Merge pull request #60 from erwincoumans/master

linux/mac osx fixes
erwincoumans · Dec 19, 2020 · a80bc19 · a80bc19
2 parents 36087a2 + dc603eb
commit a80bc19
Show file tree

Hide file tree

Showing 8 changed files with 16 additions and 16 deletions.
diff --git a/examples/laikago_opengl_example.cpp b/examples/laikago_opengl_example.cpp
@@ -194,7 +194,7 @@ struct LaikagoSimulation {
                     result[j++] = visual_X_world.translation[0];
                     result[j++] = visual_X_world.translation[1];
                     result[j++] = visual_X_world.translation[2];
-                    Algebra::Quaternion orn = Algebra::matrix_to_quat(visual_X_world.rotation);
+                    auto orn = Algebra::matrix_to_quat(visual_X_world.rotation);
                     result[j++] = orn.x();
                     result[j++] = orn.y();
                     result[j++] = orn.z();

diff --git a/examples/tiny_urdf_parser_opengl_example.cpp b/examples/tiny_urdf_parser_opengl_example.cpp
@@ -241,7 +241,7 @@ int main(int argc, char* argv[]) {
   visualizer.convert_visuals(urdf_structures, texture_path);
 
 
-  int num_total_threads = 256;
+  int num_total_threads = 16;
   std::vector<int> visual_instances;
   std::vector<int> num_instances;
   int num_base_instances;

diff --git a/examples/tiny_visual_instance_generator.h b/examples/tiny_visual_instance_generator.h
@@ -14,7 +14,7 @@ struct TinyVisualInstanceGenerator : public VisualInstanceGenerator
     }
     virtual void create_visual_instance(int shape_uid, std::vector<int>& visual_instances )
     {
-        OpenGLUrdfVisualizer<MyAlgebra>::TinyVisualLinkInfo& vis_link = viz_.m_b2vis[shape_uid];
+        auto& vis_link = viz_.m_b2vis[shape_uid];
         for (int v = 0; v < vis_link.visual_shape_uids.size(); v++)
         {
             int visual_shape = vis_link.visual_shape_uids[v];
@@ -31,4 +31,4 @@ struct TinyVisualInstanceGenerator : public VisualInstanceGenerator
     }
 };
 
-#endif
+#endif
diff --git a/src/link.hpp b/src/link.hpp
@@ -93,7 +93,7 @@ struct Link {
     conv.link_name = link_name;
     conv.joint_name = joint_name;
     conv.f_ext = tds::clone<Algebra, AlgebraTo>(f_ext);
-    conv.visual_ids = visual_ids;
+    conv.visual_instance_uids = visual_instance_uids;
     for (const auto &x : X_visuals) {
       conv.X_visuals.push_back(x.template clone<AlgebraTo>());
     }

diff --git a/src/math/eigen_algebra.hpp b/src/math/eigen_algebra.hpp
@@ -182,7 +182,7 @@ struct EigenAlgebraT {
    *     input    a  storage for the result
    *     output   boolean is_positive_definite if operation succeeded
    */
-    static bool inverse(const MatrixX& A,    MatrixX& a) {
+    static bool symmetric_inverse(const MatrixX& A,    MatrixX& a) {
       assert(a.cols() == A.cols());
       assert(a.rows() == A.rows());
 
@@ -462,11 +462,11 @@ struct EigenAlgebraT {
     m.row(i) = v;
   }
 
-  EIGEN_ALWAYS_INLINE static void assign_row(MatrixX &m, Index i,
+  EIGEN_ALWAYS_INLINE static void assign_row(MatrixX& m, Index i,
                                              const SpatialVector &v) {
 
-    m.block<1, 3>(i, 0) = v.top;
-    m.block<1, 3>(i, 3) = v.bottom;
+    m.template block<1, 3>(i, 0) = v.top;
+    m.template block<1, 3>(i, 3) = v.bottom;
 
 
   }

diff --git a/src/mb_constraint_solver.hpp b/src/mb_constraint_solver.hpp
@@ -191,7 +191,7 @@ class MultiBodyConstraintSolver {
       // } else {
       submit_profile_timing("inverse_mass_matrix_a");
       is_positive_definite_a =
-          Algebra::inverse(mass_matrix_a, mass_matrix_a_inv);
+          Algebra::symmetric_inverse(mass_matrix_a, mass_matrix_a_inv);
       submit_profile_timing("");
       // }
     }
@@ -209,7 +209,7 @@ class MultiBodyConstraintSolver {
       //   is_positive_definite_b = true;
       // } else {
       submit_profile_timing("inverse_mass_matrix_b");
-      is_positive_definite_b = Algebra::inverse(mass_matrix_b, mass_matrix_b_inv);
+      is_positive_definite_b = Algebra::symmetric_inverse(mass_matrix_b, mass_matrix_b_inv);
       submit_profile_timing("");
       // }
     }
@@ -474,4 +474,4 @@ static TINY_INLINE MultiBodyConstraintSolver<AlgebraTo> clone(
     const MultiBodyConstraintSolver<AlgebraFrom>& s) {
   return s.template clone<AlgebraTo>();
 }
-}  // namespace tds
+}  // namespace tds
diff --git a/src/multi_body.hpp b/src/multi_body.hpp
@@ -94,7 +94,7 @@ class MultiBody {
       conv.links_.push_back(link.template clone<AlgebraTo>());
     }
     conv.control_indices_ = control_indices_;
-    conv.visual_shape_ids_ = visual_shape_ids_;
+    conv.visual_shape_uids_ = visual_shape_uids_;
     for (const auto &x : X_visuals_) {
       conv.X_visuals_.push_back(x.template clone<AlgebraTo>());
     }
@@ -212,8 +212,8 @@ class MultiBody {
       return base_X_world_; 
   }
 
-  TINY_INLINE std::vector<int> &visual_shape_ids() { return visual_shape_ids_; }
-  TINY_INLINE const std::vector<int> &visual_shape_ids() const { return visual_shape_ids_; }
+  TINY_INLINE std::vector<int> &visual_shape_ids() { return visual_shape_uids_; }
+  TINY_INLINE const std::vector<int> &visual_shape_ids() const { return visual_shape_uids_; }
 
   TINY_INLINE std::vector<int>& visual_instance_uids() { return visual_instance_uids_; }
   TINY_INLINE const std::vector<int>& visual_instance_uids() const { return visual_instance_uids_; }

diff --git a/third_party/bullet3 b/third_party/bullet3