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add collision info

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This commit is contained in:
Chuyuan Kelly Fu
2022-02-11 12:47:35 -08:00
parent 9f3c4123a2
commit 4b12767b60
5 changed files with 128 additions and 0 deletions
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113
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -8077,6 +8077,118 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
return hasStatus;
}
bool RequestFiltered(const struct SharedMemoryCommand& clientCmd, int& linkIndexA, int& linkIndexB, int& objectIndexA, int& objectIndexB, bool& swap){
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
{
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
{
swap = false;
}
else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
{
swap = true;
}
else
{
return true;
}
}
if (swap)
{
std::swap(objectIndexA, objectIndexB);
std::swap(linkIndexA, linkIndexB);
}
//apply the second object filter, if the user provides it
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
{
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
{
return true;
}
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
{
return true;
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
{
return true;
}
return false;
}
bool PhysicsServerCommandProcessor::processRequestDeformableDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd){
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (!deformWorld)
{
return false;
}
for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
{
btSoftBody* psb = deformWorld->getSoftBodyArray()[i];
for (int c = 0; c < psb->m_faceNodeContacts.size(); c++)
{
const btSoftBody::DeformableFaceNodeContact* contact = &psb->m_faceNodeContacts[c];
//apply the filter, if the user provides it
int linkIndexA = -1;
int linkIndexB = -1;
int objectIndexA = psb->getUserIndex2();
int objectIndexB = -1;
const btSoftBody* bodyB = btSoftBody::upcast(contact->m_colObj);
if (bodyB)
{
objectIndexB = bodyB->getUserIndex2();
}
bool swap = false;
if(RequestFiltered(clientCmd, linkIndexA, linkIndexB, objectIndexA, objectIndexB, swap)==true){
continue;
}
//Convert contact info
b3ContactPointData pt;
pt.m_bodyUniqueIdA = objectIndexA;
pt.m_bodyUniqueIdB = objectIndexB;
pt.m_contactDistance = 0;
pt.m_contactFlags = 0;
pt.m_linkIndexA = linkIndexA;
pt.m_linkIndexB = linkIndexB;
for (int j = 0; j < 3; j++)
{
if (swap)
{
pt.m_contactNormalOnBInWS[j] = -contact->m_normal[j];
}
else
{
pt.m_contactNormalOnBInWS[j] = contact->m_normal[j];
}
pt.m_positionOnAInWS[j] = contact->m_node->m_x[j];
pt.m_positionOnBInWS[j] = contact->m_node->m_x[j];
pt.m_linearFrictionDirection1[j] = 0;
pt.m_linearFrictionDirection2[j] = 0;
}
pt.m_normalForce = 0;
pt.m_linearFrictionForce1 = 0;
pt.m_linearFrictionForce2 = 0;
m_data->m_cachedContactPoints.push_back(pt);
}
}
#endif
return true;
}
bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd)
{
#ifndef SKIP_DEFORMABLE_BODY
@@ -8345,6 +8457,7 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
#ifndef SKIP_DEFORMABLE_BODY
processRequestDeformableContactpointHelper(clientCmd);
processRequestDeformableDeformableContactpointHelper(clientCmd);
#endif
break;
}

1
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -46,6 +46,7 @@ protected:
bool processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd);
bool processRequestDeformableDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd);
bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processLoadSDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);