Merge pull request #188 from dartsim/dynamics

Performance improvement for forward dynamics
dartsim · May 27, 2014 · 3a7e22d · 3a7e22d
2 parents 4e67948 + 1dd569a
commit 3a7e22d
Show file tree

Hide file tree

Showing 142 changed files with 3,620 additions and 1,754 deletions.
diff --git a/apps/balance/Controller.cpp b/apps/balance/Controller.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/balance/Controller.h b/apps/balance/Controller.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/balance/Main.cpp b/apps/balance/Main.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/balance/MyWindow.cpp b/apps/balance/MyWindow.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/balance/MyWindow.h b/apps/balance/MyWindow.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/cube/Main.cpp b/apps/cube/Main.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/cube/MyWindow.cpp b/apps/cube/MyWindow.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/cube/MyWindow.h b/apps/cube/MyWindow.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/cubes/Main.cpp b/apps/cubes/Main.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/cubes/MyWindow.cpp b/apps/cubes/MyWindow.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/cubes/MyWindow.h b/apps/cubes/MyWindow.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/doublePendulumWithBase/Main.cpp b/apps/doublePendulumWithBase/Main.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/apps/doublePendulumWithBase/MyWindow.cpp b/apps/doublePendulumWithBase/MyWindow.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/apps/doublePendulumWithBase/MyWindow.h b/apps/doublePendulumWithBase/MyWindow.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/apps/forwardSim/Main.cpp b/apps/forwardSim/Main.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/forwardSim/MyWindow.cpp b/apps/forwardSim/MyWindow.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/forwardSim/MyWindow.h b/apps/forwardSim/MyWindow.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/hardcodedDesign/Main.cpp b/apps/hardcodedDesign/Main.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Can Erdogan

diff --git a/apps/hardcodedDesign/MyWindow.cpp b/apps/hardcodedDesign/MyWindow.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Can Erdogan

diff --git a/apps/hardcodedDesign/MyWindow.h b/apps/hardcodedDesign/MyWindow.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Can Erdogan

diff --git a/apps/jointLimitTest/Main.cpp b/apps/jointLimitTest/Main.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/jointLimitTest/MyWindow.cpp b/apps/jointLimitTest/MyWindow.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/jointLimitTest/MyWindow.h b/apps/jointLimitTest/MyWindow.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Karen Liu <karenliu@cc.gatech.edu>,

diff --git a/apps/meshCollision/Main.cpp b/apps/meshCollision/Main.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/apps/meshCollision/MyWindow.cpp b/apps/meshCollision/MyWindow.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/apps/meshCollision/MyWindow.h b/apps/meshCollision/MyWindow.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/apps/sdfLoader/Main.cpp b/apps/sdfLoader/Main.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/apps/sdfLoader/MyWindow.cpp b/apps/sdfLoader/MyWindow.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/apps/sdfLoader/MyWindow.h b/apps/sdfLoader/MyWindow.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/apps/softDropBoxTest/MyWindow.cpp b/apps/softDropBoxTest/MyWindow.cpp
@@ -85,11 +85,11 @@ void MyWindow::timeStepping()
 
 void MyWindow::drawSkels()
 {
-//  glEnable(GL_LIGHTING);
-//  glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-//  Eigen::Vector4d color;
-//  color << 0.5, 0.8, 0.6, 1.0;
-//  mWorld->getSkeleton(0)->draw(mRI, color, false);
+  glEnable(GL_LIGHTING);
+  glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+  Eigen::Vector4d color;
+  color << 0.5, 0.8, 0.6, 1.0;
+  mWorld->getSkeleton(0)->draw(mRI, color, false);
 
   // draw arrow
   if (mImpulseDuration > 0)

diff --git a/dart/collision/CollisionDetector.cpp b/dart/collision/CollisionDetector.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>,

diff --git a/dart/collision/CollisionDetector.h b/dart/collision/CollisionDetector.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>,

diff --git a/dart/collision/CollisionNode.cpp b/dart/collision/CollisionNode.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>,

diff --git a/dart/collision/CollisionNode.h b/dart/collision/CollisionNode.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>,

diff --git a/dart/collision/dart/DARTCollide.cpp b/dart/collision/dart/DARTCollide.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/dart/collision/dart/DARTCollide.h b/dart/collision/dart/DARTCollide.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/dart/collision/dart/DARTCollisionDetector.cpp b/dart/collision/dart/DARTCollisionDetector.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/dart/collision/dart/DARTCollisionDetector.h b/dart/collision/dart/DARTCollisionDetector.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/dart/collision/fcl/FCLCollisionDetector.cpp b/dart/collision/fcl/FCLCollisionDetector.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>,

diff --git a/dart/collision/fcl/FCLCollisionDetector.h b/dart/collision/fcl/FCLCollisionDetector.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>,

diff --git a/dart/collision/fcl/FCLCollisionNode.cpp b/dart/collision/fcl/FCLCollisionNode.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/dart/collision/fcl/FCLCollisionNode.h b/dart/collision/fcl/FCLCollisionNode.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2013, Georgia Tech Research Corporation
+ * Copyright (c) 2013-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Jeongseok Lee <jslee02@gmail.com>

diff --git a/dart/collision/fcl_mesh/CollisionShapes.h b/dart/collision/fcl_mesh/CollisionShapes.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Chen Tang

diff --git a/dart/common/Console.cpp b/dart/common/Console.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Sumit Jain <sumit@cc.gatech.edu>,

diff --git a/dart/common/Console.h b/dart/common/Console.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2011-2013, Georgia Tech Research Corporation
+ * Copyright (c) 2011-2014, Georgia Tech Research Corporation
  * All rights reserved.
  *
  * Author(s): Sumit Jain <sumit@cc.gatech.edu>,