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Merge pull request #3331 from erwincoumans/master

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add performCollisionDetection (stepSimulation also calls this, but do…
This commit is contained in:
erwincoumans
2021-04-05 12:54:39 -07:00
committed by GitHub
parent 93be7e6440 8b8c1af6a4
commit 2c3318f86d
183 changed files with 28071 additions and 44 deletions
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75
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -977,6 +977,19 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedM
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPerformCollisionDetectionCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_PERFORM_COLLISION_DETECTION;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -1043,6 +1056,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2Internal(b3S
command->m_sendDesiredStateCommandArgument.m_Kp[i] = 0;
command->m_sendDesiredStateCommandArgument.m_Kd[i] = 0;
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 0;
command->m_sendDesiredStateCommandArgument.m_damping[i] = 0;
}
command->m_sendDesiredStateCommandArgument.m_desiredStateQ[3] = 1;
return (b3SharedMemoryCommandHandle)command;
@@ -1090,6 +1104,22 @@ B3_SHARED_API int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle,
return 0;
}
B3_SHARED_API int b3JointControlSetKpMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kps, int dofCount)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM ) && dofCount >= 0 && dofCount <= 4)
{
for (int dof = 0; dof < dofCount; dof++)
{
command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex + dof] = kps[dof];
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KP;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex + dof] |= SIM_DESIRED_STATE_HAS_KP;
}
}
return 0;
}
B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
@@ -1103,6 +1133,22 @@ B3_SHARED_API int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle,
return 0;
}
B3_SHARED_API int b3JointControlSetKdMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* kds, int dofCount)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM ) && dofCount >= 0 && dofCount <= 4)
{
for (int dof = 0; dof < dofCount; dof++)
{
command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex + dof] = kds[dof];
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KD;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex + dof] |= SIM_DESIRED_STATE_HAS_KD;
}
}
return 0;
}
B3_SHARED_API int b3JointControlSetMaximumVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double maximumVelocity)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
@@ -1161,6 +1207,35 @@ B3_SHARED_API int b3JointControlSetDesiredForceTorqueMultiDof(b3SharedMemoryComm
return 0;
}
B3_SHARED_API int b3JointControlSetDamping(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM))
{
command->m_sendDesiredStateCommandArgument.m_damping[dofIndex] = value;
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_DAMPING;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_DAMPING;
}
return 0;
}
B3_SHARED_API int b3JointControlSetDampingMultiDof(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double* damping, int dofCount)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
if ((dofIndex >= 0) && (dofIndex < MAX_DEGREE_OF_FREEDOM ) && dofCount >= 0 && dofCount <= 4)
{
for (int dof = 0; dof < dofCount; dof++)
{
command->m_sendDesiredStateCommandArgument.m_damping[dofIndex+dof] = damping[dof];
command->m_updateFlags |= SIM_DESIRED_STATE_HAS_DAMPING;
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex + dof] |= SIM_DESIRED_STATE_HAS_DAMPING;
}
}
return 0;
}
B3_SHARED_API int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;