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conditionally compile btSoftBody only if not SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD

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This commit is contained in:
Erwin Coumans
2020-04-23 16:24:03 -07:00
parent 3dbe5426bf
commit 6268c5d105
1 changed files with 14 additions and 2 deletions
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16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6048,8 +6048,14 @@ struct BatchRayCaster
int linkIndex = -1;
const btRigidBody* body = btRigidBody::upcast(rayResultCallback.m_collisionObject);
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
const btSoftBody* softBody = btSoftBody::upcast(rayResultCallback.m_collisionObject);
if (body || softBody)
if (softBody)
{
objectUniqueId = rayResultCallback.m_collisionObject->getUserIndex2();
}
#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
if (body)
{
objectUniqueId = rayResultCallback.m_collisionObject->getUserIndex2();
}
@@ -8310,8 +8316,10 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
#endif
}
bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision)
{
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btSoftBody* psb = NULL;
CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
char relativeFileName[1024];
@@ -8619,9 +8627,11 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
notification.m_bodyArgs.m_bodyUniqueId = *bodyUniqueId;
m_data->m_pluginManager.addNotification(notification);
}
#endif
return true;
}
bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_FAILED;
@@ -8678,9 +8688,11 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
#endif
}
#endif
return hasStatus;
}
bool PhysicsServerCommandProcessor::processCreateSensorCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)