* Adjustment: Update Bullet version to 3.24.

Engine/lib/bullet/data/dinnerware/cup/Cup/cup_vhacd.mtl

@@ -0,0 +1,128 @@
+# Blender MTL File: 'None'
+# Material Count: 14
+
+newmtl Shape.014
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.664000 0.688000 0.616000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.015
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.120000 0.744000 0.280000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.016
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.688000 0.736000 0.392000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.017
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.168000 0.496000 0.216000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.018
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.720000 0.472000 0.504000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.019
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.576000 0.288000 0.088000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.020
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.544000 0.536000 0.232000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.021
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.656000 0.240000 0.496000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.022
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.184000 0.536000 0.280000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.023
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.232000 0.016000 0.176000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.024
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.464000 0.552000 0.536000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.025
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.744000 0.448000 0.088000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.026
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.336000 0.232000 0.584000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.027
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.168000 0.152000 0.672000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2

Engine/lib/bullet/data/dinnerware/cup/Cup/textured-0008192.mtl

@@ -0,0 +1,4 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd textured-0008192-diffuse_map.jpg
+

Engine/lib/bullet/data/dinnerware/cup/cup_small.urdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <inertia_scaling value="3.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.02"/>
+       <mass value=".1"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="Cup/textured-0008192.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<mesh filename="Cup/cup_vhacd.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

Engine/lib/bullet/data/dinnerware/dinnerware.mtl

@@ -0,0 +1,21 @@
+newmtl porcelain
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.200000 0.200000 0.200000
+d 1.000000
+illum 2
+Ns 0.000000
+
+newmtl solid_color
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.200000 0.200000 0.200000
+d 1.000000
+illum 2
+Ns 0.000000
+
+newmtl pan_tefal
+Ka 0.000000 0.000000 0.000000
+Kd 0.609804 0.494118 0.486275
+Ks 0.330000 0.330000 0.330000
+map_Kd pan_tefal.jpg

Engine/lib/bullet/data/dinnerware/generate.py

@@ -0,0 +1,253 @@
+from __future__ import print_function
+import numpy as np
+
+
+class Obj:
+
+  def __init__(self, fn):
+    self.ind_v = 0
+    self.ind_vt = 0
+    self.ind_vn = 0
+    self.fn = fn
+    self.out = open(fn + ".tmp", "w")
+    self.out.write("mtllib dinnerware.mtl\n")
+
+  def __del__(self):
+    self.out.close()
+    import shutil
+    shutil.move(self.fn + ".tmp", self.fn)
+
+  def push_v(self, v):
+    self.out.write("v %f %f %f\n" % (v[0], v[1], v[2]))
+    self.ind_v += 1
+    return self.ind_v
+
+  def push_vt(self, vt):
+    self.out.write("vt %f %f\n" % (vt[0], vt[1]))
+    self.ind_vt += 1
+    return self.ind_vt
+
+  def push_vn(self, vn):
+    vn /= np.linalg.norm(vn)
+    self.out.write("vn %f %f %f\n" % (vn[0], vn[1], vn[2]))
+    self.ind_vn += 1
+    return self.ind_vn
+
+
+def convex_hull(points, vind, nind, tind, obj):
+  "super ineffective"
+  cnt = len(points)
+  for a in range(cnt):
+    for b in range(a + 1, cnt):
+      for c in range(b + 1, cnt):
+        vec1 = points[a] - points[b]
+        vec2 = points[a] - points[c]
+        n = np.cross(vec1, vec2)
+        n /= np.linalg.norm(n)
+        C = np.dot(n, points[a])
+        inner = np.inner(n, points)
+        pos = (inner <= C + 0.0001).all()
+        neg = (inner >= C - 0.0001).all()
+        if not pos and not neg: continue
+        obj.out.write("f %i//%i %i//%i %i//%i\n" %
+                      ((vind[a], nind[a], vind[b], nind[b], vind[c], nind[c]) if
+                       (inner - C).sum() < 0 else
+                       (vind[a], nind[a], vind[c], nind[c], vind[b], nind[b])))
+        #obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % (
+        #	(vind[a], tind[a], nind[a], vind[b], tind[b], nind[b], vind[c], tind[c], nind[c])
+        #	if (inner - C).sum() < 0 else
+        #	(vind[a], tind[a], nind[a], vind[c], tind[c], nind[c], vind[b], tind[b], nind[b]) ) )
+
+
+def test_convex_hull():
+  obj = Obj("convex_test.obj")
+  vlist = np.random.uniform(low=-0.1, high=+0.1, size=(100, 3))
+  nlist = vlist.copy()
+  tlist = np.random.uniform(low=0, high=+1, size=(100, 2))
+  vind = [obj.push_v(xyz) for xyz in vlist]
+  nind = [obj.push_vn(xyz) for xyz in nlist]
+  tind = [obj.push_vt(uv) for uv in tlist]
+  convex_hull(vlist, vind, nind, tind, obj)
+
+
+class Contour:
+
+  def __init__(self):
+    self.vprev_vind = None
+
+  def f(self, obj, vlist_vind, vlist_tind, vlist_nind):
+    cnt = len(vlist_vind)
+    for i1 in range(cnt):
+      i2 = i1 - 1
+      obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % (
+          vlist_vind[i2],
+          vlist_tind[i2],
+          vlist_nind[i2],
+          vlist_vind[i1],
+          vlist_tind[i1],
+          vlist_nind[i1],
+          self.vprev_vind[i1],
+          self.vprev_tind[i1],
+          self.vprev_nind[i1],
+      ))
+      obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % (
+          vlist_vind[i2],
+          vlist_tind[i2],
+          vlist_nind[i2],
+          self.vprev_vind[i1],
+          self.vprev_tind[i1],
+          self.vprev_nind[i1],
+          self.vprev_vind[i2],
+          self.vprev_tind[i2],
+          self.vprev_nind[i2],
+      ))
+
+  def belt(self, obj, vlist, nlist, tlist):
+    vlist_vind = [obj.push_v(xyz) for xyz in vlist]
+    vlist_tind = [obj.push_vt(xyz) for xyz in tlist]
+    vlist_nind = [obj.push_vn(xyz) for xyz in nlist]
+    if self.vprev_vind:
+      self.f(obj, vlist_vind, vlist_tind, vlist_nind)
+    else:
+      self.first_vind = vlist_vind
+      self.first_tind = vlist_tind
+      self.first_nind = vlist_nind
+    self.vprev_vind = vlist_vind
+    self.vprev_tind = vlist_tind
+    self.vprev_nind = vlist_nind
+
+  def finish(self, obj):
+    self.f(obj, self.first_vind, self.first_tind, self.first_nind)
+
+
+def test_contour():
+  RAD1 = 2.0
+  RAD2 = 1.5
+  obj = Obj("torus.obj")
+  obj.out.write("usemtl porcelain\n")
+  contour = Contour()
+  for step in range(100):
+    angle = step / 100.0 * 2 * np.pi
+    belt_v = []
+    belt_n = []
+    belt_t = []
+    for b in range(50):
+      beta = b / 50.0 * 2 * np.pi
+      r = RAD2 * np.cos(beta) + RAD1
+      z = RAD2 * np.sin(beta)
+      belt_v.append(np.array([np.cos(angle) * r, np.sin(angle) * r, z]))
+      belt_n.append(
+          np.array([np.cos(angle) * np.cos(beta),
+                    np.sin(angle) * np.cos(beta),
+                    np.sin(beta)]))
+      belt_t.append((0, 0))
+    contour.belt(obj, belt_v, belt_n, belt_t)
+  contour.finish(obj)
+
+
+#test_convex_hull()
+#test_contour()
+
+
+class RotationFigureParams:
+  pass
+
+
+def generate_plate(p, obj, collision_prefix):
+  contour = Contour()
+  belt_vlist_3d_prev = None
+
+  for step in range(p.N_VIZ + 1):
+    angle = step / float(p.N_VIZ) * 2 * np.pi
+
+    if step % p.COLLISION_EVERY == 0:
+      vlist_3d = []
+      for x, y in p.belt_simple:
+        vlist_3d.append([np.cos(angle) * x * 1.06, np.sin(angle) * x * 1.06, y])
+      if belt_vlist_3d_prev:
+        obj2 = Obj(collision_prefix % (step / p.COLLISION_EVERY))
+        obj2.out.write("usemtl pan_tefal\n")
+        vlist = np.array(vlist_3d + belt_vlist_3d_prev)
+        vlist[len(vlist_3d):] *= 1.01  # break points on one plane
+        vlist[0, 0:2] += 0.01 * vlist[len(vlist_3d), 0:2]
+        vlist[len(vlist_3d), 0:2] += 0.01 * vlist[0, 0:2]
+        nlist = np.random.uniform(low=-1, high=+1, size=vlist.shape)
+        tlist = np.random.uniform(low=0, high=+1, size=(len(vlist), 2))
+        vind = [obj2.push_v(xyz) for xyz in vlist]
+        nind = [obj2.push_vn(xyz) for xyz in nlist]
+        convex_hull(vlist, vind, nind, None, obj2)
+      belt_vlist_3d_prev = vlist_3d
+    if step == p.N_VIZ: break
+
+    belt_v = []
+    belt_n = []
+    belt_t = []
+    for x, y, nx, ny in p.belt:
+      belt_v.append(np.array([np.cos(angle) * x, np.sin(angle) * x, y]))
+      belt_n.append(np.array([np.cos(angle) * nx, np.sin(angle) * nx, ny]))
+      if ny - nx >= 0:
+        belt_t.append((127.0 / 512 + np.cos(angle) * x / p.RAD_HIGH * 105 / 512,
+                       (512 - 135.0) / 512 + np.sin(angle) * x / p.RAD_HIGH * 105 / 512))
+      else:
+        belt_t.append((382.0 / 512 + np.cos(angle) * x / p.RAD_HIGH * 125 / 512,
+                       (512 - 380.0) / 512 + np.sin(angle) * x / p.RAD_HIGH * 125 / 512))
+    contour.belt(obj, belt_v, belt_n, belt_t)
+
+  contour.finish(obj)
+
+
+def tefal():
+  p = RotationFigureParams()
+  p.RAD_LOW = 0.240 / 2
+  p.RAD_HIGH = 0.255 / 2
+  p.H = 0.075
+  p.THICK = 0.005
+  p.N_VIZ = 30
+  p.COLLISION_EVERY = 5
+  p.belt = [
+      (p.RAD_HIGH - p.THICK, p.H, -1, 0),  # x y norm
+      (p.RAD_HIGH, p.H, 0, 1),
+      (p.RAD_HIGH + p.THICK, p.H, +1, 0),
+      (p.RAD_LOW + p.THICK, p.THICK, +1, 0),
+      (p.RAD_LOW, 0, 0, -1),
+      (0, 0, 0, -1),
+      (0, p.THICK, 0, 1),
+      (p.RAD_LOW - p.THICK, p.THICK, 0, 1),
+      (p.RAD_LOW - p.THICK, 3 * p.THICK, -1, 0),
+  ]
+  p.belt.reverse()
+  p.belt_simple = [(p.RAD_HIGH - p.THICK, p.H), (p.RAD_HIGH + p.THICK, p.H), (p.RAD_LOW, 0),
+                   (p.RAD_LOW - p.THICK, 0)]
+  obj = Obj("pan_tefal.obj")
+  obj.out.write("usemtl pan_tefal\n")
+  generate_plate(p, obj, "pan_tefal-collision%02i.obj")
+
+
+def plate():
+  p = RotationFigureParams()
+  p.RAD_LOW = 0.110 / 2
+  p.RAD_HIGH = 0.190 / 2
+  p.H = 0.060
+  p.THICK = 0.003
+  p.N_VIZ = 30
+  p.COLLISION_EVERY = 5
+  p.belt = [
+      (p.RAD_HIGH - p.THICK, p.H, -0.9, 0.5),  # x y norm
+      (p.RAD_HIGH, p.H, 0, 1),
+      (p.RAD_HIGH + p.THICK, p.H, +1, 0),
+      (p.RAD_LOW + p.THICK, p.THICK, +1, 0),
+      (p.RAD_LOW, 0, 0, -1),
+      (0, 0, 0, -1),
+      (0, p.THICK, 0, 1),
+      (p.RAD_LOW - 3 * p.THICK, p.THICK, 0, 1),
+      (p.RAD_LOW - p.THICK, 3 * p.THICK, -0.5, 1.0),
+  ]
+  p.belt.reverse()
+  p.belt_simple = [(p.RAD_HIGH - p.THICK, p.H), (p.RAD_HIGH + p.THICK, p.H), (p.RAD_LOW, 0),
+                   (p.RAD_LOW - p.THICK, 0)]
+  obj = Obj("plate.obj")
+  obj.out.write("usemtl solid_color\n")
+  generate_plate(p, obj, "plate-collision%02i.obj")
+
+
+plate()

Engine/lib/bullet/data/dinnerware/license.txt

@@ -0,0 +1,2 @@
+  <!-- Frying pan model, Copyright (c) 2016 Oleg Klimov       -->
+  <!-- LICENSE: CC-SA                                         -->

Engine/lib/bullet/data/dinnerware/pan_tefal.urdf

@@ -0,0 +1,84 @@
+<?xml version="1.0"?>
+<robot name="cube">
+  <!-- Frying pan model, Copyright (c) 2016 Oleg Klimov       -->
+  <!-- LICENSE: CC-SA                                         -->
+  <link name="cube">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="pan_tefal.obj"/>
+      </geometry>
+    </visual>
+    <visual>  <!-- handle -->
+      <geometry>
+        <cylinder radius="0.011" length="0.185"/>
+      </geometry>
+      <origin rpy="0 1.4 0" xyz="0.22 0 0.07"/>
+      <material name="stainless">
+        <color rgba="0.3 0.3 .3 1"/>
+      </material>
+    </visual>
+
+    <collision>  <!-- handle -->
+      <geometry>
+        <cylinder radius="0.011" length="0.185"/>
+      </geometry>
+      <origin rpy="0 1.4 0" xyz="0.22 0 0.07"/>
+    </collision>
+    <collision>  <!-- bottom -->
+      <geometry>
+        <cylinder radius="0.12" length="0.01"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.005"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision01.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision02.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision03.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision04.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision05.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="pan_tefal-collision06.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <inertial>
+      <mass value="2."/>  <!-- mr^2 = 0.5*0.12^2 = 0.0072 for Z axis, lighter along other axis -->
+      <inertia ixx="0.005" iyy="0.005" izz="0.0072"/>
+    </inertial>
+  </link>
+
+</robot>
+

Engine/lib/bullet/data/dinnerware/plate.urdf

@@ -0,0 +1,69 @@
+<?xml version="1.0"?>
+<robot name="cube">
+  <!-- Frying pan model, Copyright (c) 2016 Oleg Klimov       -->
+  <!-- LICENSE: CC-SA                                         -->
+  <link name="cube">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="plate.obj"/>
+      </geometry>
+    </visual>
+
+    <collision>  <!-- bottom -->
+      <geometry>
+        <cylinder radius="0.05" length="0.005"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0025"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision01.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision02.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision03.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision04.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision05.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <collision>
+      <geometry>
+        <mesh filename="plate-collision06.obj"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+
+    <inertial>
+      <mass value="0.5"/>  <!-- mr^2 = 0.5*0.12^2 = 0.0072 for Z axis, lighter along other axis -->
+      <inertia ixx="0.005" iyy="0.005" izz="0.0072"/>
+    </inertial>
+  </link>
+
+</robot>
+