premake add enable_stable_pd option, so Bullet can be compiled withou…

…t C++11 (Visual Studio 2010 etc) PyBullet: improve sleeping: if the base is static and all joints in the chain between this link and the base are fixed, then this link is static too (doesn't merge islands) Fix PyBullet compilation of Visual Studion 2010
lshil00 · Aug 8, 2019 · 226819b · 226819b
1 parent 098cde5
commit 226819b
Show file tree

Hide file tree

Showing 4 changed files with 200 additions and 157 deletions.
diff --git a/build3/premake4.lua b/build3/premake4.lua
@@ -54,6 +54,13 @@
 		description = "Try to link and use system X11 headers instead of dynamically loading X11 (dlopen is default)"
 	}
 
+	newoption
+	{
+		trigger = "enable_stable_pd",
+		description = "Enable Stable PD control in PyBullet"
+	}
+
+
 	newoption
 	{
 		trigger = "enable_static_vr_plugin",

diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -660,6 +660,27 @@ btTransform ConvertURDF2BulletInternal(
 
 				if (mbLinkIndex >= 0)  //???? double-check +/- 1
 				{
+					//if the base is static and all joints in the chain between this link and the base are fixed, 
+					//then this link is static too (doesn't merge islands)
+					if (cache.m_bulletMultiBody->getBaseMass() == 0)
+					{
+						bool allJointsFixed = true;
+						int testLinkIndex = mbLinkIndex;
+						do
+						{
+							if (cache.m_bulletMultiBody->getLink(testLinkIndex).m_jointType != btMultibodyLink::eFixed)
+							{
+								allJointsFixed = false;
+								break;
+							}
+							testLinkIndex = cache.m_bulletMultiBody->getLink(testLinkIndex).m_parent;
+						} while (testLinkIndex> 0);
+						if (allJointsFixed)
+						{
+							col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
+						}
+
+					}
 					cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider = col;
 					if (flags & CUF_USE_SELF_COLLISION_INCLUDE_PARENT)
 					{

diff --git a/examples/pybullet/premake4.lua b/examples/pybullet/premake4.lua
@@ -17,7 +17,8 @@ project ("pybullet")
 
 		includedirs {"../../src", "../../examples",
 		"../../examples/ThirdPartyLibs"}
-		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "STATIC_LINK_SPD_PLUGIN"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+
 
 
 	hasCL = findOpenCL("clew")
@@ -181,6 +182,12 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
 			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
+
+
+
+	if _OPTIONS["enable_stable_pd"] then
+		defines {"STATIC_LINK_SPD_PLUGIN"}
+		files {
 			"../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp",
 			"../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h",
 			"../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp",
@@ -196,7 +203,9 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp",
 			"../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h",
 			}
-
+		end
+
+
 	if _OPTIONS["enable_physx"] then
   	defines {"BT_ENABLE_PHYSX","PX_PHYSX_STATIC_LIB", "PX_FOUNDATION_DLL=0"}