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implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms.

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This commit is contained in:
Erwin Coumans
2021-09-02 17:27:05 -07:00
parent 3577ef8108
commit b6df08b553
9 changed files with 148 additions and 2 deletions
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22
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1484,6 +1484,28 @@ B3_SHARED_API int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle co
return -1;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3ResetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int numVertices, const double* vertices)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
if (cl)
{
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_RESET_MESH_DATA;
command->m_updateFlags = 0;
command->m_resetMeshDataArgs.m_numVertices = numVertices;
command->m_resetMeshDataArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetMeshDataArgs.m_flags = 0;
int totalUploadSizeInBytes = numVertices * sizeof(double) *3;
cl->uploadBulletFileToSharedMemory((const char*)vertices, totalUploadSizeInBytes);
return (b3SharedMemoryCommandHandle)command;
}
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
{
PhysicsClient* cl = (PhysicsClient*)physClient;