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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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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+44
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@@ -5485,6 +5485,44 @@ static void gatherVertices(const btTransform& trans, const btCollisionShape* col
}
}
}
bool PhysicsServerCommandProcessor::processResetMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_REQUEST_MESH_DATA");
serverStatusOut.m_type = CMD_RESET_MESH_DATA_FAILED;
int sizeInBytes = 0;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_requestMeshDataArgs.m_bodyUniqueId);
if (bodyHandle)
{
int totalBytesPerVertex = sizeof(btVector3);
double* vertexUpload = (double*)bufferServerToClient;
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
if (bodyHandle->m_softBody)
{
btSoftBody* psb = bodyHandle->m_softBody;
int numVertices = psb->m_nodes.size();
if (clientCmd.m_resetMeshDataArgs.m_numVertices == numVertices)
{
for (int i = 0; i < numVertices; ++i)
{
btSoftBody::Node& n = psb->m_nodes[i];
n.m_x.setValue(vertexUpload[i*3+0], vertexUpload[i*3+1],vertexUpload[i*3+2]);
}
serverStatusOut.m_type = CMD_RESET_MESH_DATA_COMPLETED;
}
}
#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
}
serverStatusOut.m_numDataStreamBytes = 0;
return hasStatus;
}
bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
@@ -14218,6 +14256,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = processRequestMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_RESET_MESH_DATA:
{
hasStatus = processResetMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_MULTI_BODY:
{
hasStatus = processCreateMultiBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);