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Merge branch 'master' of github.com:erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2021-04-21 22:14:38 -07:00
parent 48ba5a37ad a5761f2b10
commit 83a5fe2d31
13 changed files with 151 additions and 14 deletions
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24
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9761,6 +9761,11 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
mb->setAngularDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD)
{
mb->setSleepThreshold(clientCmd.m_changeDynamicsInfoArgs.m_sleepThreshold);
}
if (linkIndex == -1)
{
if (mb->getBaseCollider())
@@ -10045,6 +10050,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
btRigidBody* rb = 0;
if (body && body->m_rigidBody)
{
if (linkIndex == -1)
{
rb = body->m_rigidBody;
@@ -10180,6 +10186,13 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
m_data->m_dynamicsWorld->addCollisionObject(rb, collisionFilterGroup, collisionFilterMask);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD)
{
btScalar threshold2 = btSqrt(clientCmd.m_changeDynamicsInfoArgs.m_sleepThreshold);
rb->setSleepingThresholds(threshold2,threshold2);
}
}
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -10373,6 +10386,12 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_bodyType = BT_RIGID_BODY;
btRigidBody* rb = body->m_rigidBody;
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = rb->getLocalInertia()[0];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = rb->getLocalInertia()[1];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = rb->getLocalInertia()[2];
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = rb->getFriction();
serverCmd.m_dynamicsInfo.m_rollingFrictionCoeff = rb->getRollingFriction();
serverCmd.m_dynamicsInfo.m_spinningFrictionCoeff = rb->getSpinningFriction();
@@ -14612,7 +14631,12 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
{
m_data->m_pickedBody = body;
m_data->m_savedActivationState = body->getActivationState();
if (m_data->m_savedActivationState==ISLAND_SLEEPING)
{
m_data->m_savedActivationState = ACTIVE_TAG;
}
m_data->m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
m_data->m_pickedBody->setDeactivationTime(0);
//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot);