diff options
Diffstat (limited to 'bullet2.83.patch')
| -rw-r--r-- | bullet2.83.patch | 164 |
1 files changed, 0 insertions, 164 deletions
diff --git a/bullet2.83.patch b/bullet2.83.patch deleted file mode 100644 index b3f4ea70f823..000000000000 --- a/bullet2.83.patch +++ /dev/null @@ -1,164 +0,0 @@ -diff -r 59fe735eb3442e86d6277dfbd984103939405dca -r 48cbb03cc128623f8c1aaad8746bf8bf5f08b1f9 cmake/SearchForStuff.cmake ---- a/cmake/SearchForStuff.cmake -+++ b/cmake/SearchForStuff.cmake -@@ -122,7 +122,7 @@ - set(SimTK_INSTALL_DIR ${SimTK_INSTALL_PREFIX}) - #list(APPEND CMAKE_MODULE_PATH ${SimTK_INSTALL_PREFIX}/share/cmake) - find_package(Simbody) -- if (SIMBODY_FOUND) -+ if (Simbody_FOUND) - set (HAVE_SIMBODY TRUE) - else() - BUILD_WARNING ("Simbody not found, for simbody physics engine option, please install libsimbody-dev.") -@@ -379,6 +379,10 @@ - add_definitions( -DLIBBULLET_VERSION=0.0 ) - BUILD_WARNING ("Bullet > 2.82 not found, for bullet physics engine option, please install libbullet2.82-dev.") - endif() -+ -+ if (BULLET_VERSION VERSION_GREATER 2.82) -+ add_definitions( -DLIBBULLET_VERSION_GT_282 ) -+ endif() - - else (PKG_CONFIG_FOUND) - set (BUILD_GAZEBO OFF CACHE INTERNAL "Build Gazebo" FORCE) -diff -r 59fe735eb3442e86d6277dfbd984103939405dca -r 48cbb03cc128623f8c1aaad8746bf8bf5f08b1f9 gazebo/physics/bullet/BulletHinge2Joint.cc ---- a/gazebo/physics/bullet/BulletHinge2Joint.cc -+++ b/gazebo/physics/bullet/BulletHinge2Joint.cc -@@ -211,8 +211,12 @@ - return math::Angle(); - } - -- btRotationalLimitMotor *motor = -- this->bulletHinge2->getRotationalLimitMotor(_index); -+#ifndef LIBBULLET_VERSION_GT_282 -+ btRotationalLimitMotor *motor; -+#else -+ btRotationalLimitMotor2 *motor; -+#endif -+ motor = this->bulletHinge2->getRotationalLimitMotor(_index); - if (motor) - return motor->m_hiLimit; - -@@ -229,8 +233,12 @@ - return math::Angle(0.0); - } - -- btRotationalLimitMotor *motor = -- this->bulletHinge2->getRotationalLimitMotor(_index); -+#ifndef LIBBULLET_VERSION_GT_282 -+ btRotationalLimitMotor *motor; -+#else -+ btRotationalLimitMotor2 *motor; -+#endif -+ motor = this->bulletHinge2->getRotationalLimitMotor(_index); - if (motor) - return motor->m_loLimit; - -diff -r 59fe735eb3442e86d6277dfbd984103939405dca -r 48cbb03cc128623f8c1aaad8746bf8bf5f08b1f9 gazebo/physics/bullet/BulletHingeJoint.cc ---- a/gazebo/physics/bullet/BulletHingeJoint.cc -+++ b/gazebo/physics/bullet/BulletHingeJoint.cc -@@ -104,7 +104,11 @@ - // If both links exist, then create a joint between the two links. - if (bulletChildLink && bulletParentLink) - { -+#ifdef LIBBULLET_VERSION_GT_282 -+ this->bulletHinge = new btHingeAccumulatedAngleConstraint( -+#else - this->bulletHinge = new btHingeConstraint( -+#endif - *(bulletChildLink->GetBulletLink()), - *(bulletParentLink->GetBulletLink()), - BulletTypes::ConvertVector3(pivotChild), -@@ -116,7 +120,11 @@ - // and the world. - else if (bulletChildLink) - { -+#ifdef LIBBULLET_VERSION_GT_282 -+ this->bulletHinge = new btHingeAccumulatedAngleConstraint( -+#else - this->bulletHinge = new btHingeConstraint( -+#endif - *(bulletChildLink->GetBulletLink()), - BulletTypes::ConvertVector3(pivotChild), - BulletTypes::ConvertVector3(axisChild)); -@@ -125,7 +133,11 @@ - // and the world. - else if (bulletParentLink) - { -+#ifdef LIBBULLET_VERSION_GT_282 -+ this->bulletHinge = new btHingeAccumulatedAngleConstraint( -+#else - this->bulletHinge = new btHingeConstraint( -+#endif - *(bulletParentLink->GetBulletLink()), - BulletTypes::ConvertVector3(pivotParent), - BulletTypes::ConvertVector3(axisParent)); -@@ -148,7 +160,7 @@ - - // Set angleOffset based on hinge angle at joint creation. - // GetAngleImpl will report angles relative to this offset. -- this->angleOffset = this->bulletHinge->getHingeAngle(); -+ this->angleOffset = this->GetAngleImpl(0).Radian(); - - // Apply joint angle limits here. - // TODO: velocity and effort limits. -@@ -209,7 +221,21 @@ - { - math::Angle result; - if (this->bulletHinge) -- result = this->bulletHinge->getHingeAngle() - this->angleOffset; -+ { -+#ifdef LIBBULLET_VERSION_GT_282 -+ btHingeAccumulatedAngleConstraint* hinge = -+ static_cast<btHingeAccumulatedAngleConstraint*>(this->bulletHinge); -+ if (hinge) -+ { -+ result = hinge->getAccumulatedHingeAngle(); -+ } -+ else -+#endif -+ { -+ result = this->bulletHinge->getHingeAngle(); -+ } -+ result -= this->angleOffset; -+ } - return result; - } - -diff -r 59fe735eb3442e86d6277dfbd984103939405dca -r 48cbb03cc128623f8c1aaad8746bf8bf5f08b1f9 test/integration/joint_revolute.cc ---- a/test/integration/joint_revolute.cc -+++ b/test/integration/joint_revolute.cc -@@ -16,6 +16,7 @@ - */ - - #include "ServerFixture.hh" -+#include "gazebo/gazebo_config.h" - #include "gazebo/physics/physics.hh" - #include "SimplePendulumIntegrator.hh" - #include "helper_physics_generator.hh" -@@ -99,12 +100,15 @@ - //////////////////////////////////////////////////////////// - void JointTestRevolute::WrapAngle(const std::string &_physicsEngine) - { -- /// \TODO: bullet hinge angles are wrapped (#1074) -+#ifndef LIBBULLET_VERSION_GT_282 -+ /// bullet hinge angles are wrapped for 2.82 and less - if (_physicsEngine == "bullet") - { -- gzerr << "Aborting test for bullet, see issues #1074.\n"; -+ gzerr << "Aborting test for bullet, angle wrapping requires bullet 2.83" -+ << std::endl; - return; - } -+#endif - - // Load an empty world - Load("worlds/empty.world", true, _physicsEngine); -@@ -127,6 +131,7 @@ - ASSERT_TRUE(joint != NULL); - - // set velocity to 2 pi rad/s and step forward 1.5 seconds. -+ // angle should reach 3 pi rad. - double vel = 2*M_PI; - unsigned int stepSize = 50; - unsigned int stepCount = 30; |