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Merge pull request #3066 from erwincoumans/master

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allow alternative deformable indexing (internal use/testing)
This commit is contained in:
erwincoumans
2020-09-16 20:16:35 -07:00
committed by GitHub
parent 03ebf4e539 4f8f28233c
commit 5ce97ffdb1
2 changed files with 12 additions and 2 deletions
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8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1710,6 +1710,7 @@ struct PhysicsServerCommandProcessorInternalData
double m_remoteSyncTransformTime;
double m_remoteSyncTransformInterval;
bool m_useAlternativeDeformableIndexing;
PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
: m_pluginManager(proc),
@@ -1752,7 +1753,8 @@ struct PhysicsServerCommandProcessorInternalData
m_threadPool(0),
m_defaultCollisionMargin(0.001),
m_remoteSyncTransformTime(1. / 30.),
m_remoteSyncTransformInterval(1. / 30.)
m_remoteSyncTransformInterval(1. / 30.),
m_useAlternativeDeformableIndexing(false)
{
{
//register static plugins:
@@ -8684,7 +8686,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
if ((out_found_sim_filename != out_found_filename) || ((out_sim_type == UrdfGeometry::FILE_OBJ)))
{
// load render mesh
if (1)
if (!m_data->m_useAlternativeDeformableIndexing)
{
float rgbaColor[4] = { 1,1,1,1 };
@@ -10182,6 +10184,8 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
{
//these flags are for internal/temporary/easter-egg/experimental demo purposes, use at own risk
gInternalSimFlags = clientCmd.m_physSimParamArgs.m_internalSimFlags;
m_data->m_useAlternativeDeformableIndexing =
(clientCmd.m_physSimParamArgs.m_internalSimFlags & eDeformableAlternativeIndexing) != 0;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_GRAVITY)

6
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -996,6 +996,12 @@ struct b3PluginArguments
double m_floats[B3_MAX_PLUGIN_ARG_SIZE];
};
enum eInternalSimFlags
{
eVRTinyGUI = 1<<1,
eDeformableAlternativeIndexing = 1<<2,
};
struct b3PhysicsSimulationParameters
{
double m_deltaTime;