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add pybullet.unsupportedChangeScaling feature for some small experiments, this is not general and has many limitations that are not likely are going to be resolved,

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so unless it does what you want, ignore this api, it is unsupported!
This commit is contained in:
Erwin Coumans
2020-05-17 13:46:11 -07:00
parent 004dcc3404
commit 754dbd5fda
14 changed files with 172 additions and 0 deletions
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14
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -10032,6 +10032,20 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
{
btMultiBody* mb = body->m_multiBody;
if (clientCmd.m_updateFlags & INIT_POSE_HAS_SCALING)
{
btVector3 scaling(clientCmd.m_initPoseArgs.m_scaling[0], clientCmd.m_initPoseArgs.m_scaling[1], clientCmd.m_initPoseArgs.m_scaling[2]);
mb->getBaseCollider()->getCollisionShape()->setLocalScaling(scaling);
//refresh broadphase
m_data->m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(
mb->getBaseCollider()->getBroadphaseHandle(),
m_data->m_dynamicsWorld->getDispatcher());
//also visuals
int graphicsIndex = mb->getBaseCollider()->getUserIndex();
m_data->m_guiHelper->changeScaling(graphicsIndex, clientCmd.m_initPoseArgs.m_scaling);
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY)
{
mb->setBaseVel(baseLinVel);