Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-11-03 22:45:36 +00:00
Code Issues Packages Projects Releases Wiki Activity

pybullet: fixes in polyhedral feature generation

Browse Source
This commit is contained in:
Erwin Coumans
2020-03-16 23:32:26 -07:00
parent 27fbbfee7f
commit 7991012f9d
3 changed files with 12 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+7
View File
@@ -5029,8 +5029,13 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
convexHull->addPoint(pt * meshScale, false);
}
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_INITIALIZE_SAT_FEATURES)
{
convexHull->initializePolyhedralFeatures();
}
convexHull->recalcLocalAabb();
convexHull->optimizeConvexHull();
compound->addChildShape(childTransform, convexHull);
}
}
@@ -12217,6 +12222,8 @@ bool PhysicsServerCommandProcessor::processRequestCollisionShapeInfoCommand(cons
if (bodyHandle->m_multiBody)
{
b3CollisionShapeData* collisionShapeStoragePtr = (b3CollisionShapeData*)bufferServerToClient;
collisionShapeStoragePtr->m_objectUniqueId = bodyUniqueId;
collisionShapeStoragePtr->m_linkIndex = linkIndex;
int totalBytesPerObject = sizeof(b3CollisionShapeData);
int maxNumColObjects = bufferSizeInBytes / totalBytesPerObject - 1;
btTransform childTrans;