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[Opende-svn] SF.net SVN: opende:[1771] branches/wg
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From: <hsu...@us...> - 2010-12-01 00:05:11
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Revision: 1771
http://opende.svn.sourceforge.net/opende/?rev=1771&view=rev
Author: hsujohnhsu
Date: 2010-11-30 23:45:40 +0000 (Tue, 30 Nov 2010)
Log Message:
-----------
merging from trunk, includes libccd for cylinder to cylinder collision. should resolve https://code.ros.org/trac/ros-pkg/ticket/2501.
Modified Paths:
--------------
branches/wg/CHANGELOG.txt
branches/wg/Makefile.am
branches/wg/OPCODE/Opcode.h
branches/wg/autogen.sh
branches/wg/build/premake4.lua
branches/wg/configure.in
branches/wg/include/ode/collision.h
branches/wg/include/ode/odeconfig.h
branches/wg/include/ode/odeinit.h
branches/wg/ode/src/Makefile.am
branches/wg/ode/src/collision_kernel.cpp
branches/wg/ode/src/collision_transform.cpp
branches/wg/tests/joints/hinge.cpp
Added Paths:
-----------
branches/wg/libccd/
branches/wg/libccd/src/
branches/wg/libccd/src/ccd/
branches/wg/libccd/src/testsuites/
branches/wg/libccd/src/testsuites/cu/
branches/wg/libccd/src/testsuites/regressions/
branches/wg/ode/src/collision_libccd.cpp
branches/wg/ode/src/collision_libccd.h
Removed Paths:
-------------
branches/wg/libccd/src/
branches/wg/libccd/src/ccd/
branches/wg/libccd/src/testsuites/
branches/wg/libccd/src/testsuites/cu/
branches/wg/libccd/src/testsuites/regressions/
Property Changed:
----------------
branches/wg/
Property changes on: branches/wg
___________________________________________________________________
Added: svn:mergeinfo
+ /trunk:1741-1770
Modified: branches/wg/CHANGELOG.txt
===================================================================
--- branches/wg/CHANGELOG.txt 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/CHANGELOG.txt 2010-11-30 23:45:40 UTC (rev 1771)
@@ -8,11 +8,15 @@
* keep the format consistent (79 char width, M/D/Y date format).
------------------------------------------------------------------------------
+11/08/10 Daniel K. O.
+ * Applied patches from Daniel Fiser to incorporate libccd for
+ Cylinder-Cylinder collision tests.
+
08/21/10 Oleh Derevenko
- * Fix applied to dxReallocateTemporayWorldProcessContext() to remove typo
- which caused segmentation fault (by Kyle McKay).
- dTestSolveLCP() fixed to avoid exceeding allocated memory pool
- (by Kyle McKay).
+ * Fix applied to dxReallocateTemporayWorldProcessContext() to remove typo
+ which caused segmentation fault (by Kyle McKay).
+ dTestSolveLCP() fixed to avoid exceeding allocated memory pool
+ (by Kyle McKay).
07/19/10 Oleh Derevenko
* Patch applied (#3030783) to fix drawstuff dimensions being ignored
in OSX GLUT port (by Danny Price).
Modified: branches/wg/Makefile.am
===================================================================
--- branches/wg/Makefile.am 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/Makefile.am 2010-11-30 23:45:40 UTC (rev 1771)
@@ -2,6 +2,10 @@
OU_DIR = ou
endif
+if LIBCCD
+LIBCCD_DIR = libccd
+endif
+
if ENABLE_DEMOS
DRAWSTUFF_DIR = drawstuff
endif
@@ -19,6 +23,7 @@
$(GIMPACT_DIR) \
$(OPCODE_DIR) \
$(OU_DIR) \
+ $(LIBCCD_DIR) \
ode \
tests
Modified: branches/wg/OPCODE/Opcode.h
===================================================================
--- branches/wg/OPCODE/Opcode.h 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/OPCODE/Opcode.h 2010-11-30 23:45:40 UTC (rev 1771)
@@ -20,6 +20,10 @@
#ifndef __OPCODE_H__
#define __OPCODE_H__
+// stdarg.h must be included before Opcode headers as it later
+// may not compile being not able to find std::va_list
+#include <stdarg.h>
+
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Things to help us compile on non-windows platforms
Modified: branches/wg/autogen.sh
===================================================================
--- branches/wg/autogen.sh 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/autogen.sh 2010-11-30 23:45:40 UTC (rev 1771)
@@ -49,4 +49,9 @@
#./configure $*
+if [ -d libccd ]; then
+ echo "Running bootstrap in libccd directory"
+ (cd libccd && ./bootstrap)
+fi;
+
echo "Now you are ready to run ./configure"
Modified: branches/wg/build/premake4.lua
===================================================================
--- branches/wg/build/premake4.lua 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/build/premake4.lua 2010-11-30 23:45:40 UTC (rev 1771)
@@ -77,6 +77,11 @@
}
newoption {
+ trigger = "with-libccd",
+ description = "Uses libccd for handling some collision tests absent in ODE."
+ }
+
+ newoption {
trigger = "no-dif",
description = "Exclude DIF (Dynamics Interchange Format) exports"
}
@@ -192,10 +197,10 @@
flags { "OptimizeSpeed", "NoFramePointer" }
configuration { "only-single or *Single*" }
- defines { "dSINGLE" }
+ defines { "dSINGLE", "CCD_SINGLE" }
configuration { "only-double or *Double*" }
- defines { "dDOUBLE" }
+ defines { "dDOUBLE", "CCD_DOUBLE" }
configuration { "Windows" }
defines { "WIN32" }
@@ -262,7 +267,8 @@
"../ode/src/joints",
"../OPCODE",
"../GIMPACT/include",
- "../ou/include"
+ "../ou/include",
+ "../libccd/src"
}
files {
@@ -307,6 +313,14 @@
files { "../ou/**.h", "../ou/**.cpp" }
defines { "_OU_NAMESPACE=odeou" }
+ configuration { "with-libccd" }
+ files { "../libccd/src/ccd/*.h", "../libccd/src/*.c",
+ "../ode/src/collision_libccd.cpp", "../ode/src/collision_libccd.h" }
+ defines { "dLIBCCD_ENABLED", "dLIBCCD_CYL_CYL" }
+
+ configuration { "not with-libccd" }
+ excludes { "../ode/src/collision_libccd.cpp", "../ode/src/collision_libccd.h" }
+
configuration { "windows" }
links { "user32" }
Modified: branches/wg/configure.in
===================================================================
--- branches/wg/configure.in 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/configure.in 2010-11-30 23:45:40 UTC (rev 1771)
@@ -342,6 +342,19 @@
AM_CONDITIONAL(ENABLE_OU, test x$use_ou = xyes)
+
+libccd=no
+AC_ARG_WITH(libccd, AS_HELP_STRING([--with-libccd=[cyl-cyl|no]],
+ [use the libccd library for specified collision detection @<:@default=no@:>@]),
+ libccd=$withval,libccd=no
+)
+AC_CONFIG_SUBDIRS([libccd])
+
+AM_CONDITIONAL(LIBCCD, test x$libccd != xno)
+AM_CONDITIONAL(LIBCCD_CYL_CYL, test x$libccd = xcyl-cyl)
+
+
+
AC_ARG_ENABLE([asserts],
AS_HELP_STRING([--disable-asserts],
[disables debug error checking]),
@@ -434,6 +447,7 @@
echo " Demos enabled: $enable_demos"
echo " Use OPCODE: $opcode"
echo " Use GIMPACT: $gimpact"
+echo " Use libccd: $libccd"
echo " Is target a Pentium: $pentium"
echo " Is target x86-64: $cpu64"
echo " Use old opcode trimesh collider: $old_trimesh"
Modified: branches/wg/include/ode/collision.h
===================================================================
--- branches/wg/include/ode/collision.h 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/include/ode/collision.h 2010-11-30 23:45:40 UTC (rev 1771)
@@ -411,7 +411,7 @@
enum
{
dGeomCommonControlClass = 0,
- dGeomColliderControlClass = 1,
+ dGeomColliderControlClass = 1
};
enum
@@ -419,7 +419,7 @@
dGeomCommonAnyControlCode = 0,
dGeomColliderSetMergeSphereContactsControlCode = 1,
- dGeomColliderGetMergeSphereContactsControlCode = 2,
+ dGeomColliderGetMergeSphereContactsControlCode = 2
};
enum
@@ -427,7 +427,7 @@
dGeomColliderMergeContactsValue__Default = 0, // Used with Set... to restore default value
dGeomColliderMergeContactsValue_None = 1,
dGeomColliderMergeContactsValue_Normals = 2,
- dGeomColliderMergeContactsValue_Full = 3,
+ dGeomColliderMergeContactsValue_Full = 3
};
/**
Modified: branches/wg/include/ode/odeconfig.h
===================================================================
--- branches/wg/include/ode/odeconfig.h 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/include/ode/odeconfig.h 2010-11-30 23:45:40 UTC (rev 1771)
@@ -41,14 +41,14 @@
typedef unsigned int uint32;
typedef short int16;
typedef unsigned short uint16;
- typedef char int8;
+ typedef signed char int8;
typedef unsigned char uint8;
#else
typedef int int32;
typedef unsigned int uint32;
typedef short int16;
typedef unsigned short uint16;
- typedef char int8;
+ typedef signed char int8;
typedef unsigned char uint8;
#endif
Modified: branches/wg/include/ode/odeinit.h
===================================================================
--- branches/wg/include/ode/odeinit.h 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/include/ode/odeinit.h 2010-11-30 23:45:40 UTC (rev 1771)
@@ -74,7 +74,7 @@
* @ingroup init
*/
enum dInitODEFlags {
- dInitFlagManualThreadCleanup = 0x00000001, //@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call
+ dInitFlagManualThreadCleanup = 0x00000001 //@< Thread local data is to be cleared explicitly on @c dCleanupODEAllDataForThread function call
};
/**
@@ -148,7 +148,7 @@
dAllocateFlagCollisionData = 0x00000001, //@< Allocate data for collision detection
- dAllocateMaskAll = ~0U, //@< Allocate all the possible data that is currently defined or will be defined in the future.
+ dAllocateMaskAll = ~0U //@< Allocate all the possible data that is currently defined or will be defined in the future.
};
/**
@@ -229,7 +229,7 @@
#ifdef __cplusplus
-}; // extern "C"
+} // extern "C"
#endif
Modified: branches/wg/ode/src/Makefile.am
===================================================================
--- branches/wg/ode/src/Makefile.am 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/ode/src/Makefile.am 2010-11-30 23:45:40 UTC (rev 1771)
@@ -139,4 +139,14 @@
#libode_la_LDFLAGS += $(BOOST_THREAD_LDFLAGS)
#libode_la_LIBS += $(BOOST_THREAD_LIBS)
+if LIBCCD
+AM_CPPFLAGS += -I$(top_srcdir)/libccd/src -I$(top_builddir)/libccd/src -DdLIBCCD_ENABLED
+libode_la_LIBADD += $(top_builddir)/libccd/src/libccd.la
+libode_la_SOURCES += collision_libccd.cpp collision_libccd.h
+
+if LIBCCD_CYL_CYL
+AM_CPPFLAGS += -DdLIBCCD_CYL_CYL
+endif
+
+endif
Modified: branches/wg/ode/src/collision_kernel.cpp
===================================================================
--- branches/wg/ode/src/collision_kernel.cpp 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/ode/src/collision_kernel.cpp 2010-11-30 23:45:40 UTC (rev 1771)
@@ -41,7 +41,11 @@
#include "collision_space_internal.h"
#include "odeou.h"
+#ifdef dLIBCCD_ENABLED
+# include "collision_libccd.h"
+#endif /* dLIBCCD_ENABLED */
+
#ifdef _MSC_VER
#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
#endif
@@ -202,8 +206,11 @@
setCollider (dCylinderClass,dBoxClass,&dCollideCylinderBox);
setCollider (dCylinderClass,dSphereClass,&dCollideCylinderSphere);
setCollider (dCylinderClass,dPlaneClass,&dCollideCylinderPlane);
- //setCollider (dCylinderClass,dCylinderClass,&dCollideCylinderCylinder);
+#ifdef dLIBCCD_CYL_CYL
+ setCollider (dCylinderClass, dCylinderClass, &dCollideCylinderCylinder);
+#endif
+
//--> Convex Collision
setCollider (dConvexClass,dPlaneClass,&dCollideConvexPlane);
setCollider (dSphereClass,dConvexClass,&dCollideSphereConvex);
Copied: branches/wg/ode/src/collision_libccd.cpp (from rev 1770, trunk/ode/src/collision_libccd.cpp)
===================================================================
--- branches/wg/ode/src/collision_libccd.cpp (rev 0)
+++ branches/wg/ode/src/collision_libccd.cpp 2010-11-30 23:45:40 UTC (rev 1771)
@@ -0,0 +1,108 @@
+#include <ode/collision.h>
+#include <ode/odemath.h>
+#include <ccd/ccd.h>
+#include <ccd/quat.h>
+#include "collision_libccd.h"
+
+struct _cyl_t {
+ ccd_real_t radius, height;
+ ccd_vec3_t pos;
+ ccd_quat_t rot, rot_inv;
+};
+typedef struct _cyl_t cyl_t;
+
+static void geomToCyl(const dGeomID geom, cyl_t *cyl)
+{
+ const dReal *ode_pos;
+ dQuaternion ode_rot;
+
+ dGeomCylinderGetParams(geom, &cyl->radius, &cyl->height);
+ ode_pos = dGeomGetPosition(geom);
+ dGeomGetQuaternion(geom, ode_rot);
+
+ ccdVec3Set(&cyl->pos, ode_pos[0], ode_pos[1], ode_pos[2]);
+ ccdQuatSet(&cyl->rot, ode_rot[1], ode_rot[2], ode_rot[3], ode_rot[0]);
+
+ ccdQuatInvert2(&cyl->rot_inv, &cyl->rot);
+}
+
+static void supportCyl(const void *obj, const ccd_vec3_t *_dir,
+ ccd_vec3_t *v)
+{
+ const cyl_t *cyl = (const cyl_t *)obj;
+ ccd_vec3_t dir;
+ double zdist, rad;
+
+ ccdVec3Copy(&dir, _dir);
+ ccdQuatRotVec(&dir, &cyl->rot_inv);
+
+ zdist = dir.v[0] * dir.v[0] + dir.v[1] * dir.v[1];
+ zdist = sqrt(zdist);
+ if (ccdIsZero(zdist)){
+ ccdVec3Set(v, 0., 0., ccdSign(ccdVec3Z(&dir)) * cyl->height * 0.5);
+ }else{
+ rad = cyl->radius / zdist;
+
+ ccdVec3Set(v, rad * ccdVec3X(&dir),
+ rad * ccdVec3Y(&dir),
+ ccdSign(ccdVec3Z(&dir)) * cyl->height * 0.5);
+ }
+
+ // transform support vertex
+ ccdQuatRotVec(v, &cyl->rot);
+ ccdVec3Add(v, &cyl->pos);
+}
+
+static void centerCyl(const void *obj1, ccd_vec3_t *center)
+{
+ const cyl_t *cyl = (const cyl_t *)obj1;
+ ccdVec3Copy(center, &cyl->pos);
+}
+
+
+int dCollideCylinderCylinder(dxGeom *o1, dxGeom *o2, int flags,
+ dContactGeom *contact, int skip)
+{
+ ccd_t ccd;
+ int res;
+ ccd_real_t depth;
+ ccd_vec3_t dir, pos;
+ int max_contacts = (flags & 0xffff);
+ cyl_t cyl1, cyl2;
+
+ if (max_contacts < 1)
+ return 0;
+
+ CCD_INIT(&ccd);
+ ccd.support1 = supportCyl;
+ ccd.support2 = supportCyl;
+ ccd.center1 = centerCyl;
+ ccd.center2 = centerCyl;
+ ccd.mpr_tolerance = 1E-6;
+
+ geomToCyl((dGeomID)o1, &cyl1);
+ geomToCyl((dGeomID)o2, &cyl2);
+
+ res = ccdMPRPenetration(&cyl1, &cyl2, &ccd, &depth, &dir, &pos);
+ if (res == 0){
+ contact->g1 = o1;
+ contact->g2 = o2;
+
+ contact->side1 = contact->side2 = -1;
+
+ contact->depth = depth;
+
+ contact->pos[0] = ccdVec3X(&pos);
+ contact->pos[1] = ccdVec3Y(&pos);
+ contact->pos[2] = ccdVec3Z(&pos);
+
+ ccdVec3Scale(&dir, -1.);
+ contact->normal[0] = ccdVec3X(&dir);
+ contact->normal[1] = ccdVec3Y(&dir);
+ contact->normal[2] = ccdVec3Z(&dir);
+
+ return 1;
+ }
+
+ return 0;
+}
Copied: branches/wg/ode/src/collision_libccd.h (from rev 1770, trunk/ode/src/collision_libccd.h)
===================================================================
--- branches/wg/ode/src/collision_libccd.h (rev 0)
+++ branches/wg/ode/src/collision_libccd.h 2010-11-30 23:45:40 UTC (rev 1771)
@@ -0,0 +1,7 @@
+#ifndef _LIBCCD_COLLISION_H_
+#define _LIBCCD_COLLISION_H_
+
+int dCollideCylinderCylinder(dxGeom *o1, dxGeom *o2, int flags,
+ dContactGeom *contact, int skip);
+
+#endif /* _LIBCCD_COLLISION_H_ */
Modified: branches/wg/ode/src/collision_transform.cpp
===================================================================
--- branches/wg/ode/src/collision_transform.cpp 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/ode/src/collision_transform.cpp 2010-11-30 23:45:40 UTC (rev 1771)
@@ -231,3 +231,4 @@
dxGeomTransform *tr = (dxGeomTransform*) g;
return tr->infomode;
}
+
Modified: branches/wg/tests/joints/hinge.cpp
===================================================================
--- branches/wg/tests/joints/hinge.cpp 2010-11-11 09:18:38 UTC (rev 1770)
+++ branches/wg/tests/joints/hinge.cpp 2010-11-30 23:45:40 UTC (rev 1771)
@@ -894,7 +894,34 @@
}
}
+
+ TEST_FIXTURE(dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Along_X,
+ test_Hinge_dParamVel)
+ {
+ const dReal targetvel = 100;
+ const dReal tolerance = targetvel *
+#ifdef dSINGLE
+ 1e-2
+#else
+ 1e-6
+#endif
+ ;
+ dJointSetHingeParam(jId, dParamFMax, dInfinity);
+ dJointSetHingeParam(jId, dParamVel, targetvel);
+
+ dWorldStep(wId, 0.001);
+
+ const dReal *v1 = dBodyGetAngularVel(bId1);
+ const dReal *v2 = dBodyGetAngularVel(bId2);
+ dVector3 rvel = { v1[0]-v2[0], v1[1]-v2[1], v1[2]-v2[2] };
+ CHECK_CLOSE(rvel[0], targetvel, tolerance);
+ CHECK_CLOSE(rvel[1], 0, tolerance);
+ CHECK_CLOSE(rvel[2], 0, tolerance);
+ }
+
+
+
} // End of SUITE TestdxJointHinge
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