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bullet-featherstone: Use a single contact manifold for each convex decomposed mesh collision #664

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bullet-featherstone: Use a single contact manifold for each convex decomposed mesh collision #664

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5a05b5d
Use 1 contact manifold for each convex decomposed mesh collision
iche033 Jul 3, 2024
9117975
fix
iche033 Jul 3, 2024
6a31cd3
style
iche033 Jul 3, 2024
927bf03
remove unused features in test
iche033 Jul 3, 2024
a0ffccc
use 2 separate sets to keep track of manifolds, update logic to find …
iche033 Jul 3, 2024
981f655
Merge branch 'gz-physics7' into bullet_convex_manifold
iche033 Jul 3, 2024
1b93f3f
undo some changes
iche033 Jul 3, 2024
d1a0a87
style
iche033 Jul 3, 2024
0f18722
Merge branch 'gz-physics7' into bullet_convex_manifold
iche033 Jul 10, 2024
5fe67d0
ifdef for windows
iche033 Jul 10, 2024
ba6f4d0
undo changes in simulation features
iche033 Jul 10, 2024
4fb4b57
test with GzCollisionDispatcher
iche033 Jul 11, 2024
51c3b80
testing windows
iche033 Jul 11, 2024
9411c0e
more windows testing
iche033 Jul 11, 2024
93c87eb
more testing on win
iche033 Jul 11, 2024
517efd6
rename var
iche033 Jul 11, 2024
a752843
revert ba6f4d02bdd8a62473f6881b0fe9581dba448024
iche033 Jul 12, 2024
a573ac6
return early
iche033 Jul 12, 2024
a33acf1
debugging
iche033 Jul 12, 2024
bc59916
debugging
iche033 Jul 12, 2024
88ecdad
add more debugging
iche033 Jul 15, 2024
dcca698
check nulls
iche033 Jul 16, 2024
51fa0d3
more debugging
iche033 Jul 16, 2024
e34bffe
test static cast
iche033 Jul 16, 2024
cc9bc62
test static cast
iche033 Jul 16, 2024
c561ee5
enable gz collision dispatcher
iche033 Jul 16, 2024
c992e4e
cleanup
iche033 Jul 17, 2024
e5b8120
more cleanup
iche033 Jul 17, 2024
80ea3c5
Merge branch 'gz-physics7' into bullet_convex_manifold
iche033 Aug 12, 2024
7c04a2f
Merge branch 'gz-physics7' into bullet_convex_manifold
iche033 Oct 12, 2024
24c3cb5
Merge branch 'gz-physics7' into bullet_convex_manifold
iche033 Dec 20, 2024
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test with GzCollisionDispatcher 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
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@iche033
iche033 committed Jul 11, 2024
commit 4fb4b575809f4e0d966164bb65036b65b1b03fe5
10 changes: 0 additions & 10 deletions bullet-featherstone/src/Base.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -219,18 +219,8 @@ WorldInfo::WorldInfo(std::string name_)
{
this->collisionConfiguration =
std::make_unique<btDefaultCollisionConfiguration>();
#ifdef _WIN32
// Use original btCollisionDispatcher on window as GzCollisionDispatcher
// causes tests to crash.
// \todo(iche033) Investigate cause of crash
this->dispatcher =
std::make_unique<btCollisionDispatcher>(collisionConfiguration.get());
#else
// Use custom GzCollisionDispatcher that reduces number of contact points
// for convex decomposed mesh collisions.
this->dispatcher =
std::make_unique<GzCollisionDispatcher>(collisionConfiguration.get());
#endif
this->broadphase = std::make_unique<btDbvtBroadphase>();
this->solver = std::make_unique<btMultiBodyConstraintSolver>();
this->world = std::make_unique<btMultiBodyDynamicsWorld>(
Expand Down