mirror of
https://github.com/bulletphysics/bullet3.git
synced 2026-10-23 17:20:56 +00:00
fixes in cached textures (pointer re-use)
This commit is contained in:
Erwin Coumans
@@ -1640,6 +1640,7 @@ struct PhysicsServerCommandProcessorInternalData
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btAlignedObjectArray<const unsigned char*> m_heightfieldDatas;
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btAlignedObjectArray<int> m_allocatedTextures;
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btAlignedObjectArray<unsigned char*> m_allocatedTexturesRequireFree;
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btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
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btAlignedObjectArray<btStridingMeshInterface*> m_meshInterfaces;
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@@ -2530,7 +2531,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
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B3_PROFILE("free textureData");
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if (!textures[i].m_isCached)
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{
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free(textures[i].textureData1);
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m_data->m_allocatedTexturesRequireFree.push_back(textures[i].textureData1);
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}
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}
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@@ -2978,8 +2979,15 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
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m_data->m_guiHelper->removeTexture(texId);
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}
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}
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for (int i = 0; i < m_data->m_allocatedTexturesRequireFree.size(); i++)
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{
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//we can't free them right away, due to caching based on memory pointer in PhysicsServerExample
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free(m_data->m_allocatedTexturesRequireFree[i]);
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}
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m_data->m_heightfieldDatas.clear();
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m_data->m_allocatedTextures.clear();
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m_data->m_allocatedTexturesRequireFree.clear();
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m_data->m_meshInterfaces.clear();
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m_data->m_collisionShapes.clear();
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m_data->m_bulletCollisionShape2UrdfCollision.clear();
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@@ -9449,456 +9457,456 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
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clientCmd.m_changeDynamicsInfoArgs.m_anisotropicFriction[1],
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clientCmd.m_changeDynamicsInfoArgs.m_anisotropicFriction[2]);
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btAssert(bodyUniqueId >= 0);
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InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
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if (body && body->m_multiBody)
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if (bodyUniqueId >= 0)
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{
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btMultiBody* mb = body->m_multiBody;
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InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE)
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if (body && body->m_multiBody)
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{
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateWakeUp)
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{
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mb->wakeUp();
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}
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateSleep)
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{
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mb->goToSleep();
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}
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateEnableSleeping)
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{
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mb->setCanSleep(true);
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}
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateDisableSleeping)
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{
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mb->setCanSleep(false);
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}
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateEnableWakeup)
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{
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mb->setCanWakeup(true);
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}
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateDisableWakeup)
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{
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mb->setCanWakeup(false);
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}
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}
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btMultiBody* mb = body->m_multiBody;
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
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{
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mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING)
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{
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mb->setAngularDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
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}
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if (linkIndex == -1)
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{
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if (mb->getBaseCollider())
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE)
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{
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateWakeUp)
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{
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mb->getBaseCollider()->setRestitution(restitution);
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mb->wakeUp();
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateSleep)
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{
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mb->getBaseCollider()->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
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mb->goToSleep();
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateEnableSleeping)
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{
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mb->getBaseCollider()->setFriction(lateralFriction);
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mb->setCanSleep(true);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateDisableSleeping)
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{
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mb->getBaseCollider()->setSpinningFriction(spinningFriction);
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mb->setCanSleep(false);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateEnableWakeup)
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{
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mb->getBaseCollider()->setRollingFriction(rollingFriction);
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mb->setCanWakeup(true);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
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if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateDisableWakeup)
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{
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if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
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{
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mb->getBaseCollider()->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
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}
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else
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{
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mb->getBaseCollider()->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
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}
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mb->setCanWakeup(false);
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}
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
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{
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mb->setBaseMass(mass);
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if (mb->getBaseCollider() && mb->getBaseCollider()->getCollisionShape())
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{
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btVector3 localInertia;
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mb->getBaseCollider()->getCollisionShape()->calculateLocalInertia(mass, localInertia);
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mb->setBaseInertia(localInertia);
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}
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//handle switch from static/fixedBase to dynamic and vise-versa
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if (mass > 0)
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{
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bool isDynamic = true;
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if (mb->hasFixedBase())
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{
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int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
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int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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m_data->m_dynamicsWorld->removeCollisionObject(mb->getBaseCollider());
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int oldFlags = mb->getBaseCollider()->getCollisionFlags();
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mb->getBaseCollider()->setCollisionFlags(oldFlags & ~btCollisionObject::CF_STATIC_OBJECT);
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mb->setFixedBase(false);
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m_data->m_dynamicsWorld->addCollisionObject(mb->getBaseCollider(), collisionFilterGroup, collisionFilterMask);
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}
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}
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else
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{
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if (!mb->hasFixedBase())
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{
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bool isDynamic = false;
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int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
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int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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int oldFlags = mb->getBaseCollider()->getCollisionFlags();
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mb->getBaseCollider()->setCollisionFlags(oldFlags | btCollisionObject::CF_STATIC_OBJECT);
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m_data->m_dynamicsWorld->removeCollisionObject(mb->getBaseCollider());
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mb->setFixedBase(true);
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m_data->m_dynamicsWorld->addCollisionObject(mb->getBaseCollider(), collisionFilterGroup, collisionFilterMask);
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}
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}
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL)
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
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{
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mb->setBaseInertia(newLocalInertiaDiagonal);
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mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION)
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING)
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{
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mb->getBaseCollider()->setAnisotropicFriction(anisotropicFriction);
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mb->setAngularDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY)
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if (linkIndex == -1)
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{
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mb->setMaxCoordinateVelocity(clientCmd.m_changeDynamicsInfoArgs.m_maxJointVelocity);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN)
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{
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mb->getBaseCollider()->getCollisionShape()->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
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if (mb->getBaseCollider()->getCollisionShape()->isCompound())
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{
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btCompoundShape* compound = (btCompoundShape*)mb->getBaseCollider()->getCollisionShape();
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for (int s = 0; s < compound->getNumChildShapes(); s++)
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{
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compound->getChildShape(s)->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
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}
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}
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}
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}
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else
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{
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if (linkIndex >= 0 && linkIndex < mb->getNumLinks())
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{
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if ((clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE) ||
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(clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS))
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{
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btMultiBodyJointLimitConstraint* limC = 0;
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int numConstraints = m_data->m_dynamicsWorld->getNumMultiBodyConstraints();
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for (int c = 0; c < numConstraints; c++)
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{
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btMultiBodyConstraint* mbc = m_data->m_dynamicsWorld->getMultiBodyConstraint(c);
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if (mbc->getConstraintType() == MULTIBODY_CONSTRAINT_LIMIT)
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{
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if (((mbc->getMultiBodyA() == mb) && (mbc->getLinkA() == linkIndex))
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||
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((mbc->getMultiBodyB() == mb) && ((mbc->getLinkB() == linkIndex)))
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)
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{
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limC = (btMultiBodyJointLimitConstraint*)mbc;
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}
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}
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS)
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{
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//find a joint limit
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btScalar prevUpper = mb->getLink(linkIndex).m_jointUpperLimit;
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btScalar prevLower = mb->getLink(linkIndex).m_jointLowerLimit;
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btScalar lower = clientCmd.m_changeDynamicsInfoArgs.m_jointLowerLimit;
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btScalar upper = clientCmd.m_changeDynamicsInfoArgs.m_jointUpperLimit;
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bool enableLimit = lower <= upper;
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if (enableLimit)
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{
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if (limC == 0)
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{
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limC = new btMultiBodyJointLimitConstraint(mb, linkIndex, lower, upper);
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m_data->m_dynamicsWorld->addMultiBodyConstraint(limC);
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}
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else
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{
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limC->setLowerBound(lower);
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limC->setUpperBound(upper);
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}
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mb->getLink(linkIndex).m_jointLowerLimit = lower;
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mb->getLink(linkIndex).m_jointUpperLimit = upper;
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}
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else
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{
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if (limC)
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{
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m_data->m_dynamicsWorld->removeMultiBodyConstraint(limC);
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delete limC;
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limC = 0;
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}
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mb->getLink(linkIndex).m_jointLowerLimit = 1;
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mb->getLink(linkIndex).m_jointUpperLimit = -1;
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}
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE)
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{
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btScalar fixedTimeSubStep = m_data->m_numSimulationSubSteps > 0 ? m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps : m_data->m_physicsDeltaTime;
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btScalar maxImpulse = clientCmd.m_changeDynamicsInfoArgs.m_jointLimitForce * fixedTimeSubStep;
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if (limC)
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{
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//convert from force to impulse
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limC->setMaxAppliedImpulse(maxImpulse);
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}
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}
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}
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if (mb->getLinkCollider(linkIndex))
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if (mb->getBaseCollider())
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{
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
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{
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mb->getLinkCollider(linkIndex)->setRestitution(restitution);
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mb->getBaseCollider()->setRestitution(restitution);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
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{
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mb->getBaseCollider()->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
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{
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mb->getBaseCollider()->setFriction(lateralFriction);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
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{
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mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
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mb->getBaseCollider()->setSpinningFriction(spinningFriction);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
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{
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mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
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mb->getBaseCollider()->setRollingFriction(rollingFriction);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
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{
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if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
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{
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mb->getLinkCollider(linkIndex)->setCollisionFlags(mb->getLinkCollider(linkIndex)->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
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mb->getBaseCollider()->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
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}
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else
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{
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mb->getLinkCollider(linkIndex)->setCollisionFlags(mb->getLinkCollider(linkIndex)->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
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mb->getBaseCollider()->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
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}
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
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{
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mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
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{
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mb->getLinkCollider(linkIndex)->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN)
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{
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mb->getLinkCollider(linkIndex)->getCollisionShape()->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
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}
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING)
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{
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mb->getLink(linkIndex).m_jointDamping = clientCmd.m_changeDynamicsInfoArgs.m_jointDamping;
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}
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if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
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{
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mb->getLink(linkIndex).m_mass = mass;
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if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
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mb->setBaseMass(mass);
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if (mb->getBaseCollider() && mb->getBaseCollider()->getCollisionShape())
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{
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btVector3 localInertia;
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mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass, localInertia);
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mb->getLink(linkIndex).m_inertiaLocal = localInertia;
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mb->getBaseCollider()->getCollisionShape()->calculateLocalInertia(mass, localInertia);
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mb->setBaseInertia(localInertia);
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}
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//handle switch from static/fixedBase to dynamic and vise-versa
|
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if (mass > 0)
|
||||
{
|
||||
bool isDynamic = true;
|
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if (mb->hasFixedBase())
|
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{
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int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
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int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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m_data->m_dynamicsWorld->removeCollisionObject(mb->getBaseCollider());
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int oldFlags = mb->getBaseCollider()->getCollisionFlags();
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mb->getBaseCollider()->setCollisionFlags(oldFlags & ~btCollisionObject::CF_STATIC_OBJECT);
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mb->setFixedBase(false);
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m_data->m_dynamicsWorld->addCollisionObject(mb->getBaseCollider(), collisionFilterGroup, collisionFilterMask);
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}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (!mb->hasFixedBase())
|
||||
{
|
||||
bool isDynamic = false;
|
||||
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
||||
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
int oldFlags = mb->getBaseCollider()->getCollisionFlags();
|
||||
mb->getBaseCollider()->setCollisionFlags(oldFlags | btCollisionObject::CF_STATIC_OBJECT);
|
||||
m_data->m_dynamicsWorld->removeCollisionObject(mb->getBaseCollider());
|
||||
mb->setFixedBase(true);
|
||||
m_data->m_dynamicsWorld->addCollisionObject(mb->getBaseCollider(), collisionFilterGroup, collisionFilterMask);
|
||||
}
|
||||
}
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL)
|
||||
{
|
||||
mb->getLink(linkIndex).m_inertiaLocal = newLocalInertiaDiagonal;
|
||||
mb->setBaseInertia(newLocalInertiaDiagonal);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION)
|
||||
{
|
||||
mb->getLinkCollider(linkIndex)->setAnisotropicFriction(anisotropicFriction);
|
||||
mb->getBaseCollider()->setAnisotropicFriction(anisotropicFriction);
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY)
|
||||
{
|
||||
mb->setMaxCoordinateVelocity(clientCmd.m_changeDynamicsInfoArgs.m_maxJointVelocity);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN)
|
||||
{
|
||||
mb->getBaseCollider()->getCollisionShape()->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
|
||||
if (mb->getBaseCollider()->getCollisionShape()->isCompound())
|
||||
{
|
||||
btCompoundShape* compound = (btCompoundShape*)mb->getBaseCollider()->getCollisionShape();
|
||||
for (int s = 0; s < compound->getNumChildShapes(); s++)
|
||||
{
|
||||
compound->getChildShape(s)->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
btRigidBody* rb = 0;
|
||||
if (body && body->m_rigidBody)
|
||||
{
|
||||
if (linkIndex == -1)
|
||||
{
|
||||
rb = body->m_rigidBody;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (linkIndex >= 0 && linkIndex < body->m_rigidBodyJoints.size())
|
||||
if (linkIndex >= 0 && linkIndex < mb->getNumLinks())
|
||||
{
|
||||
btRigidBody* parentRb = &body->m_rigidBodyJoints[linkIndex]->getRigidBodyA();
|
||||
btRigidBody* childRb = &body->m_rigidBodyJoints[linkIndex]->getRigidBodyB();
|
||||
rb = childRb;
|
||||
|
||||
if ((clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE) ||
|
||||
(clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS))
|
||||
{
|
||||
|
||||
btMultiBodyJointLimitConstraint* limC = 0;
|
||||
|
||||
int numConstraints = m_data->m_dynamicsWorld->getNumMultiBodyConstraints();
|
||||
for (int c = 0; c < numConstraints; c++)
|
||||
{
|
||||
btMultiBodyConstraint* mbc = m_data->m_dynamicsWorld->getMultiBodyConstraint(c);
|
||||
if (mbc->getConstraintType() == MULTIBODY_CONSTRAINT_LIMIT)
|
||||
{
|
||||
if (((mbc->getMultiBodyA() == mb) && (mbc->getLinkA() == linkIndex))
|
||||
||
|
||||
((mbc->getMultiBodyB() == mb) && ((mbc->getLinkB() == linkIndex)))
|
||||
)
|
||||
{
|
||||
limC = (btMultiBodyJointLimitConstraint*)mbc;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS)
|
||||
{
|
||||
//find a joint limit
|
||||
btScalar prevUpper = mb->getLink(linkIndex).m_jointUpperLimit;
|
||||
btScalar prevLower = mb->getLink(linkIndex).m_jointLowerLimit;
|
||||
btScalar lower = clientCmd.m_changeDynamicsInfoArgs.m_jointLowerLimit;
|
||||
btScalar upper = clientCmd.m_changeDynamicsInfoArgs.m_jointUpperLimit;
|
||||
bool enableLimit = lower <= upper;
|
||||
|
||||
if (enableLimit)
|
||||
{
|
||||
if (limC == 0)
|
||||
{
|
||||
limC = new btMultiBodyJointLimitConstraint(mb, linkIndex, lower, upper);
|
||||
m_data->m_dynamicsWorld->addMultiBodyConstraint(limC);
|
||||
}
|
||||
else
|
||||
{
|
||||
limC->setLowerBound(lower);
|
||||
limC->setUpperBound(upper);
|
||||
}
|
||||
mb->getLink(linkIndex).m_jointLowerLimit = lower;
|
||||
mb->getLink(linkIndex).m_jointUpperLimit = upper;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (limC)
|
||||
{
|
||||
m_data->m_dynamicsWorld->removeMultiBodyConstraint(limC);
|
||||
delete limC;
|
||||
limC = 0;
|
||||
}
|
||||
mb->getLink(linkIndex).m_jointLowerLimit = 1;
|
||||
mb->getLink(linkIndex).m_jointUpperLimit = -1;
|
||||
}
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE)
|
||||
{
|
||||
btScalar fixedTimeSubStep = m_data->m_numSimulationSubSteps > 0 ? m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps : m_data->m_physicsDeltaTime;
|
||||
btScalar maxImpulse = clientCmd.m_changeDynamicsInfoArgs.m_jointLimitForce * fixedTimeSubStep;
|
||||
if (limC)
|
||||
{
|
||||
//convert from force to impulse
|
||||
limC->setMaxAppliedImpulse(maxImpulse);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (mb->getLinkCollider(linkIndex))
|
||||
{
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
|
||||
{
|
||||
mb->getLinkCollider(linkIndex)->setRestitution(restitution);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
|
||||
{
|
||||
mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
|
||||
{
|
||||
mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
|
||||
{
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
|
||||
{
|
||||
mb->getLinkCollider(linkIndex)->setCollisionFlags(mb->getLinkCollider(linkIndex)->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
|
||||
}
|
||||
else
|
||||
{
|
||||
mb->getLinkCollider(linkIndex)->setCollisionFlags(mb->getLinkCollider(linkIndex)->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
|
||||
}
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
|
||||
{
|
||||
mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
|
||||
{
|
||||
mb->getLinkCollider(linkIndex)->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN)
|
||||
{
|
||||
mb->getLinkCollider(linkIndex)->getCollisionShape()->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
|
||||
}
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING)
|
||||
{
|
||||
mb->getLink(linkIndex).m_jointDamping = clientCmd.m_changeDynamicsInfoArgs.m_jointDamping;
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
|
||||
{
|
||||
mb->getLink(linkIndex).m_mass = mass;
|
||||
if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
|
||||
{
|
||||
btVector3 localInertia;
|
||||
mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass, localInertia);
|
||||
mb->getLink(linkIndex).m_inertiaLocal = localInertia;
|
||||
}
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL)
|
||||
{
|
||||
mb->getLink(linkIndex).m_inertiaLocal = newLocalInertiaDiagonal;
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION)
|
||||
{
|
||||
mb->getLinkCollider(linkIndex)->setAnisotropicFriction(anisotropicFriction);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (rb)
|
||||
else
|
||||
{
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE)
|
||||
btRigidBody* rb = 0;
|
||||
if (body && body->m_rigidBody)
|
||||
{
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateEnableSleeping)
|
||||
if (linkIndex == -1)
|
||||
{
|
||||
rb->forceActivationState(ACTIVE_TAG);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateDisableSleeping)
|
||||
{
|
||||
rb->forceActivationState(DISABLE_DEACTIVATION);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateWakeUp)
|
||||
{
|
||||
rb->forceActivationState(ACTIVE_TAG);
|
||||
rb->setDeactivationTime(0.0);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateSleep)
|
||||
{
|
||||
rb->forceActivationState(ISLAND_SLEEPING);
|
||||
}
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
|
||||
{
|
||||
btScalar angDamping = rb->getAngularDamping();
|
||||
rb->setDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping, angDamping);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING)
|
||||
{
|
||||
btScalar linDamping = rb->getLinearDamping();
|
||||
rb->setDamping(linDamping, clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
|
||||
{
|
||||
rb->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
|
||||
{
|
||||
rb->setRestitution(restitution);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
|
||||
{
|
||||
rb->setFriction(lateralFriction);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
|
||||
{
|
||||
rb->setSpinningFriction(spinningFriction);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
|
||||
{
|
||||
rb->setRollingFriction(rollingFriction);
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
|
||||
{
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
|
||||
{
|
||||
rb->setCollisionFlags(rb->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
|
||||
rb = body->m_rigidBody;
|
||||
}
|
||||
else
|
||||
{
|
||||
rb->setCollisionFlags(rb->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
|
||||
if (linkIndex >= 0 && linkIndex < body->m_rigidBodyJoints.size())
|
||||
{
|
||||
btRigidBody* parentRb = &body->m_rigidBodyJoints[linkIndex]->getRigidBodyA();
|
||||
btRigidBody* childRb = &body->m_rigidBodyJoints[linkIndex]->getRigidBodyB();
|
||||
rb = childRb;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
|
||||
if (rb)
|
||||
{
|
||||
btVector3 localInertia;
|
||||
if (rb->getCollisionShape())
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE)
|
||||
{
|
||||
rb->getCollisionShape()->calculateLocalInertia(mass, localInertia);
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateEnableSleeping)
|
||||
{
|
||||
rb->forceActivationState(ACTIVE_TAG);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateDisableSleeping)
|
||||
{
|
||||
rb->forceActivationState(DISABLE_DEACTIVATION);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateWakeUp)
|
||||
{
|
||||
rb->forceActivationState(ACTIVE_TAG);
|
||||
rb->setDeactivationTime(0.0);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateSleep)
|
||||
{
|
||||
rb->forceActivationState(ISLAND_SLEEPING);
|
||||
}
|
||||
}
|
||||
rb->setMassProps(mass, localInertia);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL)
|
||||
{
|
||||
btScalar orgMass = rb->getInvMass();
|
||||
if (orgMass > 0)
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
|
||||
{
|
||||
rb->setMassProps(mass, newLocalInertiaDiagonal);
|
||||
btScalar angDamping = rb->getAngularDamping();
|
||||
rb->setDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping, angDamping);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING)
|
||||
{
|
||||
btScalar linDamping = rb->getLinearDamping();
|
||||
rb->setDamping(linDamping, clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
|
||||
}
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION)
|
||||
{
|
||||
rb->setAnisotropicFriction(anisotropicFriction);
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD)
|
||||
{
|
||||
rb->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
|
||||
{
|
||||
rb->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
|
||||
{
|
||||
rb->setRestitution(restitution);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
|
||||
{
|
||||
rb->setFriction(lateralFriction);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
|
||||
{
|
||||
rb->setSpinningFriction(spinningFriction);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
|
||||
{
|
||||
rb->setRollingFriction(rollingFriction);
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS)
|
||||
{
|
||||
rb->setCcdSweptSphereRadius(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius);
|
||||
//for a given sphere radius, use a motion threshold of half the radius, before the ccd algorithm is enabled
|
||||
rb->setCcdMotionThreshold(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius / 2.);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN)
|
||||
{
|
||||
rb->getCollisionShape()->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
|
||||
{
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
|
||||
{
|
||||
rb->setCollisionFlags(rb->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
|
||||
}
|
||||
else
|
||||
{
|
||||
rb->setCollisionFlags(rb->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
|
||||
}
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
|
||||
{
|
||||
btVector3 localInertia;
|
||||
if (rb->getCollisionShape())
|
||||
{
|
||||
rb->getCollisionShape()->calculateLocalInertia(mass, localInertia);
|
||||
}
|
||||
rb->setMassProps(mass, localInertia);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL)
|
||||
{
|
||||
btScalar orgMass = rb->getInvMass();
|
||||
if (orgMass > 0)
|
||||
{
|
||||
rb->setMassProps(mass, newLocalInertiaDiagonal);
|
||||
}
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION)
|
||||
{
|
||||
rb->setAnisotropicFriction(anisotropicFriction);
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD)
|
||||
{
|
||||
rb->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold);
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS)
|
||||
{
|
||||
rb->setCcdSweptSphereRadius(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius);
|
||||
//for a given sphere radius, use a motion threshold of half the radius, before the ccd algorithm is enabled
|
||||
rb->setCcdMotionThreshold(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius / 2.);
|
||||
}
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN)
|
||||
{
|
||||
rb->getCollisionShape()->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
|
||||
if (body && body->m_softBody)
|
||||
{
|
||||
btSoftBody* psb = body->m_softBody;
|
||||
if (psb)
|
||||
if (body && body->m_softBody)
|
||||
{
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE)
|
||||
btSoftBody* psb = body->m_softBody;
|
||||
if (psb)
|
||||
{
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateEnableSleeping)
|
||||
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE)
|
||||
{
|
||||
psb->forceActivationState(ACTIVE_TAG);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateDisableSleeping)
|
||||
{
|
||||
psb->forceActivationState(DISABLE_DEACTIVATION);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateWakeUp)
|
||||
{
|
||||
psb->forceActivationState(ACTIVE_TAG);
|
||||
psb->setDeactivationTime(0.0);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateSleep)
|
||||
{
|
||||
psb->forceActivationState(ISLAND_SLEEPING);
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateEnableSleeping)
|
||||
{
|
||||
psb->forceActivationState(ACTIVE_TAG);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateDisableSleeping)
|
||||
{
|
||||
psb->forceActivationState(DISABLE_DEACTIVATION);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateWakeUp)
|
||||
{
|
||||
psb->forceActivationState(ACTIVE_TAG);
|
||||
psb->setDeactivationTime(0.0);
|
||||
}
|
||||
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState & eActivationStateSleep)
|
||||
{
|
||||
psb->forceActivationState(ISLAND_SLEEPING);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
}
|
||||
SharedMemoryStatus& serverCmd = serverStatusOut;
|
||||
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
|
||||
|
||||
@@ -13415,7 +13423,7 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share
|
||||
if (imageData)
|
||||
{
|
||||
texH->m_openglTextureId = m_data->m_guiHelper->registerTexture(imageData, width, height);
|
||||
free(imageData);
|
||||
m_data->m_allocatedTexturesRequireFree.push_back(imageData);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
@@ -684,7 +684,7 @@ public:
|
||||
|
||||
GUIHelperInterface* m_childGuiHelper;
|
||||
|
||||
|
||||
btHashMap<btHashPtr, int> m_cachedTextureIds;
|
||||
int m_uidGenerator;
|
||||
const unsigned char* m_texels;
|
||||
int m_textureWidth;
|
||||
@@ -910,7 +910,11 @@ public:
|
||||
}
|
||||
virtual int registerTexture(const unsigned char* texels, int width, int height)
|
||||
{
|
||||
|
||||
int* cachedTexture = m_cachedTextureIds[texels];
|
||||
if (cachedTexture)
|
||||
{
|
||||
return *cachedTexture;
|
||||
}
|
||||
m_texels = texels;
|
||||
m_textureWidth = width;
|
||||
m_textureHeight = height;
|
||||
@@ -919,7 +923,7 @@ public:
|
||||
m_cs->setSharedParam(1, eGUIHelperRegisterTexture);
|
||||
|
||||
workerThreadWait();
|
||||
|
||||
m_cachedTextureIds.insert(texels, m_textureId);
|
||||
return m_textureId;
|
||||
}
|
||||
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId)
|
||||
@@ -973,6 +977,7 @@ public:
|
||||
|
||||
virtual void removeAllGraphicsInstances()
|
||||
{
|
||||
m_cachedTextureIds.clear();
|
||||
m_cs->lock();
|
||||
m_cs->setSharedParam(1, eGUIHelperRemoveAllGraphicsInstances);
|
||||
workerThreadWait();
|
||||
|
||||
Reference in New Issue
Block a user