86.1+dfsg/examples/Importers/ImportBullet/SerializeSetup.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportBullet/SerializeSetup.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,7 +0,0 @@ -#ifndef SERIALIZE_SETUP_H -#define SERIALIZE_SETUP_H - -class CommonExampleInterface* SerializeBulletCreateFunc(struct CommonExampleOptions& options); - - -#endif //SERIALIZE_SETUP_H diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/btMatrix4x4.h bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/btMatrix4x4.h --- bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/btMatrix4x4.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/btMatrix4x4.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,157 +0,0 @@ -/* -Bullet Collision Detection and Physics Library http://bulletphysics.org -This file is Copyright (c) 2014 Google Inc. - -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. - -//original author: Erwin Coumans -*/ - - -#ifndef MATRIX4x4_H -#define MATRIX4x4_H - -#include "LinearMath/btVector3.h" -#include "LinearMath/btQuaternion.h" - -///This 4x4 matrix class is extremely limited, just created for the purpose of accumulating transform matrices in COLLADA .dae files -ATTRIBUTE_ALIGNED16(class) btMatrix4x4 -{ - btVector4 m_el[4]; - public: - - btMatrix4x4() - { - } - btMatrix4x4(const btScalar& xx, const btScalar& xy, const btScalar& xz,const btScalar& xw, - const btScalar& yx, const btScalar& yy, const btScalar& yz,const btScalar& yw, - const btScalar& zx, const btScalar& zy, const btScalar& zz, const btScalar& zw, - const btScalar& wx, const btScalar& wy, const btScalar& wz, const btScalar& ww) - { - setValue(xx, xy, xz, xw, - yx, yy, yz, yw, - zx, zy, zz,zw, - wx, wy, wz,ww); - } - - ~btMatrix4x4() - { - } - - inline void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz,const btScalar& xw, - const btScalar& yx, const btScalar& yy, const btScalar& yz,const btScalar& yw, - const btScalar& zx, const btScalar& zy, const btScalar& zz, const btScalar& zw, - const btScalar& wx, const btScalar& wy, const btScalar& wz, const btScalar& ww) - { - m_el[0].setValue(xx,xy,xz,xw); - m_el[1].setValue(yx,yy,yz,yw); - m_el[2].setValue(zx,zy,zz,zw); - m_el[3].setValue(wx,wy,wz,ww); - } - - inline void setIdentity() - { - m_el[0].setValue(1,0,0,0); - m_el[1].setValue(0,1,0,0); - m_el[2].setValue(0,0,1,0); - m_el[3].setValue(0,0,0,1); - } - inline void setPureRotation(const btQuaternion& orn) - { - setIdentity(); - - btMatrix3x3 m3(orn); - for (int i=0;i<3;i++) - { - for (int j=0;j<3;j++) - { - m_el[i][j] = m3[i][j]; - } - } - } - - inline void setPureScaling(const btVector3& scale) - { - m_el[0].setValue(scale[0],0,0,0); - m_el[1].setValue(0,scale[1],0,0); - m_el[2].setValue(0,0,scale[2],0); - m_el[3].setValue(0,0,0,1); - } - - inline void setPureTranslation(const btVector3& pos) - { - m_el[0].setValue(1,0,0,pos[0]); - m_el[1].setValue(0,1,0,pos[1]); - m_el[2].setValue(0,0,1,pos[2]); - m_el[3].setValue(0,0,0,1); - - } - SIMD_FORCE_INLINE const btVector4& operator[](int i) const - { - btFullAssert(0 <= i && i < 3); - return m_el[i]; - } - - SIMD_FORCE_INLINE btScalar tdotx(const btVector4& v) const - { - return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z() + m_el[3].x()* v.w(); - } - SIMD_FORCE_INLINE btScalar tdoty(const btVector4& v) const - { - return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z() + m_el[3].y() * v.w(); - } - SIMD_FORCE_INLINE btScalar tdotz(const btVector4& v) const - { - return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z() + m_el[3].z() * v.w(); - } - SIMD_FORCE_INLINE btScalar tdotw(const btVector4& v) const - { - return m_el[0].w() * v.x() + m_el[1].w() * v.y() + m_el[2].w() * v.z() + m_el[3].w() * v.w(); - } - - SIMD_FORCE_INLINE btMatrix4x4 & - operator*=(const btMatrix4x4& m) - { - setValue( - m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),m.tdotw(m_el[0]), - m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]),m.tdotw(m_el[1]), - m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2]),m.tdotw(m_el[2]), - m.tdotx(m_el[3]), m.tdoty(m_el[3]), m.tdotz(m_el[3]),m.tdotw(m_el[3])); - return *this; - } - - - -}; - -inline btScalar btDot4(const btVector4& v0, const btVector4& v1) -{ - return v0.x()*v1.x()+v0.y()*v1.y()+v0.z()*v1.z()+v0.w()*v1.w(); -} -SIMD_FORCE_INLINE btVector3 -operator*(const btMatrix4x4& m, const btVector3& v1) -{ - btVector4 v(v1[0],v1[1],v1[2],1); - return btVector3(btDot4(m[0],v), btDot4(m[1],v), btDot4(m[2],v)); -} - -SIMD_FORCE_INLINE btMatrix4x4 - operator*(const btMatrix4x4& m1, btMatrix4x4& m2) - { - return btMatrix4x4( - m2.tdotx(m1[0]), m2.tdoty(m1[0]), m2.tdotz(m1[0]),m2.tdotw(m1[0]), - m2.tdotx(m1[1]), m2.tdoty(m1[1]), m2.tdotz(m1[1]),m2.tdotw(m1[1]), - m2.tdotx(m1[2]), m2.tdoty(m1[2]), m2.tdotz(m1[2]),m2.tdotw(m1[2]), - m2.tdotx(m1[3]), m2.tdoty(m1[3]), m2.tdotz(m1[3]),m2.tdotw(m1[3])); - } - - -#endif //MATRIX4x4_H diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h --- bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,35 +0,0 @@ -/* -Bullet Collision Detection and Physics Library http://bulletphysics.org -This file is Copyright (c) 2014 Google Inc. - -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. - -//original author: Erwin Coumans -*/ - -#ifndef COLLADA_GRAPHICS_INSTANCE_H -#define COLLADA_GRAPHICS_INSTANCE_H - -#include "btMatrix4x4.h" - -struct ColladaGraphicsInstance -{ - ColladaGraphicsInstance() - :m_shapeIndex(-1) - { - m_worldTransform.setIdentity(); - } - btMatrix4x4 m_worldTransform; - int m_shapeIndex;//could be index into array of GLInstanceGraphicsShape - float m_color[4]; -}; - -#endif //COLLADA_GRAPHICS_INSTANCE_H diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp --- bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,213 +0,0 @@ -/* -Bullet Collision Detection and Physics Library http://bulletphysics.org -This file is Copyright (c) 2014 Google Inc. - -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. - -//original author: Erwin Coumans -*/ - - -#include "ImportColladaSetup.h" -#include -#include "../OpenGLWindow/GLInstancingRenderer.h" -#include "../OpenGLWindow/GLInstanceGraphicsShape.h" -#include "btBulletDynamicsCommon.h" -#include "../OpenGLWindow/SimpleOpenGL3App.h" -#include "LoadMeshFromCollada.h" -#include "Bullet3Common/b3FileUtils.h" -#include "../../Utils/b3ResourcePath.h" - -#include "../CommonInterfaces/CommonRigidBodyBase.h" - - - -class ImportColladaSetup : public CommonRigidBodyBase -{ - -public: - ImportColladaSetup(struct GUIHelperInterface* helper); - virtual ~ImportColladaSetup(); - - virtual void initPhysics(); - virtual void resetCamera() - { - float dist = 16; - float pitch = -140; - float yaw = 28; - float targetPos[3]={-4,-3,-3}; - m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); - } - -}; - -ImportColladaSetup::ImportColladaSetup(struct GUIHelperInterface* helper) -:CommonRigidBodyBase(helper) -{ - -} - -ImportColladaSetup::~ImportColladaSetup() -{ - -} - -static int ColladaGraphicsInstanceSortfnc(const ColladaGraphicsInstance& a,const ColladaGraphicsInstance& b) -{ - if (a.m_shapeIndexb.m_shapeIndex) return -1; - return 0; -} - - -void ImportColladaSetup::initPhysics() -{ - int upAxis=1; - m_guiHelper->setUpAxis(upAxis); - this->createEmptyDynamicsWorld(); - m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); - m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe); - - static int fileIndex = 0; - - const char* fileNames[] = { - "duck.dae", - "seymourplane_triangulate.dae", - }; - const char* fileName = fileNames[fileIndex]; - int numFiles = sizeof(fileNames)/sizeof(const char*); - - char relativeFileName[1024]; - - if (!b3ResourcePath::findResourcePath(fileName,relativeFileName,1024)) - return; - - - btVector3 shift(0,0,0); - btVector3 scaling(1,1,1); -// int index=10; - - - - - - - - { - - btAlignedObjectArray visualShapes; - btAlignedObjectArray visualShapeInstances; - - float unitMeterScaling(1); - btTransform upAxisTrans; - upAxisTrans.setIdentity(); - - btVector3 color(0,0,1); - -#ifdef COMPARE_WITH_ASSIMP - static int useAssimp = 0; - if (useAssimp) - { - - LoadMeshFromColladaAssimp(relativeFileName, visualShapes, visualShapeInstances,upAxisTrans,unitMeterScaling); - fileIndex++; - if (fileIndex>=numFiles) - { - fileIndex = 0; - } - color.setValue(1,0,0); - } - else - { - LoadMeshFromCollada(relativeFileName, visualShapes, visualShapeInstances,upAxisTrans,unitMeterScaling); - - } - useAssimp=1-useAssimp; -#else - fileIndex++; - if (fileIndex>=numFiles) - { - fileIndex = 0; - } - LoadMeshFromCollada(relativeFileName, visualShapes, visualShapeInstances,upAxisTrans,unitMeterScaling, upAxis); -#endif// COMPARE_WITH_ASSIMP - - - //at the moment our graphics engine requires instances that share the same visual shape to be added right after registering the shape - //so perform a sort, just to be sure - visualShapeInstances.quickSort(ColladaGraphicsInstanceSortfnc); - - for (int i=0;im_shapeIndex]; - btVector3 position(0,0,0);// = scaling*btVector3(instance->m_pos[0],instance->m_pos[1],instance->m_pos[2]); - btQuaternion orn(0,0,0,1);//instance->m_orn[0],instance->m_orn[1],instance->m_orn[2],instance->m_orn[3]); - - //sort the visualShapeInstances, then iterate etc - //void LoadMeshFromCollada(const char* relativeFileName, - //btAlignedObjectArray& visualShapes, - //btAlignedObjectArray visualShapeInstances); - - if (gfxShape) - { - //btTransform trans; - //trans.setIdentity(); - //trans.setRotation(btQuaternion(btVector3(1,0,0),SIMD_HALF_PI)); - - - - b3AlignedObjectArray verts; - verts.resize(gfxShape->m_vertices->size()); - - for (int i=0;im_vertices->size();i++) - { - verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0]; - verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1]; - verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2]; - verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0]; - verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1]; - verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0]; - verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1]; - verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2]; - verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3]; - } - - //compensate upAxisTrans and unitMeterScaling here - btMatrix4x4 upAxisMat; - upAxisMat.setPureRotation(upAxisTrans.getRotation()); - btMatrix4x4 unitMeterScalingMat; - unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling,unitMeterScaling,unitMeterScaling)); - btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform; - //btMatrix4x4 worldMat = instance->m_worldTransform; - for(int v=0;vgetRenderInterface()->registerShape(&verts[0].xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices); - - //btVector3 instanceScaling(instance->m_scaling[0],instance->m_scaling[1],instance->m_scaling[2]); - m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling); - } - } - } - -} - -class CommonExampleInterface* ImportColladaCreateFunc(struct CommonExampleOptions& options) -{ - return new ImportColladaSetup(options.m_guiHelper); -} diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/ImportColladaSetup.h bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/ImportColladaSetup.h --- bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/ImportColladaSetup.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/ImportColladaSetup.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,25 +0,0 @@ -/* -Bullet Collision Detection and Physics Library http://bulletphysics.org -This file is Copyright (c) 2014 Google Inc. - -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. - -//original author: Erwin Coumans -*/ - - -#ifndef IMPORT_COLLADA_SETUP_H -#define IMPORT_COLLADA_SETUP_H - -class CommonExampleInterface* ImportColladaCreateFunc(struct CommonExampleOptions& options); - - -#endif //IMPORT_COLLADA_SETUP_H diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp --- bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,751 +0,0 @@ -/* -Bullet Collision Detection and Physics Library http://bulletphysics.org -This file is Copyright (c) 2014 Google Inc. - -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. - -//original author: Erwin Coumans -*/ - - -#include "LoadMeshFromCollada.h" -#include //fopen -#include "Bullet3Common/b3AlignedObjectArray.h" -#include -#include "../../ThirdPartyLibs/tinyxml/tinyxml.h" - -#include "Bullet3Common/b3FileUtils.h" -#include "LinearMath/btHashMap.h" -#include -#include "btMatrix4x4.h" - - -#define MAX_VISUAL_SHAPES 512 - - -struct VertexSource -{ - std::string m_positionArrayId; - std::string m_normalArrayId; -}; - -struct TokenFloatArray -{ - btAlignedObjectArray& m_values; - TokenFloatArray(btAlignedObjectArray& floatArray) - :m_values(floatArray) { - } - inline void add(const char* token) - { - float v = atof(token); - m_values.push_back(v); - } -}; -struct TokenIntArray -{ - btAlignedObjectArray& m_values; - TokenIntArray(btAlignedObjectArray& intArray) - :m_values(intArray) { - } - inline void add(const char* token) - { - float v = atoi(token); - m_values.push_back(v); - } -}; - -template -void tokenize(const std::string& str, AddToken& tokenAdder, const std::string& delimiters = " ") -{ - std::string::size_type pos, lastPos = 0; - while(true) - { - pos = str.find_first_of(delimiters, lastPos); - if(pos == std::string::npos) - { - pos = str.length(); - if(pos != lastPos) - { - tokenAdder.add(str.data()+lastPos); - } - break; - } - else - { - if(pos != lastPos) - { - tokenAdder.add(str.data()+lastPos); - } - } - lastPos = pos + 1; - } -} - - -void readFloatArray(TiXmlElement* source, btAlignedObjectArray& floatArray, int& componentStride) -{ - int numVals, stride; - TiXmlElement* array = source->FirstChildElement("float_array"); - if(array) - { - componentStride = 1; - if (source->FirstChildElement("technique_common")->FirstChildElement("accessor")->QueryIntAttribute("stride", &stride)!= TIXML_NO_ATTRIBUTE) - { - componentStride = stride; - } - array->QueryIntAttribute("count", &numVals); - TokenFloatArray adder(floatArray); - floatArray.reserve(numVals); - tokenize(array->GetText(),adder); - assert(floatArray.size() == numVals); - } -} - -btVector3 getVector3FromXmlText(const char* text) -{ - btVector3 vec(0,0,0); - btAlignedObjectArray floatArray; - TokenFloatArray adder(floatArray); - floatArray.reserve(3); - tokenize(text,adder); - assert(floatArray.size() == 3); - if (floatArray.size()==3) - { - vec.setValue(floatArray[0],floatArray[1],floatArray[2]); - } - return vec; -} - -btVector4 getVector4FromXmlText(const char* text) -{ - btVector4 vec(0,0,0,0); - btAlignedObjectArray floatArray; - TokenFloatArray adder(floatArray); - floatArray.reserve(4); - tokenize(text,adder); - assert(floatArray.size() == 4); - if (floatArray.size()==4) - { - vec.setValue(floatArray[0],floatArray[1],floatArray[2],floatArray[3]); - } - return vec; -} - - -void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray& visualShapes, btHashMap& name2Shape, float extraScaling) -{ - btHashMap allSources; - btHashMap vertexSources; - for(TiXmlElement* geometry = doc.RootElement()->FirstChildElement("library_geometries")->FirstChildElement("geometry"); - geometry != NULL; geometry = geometry->NextSiblingElement("geometry")) - { - btAlignedObjectArray vertexPositions; - btAlignedObjectArray vertexNormals; - btAlignedObjectArray indices; - - const char* geometryName = geometry->Attribute("id"); - for (TiXmlElement* mesh = geometry->FirstChildElement("mesh");(mesh != NULL); mesh = mesh->NextSiblingElement("mesh")) - { - TiXmlElement* vertices2 = mesh->FirstChildElement("vertices"); - - for (TiXmlElement* source = mesh->FirstChildElement("source");source != NULL;source = source->NextSiblingElement("source")) - { - const char* srcId= source->Attribute("id"); -// printf("source id=%s\n",srcId); - allSources.insert(srcId,source); - } - const char* vertexId = vertices2->Attribute("id"); - //printf("vertices id=%s\n",vertexId); - VertexSource vs; - for(TiXmlElement* input = vertices2->FirstChildElement("input");input != NULL;input = input->NextSiblingElement("input")) - { - const char* sem = input->Attribute("semantic"); - std::string semName(sem); -// printf("sem=%s\n",sem); - // const char* src = input->Attribute("source"); -// printf("src=%s\n",src); - const char* srcIdRef = input->Attribute("source"); - std::string source_name; - source_name = std::string(srcIdRef); - source_name = source_name.erase(0, 1); - if (semName=="POSITION") - { - vs.m_positionArrayId = source_name; - } - if (semName=="NORMAL") - { - vs.m_normalArrayId = source_name; - } - } - vertexSources.insert(vertexId,vs); - - for (TiXmlElement* primitive = mesh->FirstChildElement("triangles"); primitive; primitive = primitive->NextSiblingElement("triangles")) - { - std::string positionSourceName; - std::string normalSourceName; - int primitiveCount; - primitive->QueryIntAttribute("count", &primitiveCount); - int indexStride=1; - int posOffset = 0; - int normalOffset = 0; - int numIndices = 0; - { - - for (TiXmlElement* input = primitive->FirstChildElement("input");input != NULL;input = input->NextSiblingElement("input")) - { - const char* sem = input->Attribute("semantic"); - std::string semName(sem); - int offset = atoi(input->Attribute("offset")); - if ((offset+1)>indexStride) - indexStride=offset+1; - //printf("sem=%s\n",sem); - // const char* src = input->Attribute("source"); - - //printf("src=%s\n",src); - const char* srcIdRef = input->Attribute("source"); - std::string source_name; - source_name = std::string(srcIdRef); - source_name = source_name.erase(0, 1); - - if (semName=="VERTEX") - { - //now we have POSITION and possibly NORMAL too, using same index array (

) - VertexSource* vs = vertexSources[source_name.c_str()]; - if (vs->m_positionArrayId.length()) - { - positionSourceName = vs->m_positionArrayId; - posOffset = offset; - } - if (vs->m_normalArrayId.length()) - { - normalSourceName = vs->m_normalArrayId; - normalOffset = offset; - } - } - if (semName=="NORMAL") - { - btAssert(normalSourceName.length()==0); - normalSourceName = source_name; - normalOffset = offset; - } - } - numIndices = primitiveCount * 3; - } - btAlignedObjectArray positionFloatArray; - int posStride=1; - TiXmlElement** sourcePtr = allSources[positionSourceName.c_str()]; - if (sourcePtr) - { - readFloatArray(*sourcePtr,positionFloatArray, posStride); - } - btAlignedObjectArray normalFloatArray; - int normalStride=1; - sourcePtr = allSources[normalSourceName.c_str()]; - if (sourcePtr) - { - readFloatArray(*sourcePtr,normalFloatArray,normalStride); - } - btAlignedObjectArray curIndices; - curIndices.reserve(numIndices*indexStride); - TokenIntArray adder(curIndices); - tokenize(primitive->FirstChildElement("p")->GetText(),adder); - assert(curIndices.size() == numIndices*indexStride); - int indexOffset = vertexPositions.size(); - - for(int index=0; indexnormalIndex)) - { - vertexNormals.push_back(btVector3(normalFloatArray[normalIndex*3+0], - normalFloatArray[normalIndex*3+1], - normalFloatArray[normalIndex*3+2])); - } else - { - //add a dummy normal of length zero, so it is easy to detect that it is an invalid normal - vertexNormals.push_back(btVector3(0,0,0)); - } - } - int curNumIndices = indices.size(); - indices.resize(curNumIndices+numIndices); - for(int index=0; index; - 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) -{ - - - btMatrix4x4 nodeTrans; - nodeTrans.setIdentity(); - - ///todo(erwincoumans) we probably have to read the elements 'translate', 'scale', 'rotate' and 'matrix' in-order and accumulate them... - { - for (TiXmlElement* transElem = node->FirstChildElement("matrix");transElem;transElem=node->NextSiblingElement("matrix")) - { - if (transElem->GetText()) - { - btAlignedObjectArray floatArray; - TokenFloatArray adder(floatArray); - tokenize(transElem->GetText(),adder); - if (floatArray.size()==16) - { - btMatrix4x4 t(floatArray[0],floatArray[1],floatArray[2],floatArray[3], - floatArray[4],floatArray[5],floatArray[6],floatArray[7], - floatArray[8],floatArray[9],floatArray[10],floatArray[11], - floatArray[12],floatArray[13],floatArray[14],floatArray[15]); - - nodeTrans = nodeTrans*t; - } else - { - b3Warning("Error: expected 16 elements in a element, skipping\n"); - } - } - } - } - - { - for (TiXmlElement* transElem = node->FirstChildElement("translate");transElem;transElem=node->NextSiblingElement("translate")) - { - if (transElem->GetText()) - { - btVector3 pos = getVector3FromXmlText(transElem->GetText()); - //nodePos+= unitScaling*parentScaling*pos; - btMatrix4x4 t; - t.setPureTranslation(pos); - nodeTrans = nodeTrans*t; - - } - } - } - { - for(TiXmlElement* scaleElem = node->FirstChildElement("scale"); - scaleElem!= NULL; scaleElem= node->NextSiblingElement("scale")) - { - if (scaleElem->GetText()) - { - btVector3 scaling = getVector3FromXmlText(scaleElem->GetText()); - btMatrix4x4 t; - t.setPureScaling(scaling); - nodeTrans = nodeTrans*t; - } - } - } - { - for(TiXmlElement* rotateElem = node->FirstChildElement("rotate"); - rotateElem!= NULL; rotateElem= node->NextSiblingElement("rotate")) - { - if (rotateElem->GetText()) - { - //accumulate orientation - btVector4 rotate = getVector4FromXmlText(rotateElem->GetText()); - btQuaternion orn(btVector3(rotate),btRadians(rotate[3]));//COLLADA DAE rotate is in degrees, convert to radians - btMatrix4x4 t; - t.setPureRotation(orn); - nodeTrans = nodeTrans*t; - } - } - } - - nodeTrans = parentTransMat*nodeTrans; - - for (TiXmlElement* instanceGeom = node->FirstChildElement("instance_geometry"); - instanceGeom!=0; - instanceGeom=instanceGeom->NextSiblingElement("instance_geometry")) - { - const char* geomUrl = instanceGeom->Attribute("url"); - //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); - ColladaGraphicsInstance& instance = visualShapeInstances.expand(); - instance.m_shapeIndex = *shapeIndexPtr; - instance.m_worldTransform = nodeTrans; - } else - { - b3Warning("geom not found\n"); - } - } - - for(TiXmlElement* childNode = node->FirstChildElement("node"); - childNode!= NULL; childNode = childNode->NextSiblingElement("node")) - { - readNodeHierarchy(childNode,name2Shape,visualShapeInstances, nodeTrans); - } -} -void readVisualSceneInstanceGeometries(TiXmlDocument& doc, btHashMap& name2Shape, btAlignedObjectArray& visualShapeInstances) -{ - btHashMap allVisualScenes; - - TiXmlElement* libVisualScenes = doc.RootElement()->FirstChildElement("library_visual_scenes"); - if (libVisualScenes==0) - return; - - { - for(TiXmlElement* scene = libVisualScenes->FirstChildElement("visual_scene"); - scene != NULL; scene = scene->NextSiblingElement("visual_scene")) - { - const char* sceneName = scene->Attribute("id"); - allVisualScenes.insert(sceneName,scene); - } - } - - TiXmlElement* scene = 0; - { - TiXmlElement* scenes = doc.RootElement()->FirstChildElement("scene"); - if (scenes) - { - TiXmlElement* instanceSceneReference = scenes->FirstChildElement("instance_visual_scene"); - if (instanceSceneReference) - { - const char* instanceSceneUrl = instanceSceneReference->Attribute("url"); - TiXmlElement** sceneInstancePtr = allVisualScenes[instanceSceneUrl+1];//skip # - if (sceneInstancePtr) - { - scene = *sceneInstancePtr; - } - } - } - } - - if (scene) - { - for(TiXmlElement* node = scene->FirstChildElement("node"); - node != NULL; node = node->NextSiblingElement("node")) - { - btMatrix4x4 identity; - identity.setIdentity(); - btVector3 identScaling(1,1,1); - readNodeHierarchy(node,name2Shape,visualShapeInstances, identity); - - } - - } -} - -void getUnitMeterScalingAndUpAxisTransform(TiXmlDocument& doc, btTransform& tr, float& unitMeterScaling, int clientUpAxis) -{ - ///todo(erwincoumans) those up-axis transformations have been quickly coded without rigorous testing - - TiXmlElement* unitMeter = doc.RootElement()->FirstChildElement("asset")->FirstChildElement("unit"); - if (unitMeter) - { - const char* meterText = unitMeter->Attribute("meter"); - //printf("meterText=%s\n", meterText); - unitMeterScaling = atof(meterText); - } - - TiXmlElement* upAxisElem = doc.RootElement()->FirstChildElement("asset")->FirstChildElement("up_axis"); - if (upAxisElem) - { - switch (clientUpAxis) - { - - case 1: - { - std::string upAxisTxt = upAxisElem->GetText(); - if (upAxisTxt == "X_UP") - { - btQuaternion x2y(btVector3(0,0,1),SIMD_HALF_PI); - tr.setRotation(x2y); - } - if (upAxisTxt == "Y_UP") - { - //assume Y_UP for now, to be compatible with assimp? - //client and COLLADA are both Z_UP so no transform needed (identity) - } - if (upAxisTxt == "Z_UP") - { - btQuaternion z2y(btVector3(1,0,0),-SIMD_HALF_PI); - tr.setRotation(z2y); - } - break; - } - case 2: - { - std::string upAxisTxt = upAxisElem->GetText(); - if (upAxisTxt == "X_UP") - { - btQuaternion x2z(btVector3(0,1,0),-SIMD_HALF_PI); - tr.setRotation(x2z); - } - if (upAxisTxt == "Y_UP") - { - btQuaternion y2z(btVector3(1,0,0),SIMD_HALF_PI); - tr.setRotation(y2z); - } - if (upAxisTxt == "Z_UP") - { - //client and COLLADA are both Z_UP so no transform needed (identity) - } - break; - } - case 0: - default: - { - //we don't support X or other up axis - btAssert(0); - } - }; - } -} - -void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray& visualShapes, btAlignedObjectArray& visualShapeInstances, btTransform& upAxisTransform, float& unitMeterScaling,int clientUpAxis) -{ - -// GLInstanceGraphicsShape* instance = 0; - - //usually COLLADA files don't have that many visual geometries/shapes - visualShapes.reserve(MAX_VISUAL_SHAPES); - - float extraScaling = 1;//0.01; - btHashMap name2ShapeIndex; - b3FileUtils f; - char filename[1024]; - if (!f.findFile(relativeFileName,filename,1024)) - { - b3Warning("File not found: %s\n", filename); - return; - } - - TiXmlDocument doc(filename); - if (!doc.LoadFile()) - return; - - //We need units to be in meter, so apply a scaling using the asset/units meter - unitMeterScaling=1; - upAxisTransform.setIdentity(); - - //Also we can optionally compensate all transforms using the asset/up_axis as well as unit meter scaling - getUnitMeterScalingAndUpAxisTransform(doc, upAxisTransform, unitMeterScaling,clientUpAxis); - - btMatrix4x4 ident; - ident.setIdentity(); - - readLibraryGeometries(doc, visualShapes, name2ShapeIndex, extraScaling); - - readVisualSceneInstanceGeometries(doc, name2ShapeIndex, visualShapeInstances); - -} - - - -#ifdef COMPARE_WITH_ASSIMP - -#include -#include -#include -#include - - -# include "assimp/ColladaLoader.h" -//# include "STLLoader.h" -# include "assimp/SortByPTypeProcess.h" -# include "assimp/LimitBoneWeightsProcess.h" -# include "assimp/TriangulateProcess.h" -# include "assimp/JoinVerticesProcess.h" -# include "assimp/RemoveVCProcess.h" - - -namespace Assimp { - // ------------------------------------------------------------------------------------------------ -void GetImporterInstanceList(std::vector< BaseImporter* >& out) - { - out.push_back( new ColladaLoader()); - } - // ------------------------------------------------------------------------------------------------ -void GetPostProcessingStepInstanceList(std::vector< BaseProcess* >& out) - { - out.push_back( new SortByPTypeProcess()); - out.push_back( new LimitBoneWeightsProcess()); - out.push_back( new TriangulateProcess()); - out.push_back( new JoinVerticesProcess()); - //out.push_back( new RemoveVCProcess()); - } - -} - -static void addMeshParts(const aiScene* scene, const aiNode* node, GLInstanceGraphicsShape* outverts, const aiMatrix4x4& parentTr) -{ - aiMatrix4x4 const& nodeTrans(node->mTransformation); - - aiMatrix4x4 trans; - trans = parentTr * nodeTrans; - - for (size_t i = 0; i < node->mNumMeshes; ++i) - { - aiMesh const* mesh = scene->mMeshes[node->mMeshes[i]]; - size_t num_vertices = mesh->mNumVertices; - if (mesh->mPrimitiveTypes==aiPrimitiveType_TRIANGLE) - { - int curVertexBase = outverts->m_vertices->size(); - - for (int v=0;vmNumVertices;v++) - { - GLInstanceVertex vtx; - aiVector3D vWorld = trans*mesh->mVertices[v]; - vtx.xyzw[0] = vWorld.x; - vtx.xyzw[1] = vWorld.y; - vtx.xyzw[2] = vWorld.z; - vtx.xyzw[3] = 1; - if (mesh->HasNormals()) - { - vtx.normal[0] = mesh->mNormals[v].x; - vtx.normal[1] = mesh->mNormals[v].y; - vtx.normal[2] = mesh->mNormals[v].z; - } else - { - vtx.normal[0] = 0; - vtx.normal[1] = 0; - vtx.normal[2] = 1; - } - if (mesh->HasTextureCoords(0)) - { - vtx.uv[0] = mesh->mTextureCoords[0][v].x; - vtx.uv[1] = mesh->mTextureCoords[0][v].y; - } else - { - vtx.uv[0]=0.5f; - vtx.uv[1]=0.5f; - } - outverts->m_vertices->push_back(vtx); - } - for (int f=0;fmNumFaces;f++) - { - b3Assert(mesh->mFaces[f].mNumIndices == 3); - int i0 = mesh->mFaces[f].mIndices[0]; - int i1 = mesh->mFaces[f].mIndices[1]; - int i2 = mesh->mFaces[f].mIndices[2]; - outverts->m_indices->push_back(i0+curVertexBase); - outverts->m_indices->push_back(i1+curVertexBase); - outverts->m_indices->push_back(i2+curVertexBase); - } - } - } - for (size_t i=0 ; imNumChildren ; ++i) { - addMeshParts(scene,node->mChildren[i], outverts, trans); - } -} - - -void LoadMeshFromColladaAssimp(const char* relativeFileName, btAlignedObjectArray& visualShapes, btAlignedObjectArray& visualShapeInstances,btTransform& upAxisTrans, float& unitMeterScaling) -{ - upAxisTrans.setIdentity(); - unitMeterScaling=1; - - GLInstanceGraphicsShape* shape = 0; - - - FILE* file = fopen(relativeFileName,"rb"); - if (file) - { - int size=0; - if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET)) - { - b3Warning("Error: Cannot access file to determine size of %s\n", relativeFileName); - } else - { - if (size) - { - //printf("Open DAE file of %d bytes\n",size); - - Assimp::Importer importer; - //importer.SetPropertyInteger(AI_CONFIG_PP_RVC_FLAGS, aiComponent_NORMALS | aiComponent_COLORS); - importer.SetPropertyInteger(AI_CONFIG_PP_SBP_REMOVE, aiPrimitiveType_LINE | aiPrimitiveType_POINT); - // importer.SetPropertyInteger(AI_CONFIG_IMPORT_COLLADA_IGNORE_UP_DIRECTION, 1); - aiScene const* scene = importer.ReadFile(relativeFileName, - aiProcess_JoinIdenticalVertices | - //aiProcess_RemoveComponent | - aiProcess_SortByPType | - aiProcess_Triangulate); - if (scene) - { - shape = &visualShapes.expand(); - shape->m_scaling[0] = 1; - shape->m_scaling[1] = 1; - shape->m_scaling[2] = 1; - shape->m_scaling[3] = 1; - int index = 0; - shape->m_indices = new b3AlignedObjectArray(); - shape->m_vertices = new b3AlignedObjectArray(); - - aiMatrix4x4 ident; - addMeshParts(scene, scene->mRootNode, shape, ident); - shape->m_numIndices = shape->m_indices->size(); - shape->m_numvertices = shape->m_vertices->size(); - ColladaGraphicsInstance& instance = visualShapeInstances.expand(); - instance.m_shapeIndex = visualShapes.size()-1; - } - } - } - - } - -} - -#endif //COMPARE_WITH_ASSIMP diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h --- bullet-2.86.1+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h 1970-01-01 00:00:00.000000000 +0000 @@ -1,45 +0,0 @@ -/* -Bullet Collision Detection and Physics Library http://bulletphysics.org -This file is Copyright (c) 2014 Google Inc. - -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. - -//original author: Erwin Coumans -*/ - - -#ifndef LOAD_MESH_FROM_COLLADA_H -#define LOAD_MESH_FROM_COLLADA_H - -#include "LinearMath/btAlignedObjectArray.h" -#include "LinearMath/btTransform.h" -#include "../../OpenGLWindow/GLInstanceGraphicsShape.h" -#include "ColladaGraphicsInstance.h" - - -void LoadMeshFromCollada(const char* relativeFileName, - btAlignedObjectArray& visualShapes, - btAlignedObjectArray& visualShapeInstances, - btTransform& upAxisTrans, - float& unitMeterScaling, - int clientUpAxis); - -//#define COMPARE_WITH_ASSIMP -#ifdef COMPARE_WITH_ASSIMP -void LoadMeshFromColladaAssimp(const char* relativeFileName, - btAlignedObjectArray& visualShapes, - btAlignedObjectArray& visualShapeInstances, - btTransform& upAxisTrans, - float& unitMeterScaling - ); -#endif //COMPARE_WITH_ASSIMP - -#endif //LOAD_MESH_FROM_COLLADA_H diff -Nru bullet-2.86.1+dfsg/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp bullet-2.87+dfsg/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp --- bullet-2.86.1+dfsg/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,87 +0,0 @@ -#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-2.86.1+dfsg/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp bullet-2.87+dfsg/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp --- bullet-2.86.1+dfsg/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp 2017-02-17 23:43:38.000000000 +0000 +++ bullet-2.87+dfsg/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp 1970-01-01 00:00:00.000000000 +0000 @@ -1,1687 +0,0 @@ -#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; - } - - //,