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Merge pull request #3153 from WenlongLu/kinematic_multibody_interface

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SharedMemory interface to set and get dynamic types
This commit is contained in:
erwincoumans
2020-11-18 11:05:03 -08:00
committed by GitHub
parent 2c38eea830 c32e721262
commit 875a6a4446
5 changed files with 65 additions and 1 deletions
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42
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9713,6 +9713,17 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
}
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE)
{
int dynamic_type = clientCmd.m_changeDynamicsInfoArgs.m_dynamicType;
mb->setBaseDynamicType(dynamic_type);
bool isDynamic = dynamic_type == eDynamic;
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
m_data->m_dynamicsWorld->removeCollisionObject(mb->getBaseCollider());
m_data->m_dynamicsWorld->addCollisionObject(mb->getBaseCollider(), collisionFilterGroup, collisionFilterMask);
}
}
else
{
@@ -9859,7 +9870,17 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
mb->getLinkCollider(linkIndex)->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE)
{
int dynamic_type = clientCmd.m_changeDynamicsInfoArgs.m_dynamicType;
mb->setLinkDynamicType(linkIndex, dynamic_type);
bool isDynamic = dynamic_type == eDynamic;
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
m_data->m_dynamicsWorld->removeCollisionObject(mb->getLinkCollider(linkIndex));
m_data->m_dynamicsWorld->addCollisionObject(mb->getLinkCollider(linkIndex), collisionFilterGroup, collisionFilterMask);
}
}
}
}
@@ -9987,6 +10008,22 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
rb->getCollisionShape()->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE)
{
int dynamic_type = clientCmd.m_changeDynamicsInfoArgs.m_dynamicType;
// If mass is zero, the object cannot be set to be dynamic.
if (!(rb->getInvMass() != btScalar(0.) || dynamic_type != eDynamic)) {
int collision_flags = rb->getCollisionFlags();
collision_flags &= ~(btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT);
collision_flags |= dynamic_type;
rb->setCollisionFlags(collision_flags);
bool isDynamic = dynamic_type == eDynamic;
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
m_data->m_dynamicsWorld->removeCollisionObject(rb);
m_data->m_dynamicsWorld->addCollisionObject(rb, collisionFilterGroup, collisionFilterMask);
}
}
}
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -10067,6 +10104,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = mb->getBaseCollider()->getCcdSweptSphereRadius();
serverCmd.m_dynamicsInfo.m_frictionAnchor = mb->getBaseCollider()->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR;
serverCmd.m_dynamicsInfo.m_collisionMargin = mb->getBaseCollider()->getCollisionShape()->getMargin();
serverCmd.m_dynamicsInfo.m_dynamicType = mb->getBaseCollider()->getCollisionFlags() & (btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT);
}
else
{
@@ -10075,6 +10113,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = 0;
serverCmd.m_dynamicsInfo.m_frictionAnchor = 0;
serverCmd.m_dynamicsInfo.m_collisionMargin = 0;
serverCmd.m_dynamicsInfo.m_dynamicType = 0;
}
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = mb->getBaseInertia()[0];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = mb->getBaseInertia()[1];
@@ -10118,6 +10157,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = mb->getLinkCollider(linkIndex)->getCcdSweptSphereRadius();
serverCmd.m_dynamicsInfo.m_frictionAnchor = mb->getLinkCollider(linkIndex)->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR;
serverCmd.m_dynamicsInfo.m_collisionMargin = mb->getLinkCollider(linkIndex)->getCollisionShape()->getMargin();
serverCmd.m_dynamicsInfo.m_dynamicType = mb->getLinkCollider(linkIndex)->getCollisionFlags() & (btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT);
}
else
{
@@ -10126,6 +10166,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = 0;
serverCmd.m_dynamicsInfo.m_frictionAnchor = 0;
serverCmd.m_dynamicsInfo.m_collisionMargin = 0;
serverCmd.m_dynamicsInfo.m_dynamicType = 0;
}
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = mb->getLinkInertia(linkIndex)[0];
@@ -10183,6 +10224,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_linearDamping = rb->getLinearDamping();
serverCmd.m_dynamicsInfo.m_mass = rb->getMass();
serverCmd.m_dynamicsInfo.m_collisionMargin = rb->getCollisionShape() ? rb->getCollisionShape()->getMargin() : 0;
serverCmd.m_dynamicsInfo.m_dynamicType = rb->getCollisionFlags() & (btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT);
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
else if (body && body->m_softBody)