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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;
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