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

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This commit is contained in:
Erwin Coumans
2021-04-22 16:20:31 -07:00
parent 973d8c128f a5761f2b10
commit c915e82d49
14 changed files with 157 additions and 16 deletions
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examples/SharedMemory/PhysicsClientC_API.cpp
+23
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@@ -260,6 +260,17 @@ B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle command
}
}
B3_SHARED_API void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_MJCF);
if (command->m_type == CMD_LOAD_MJCF)
{
command->m_updateFlags |= URDF_ARGS_USE_MULTIBODY;
command->m_mjcfArguments.m_useMultiBody = useMultiBody;
}
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient, const char* fileName)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -3296,6 +3307,18 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHa
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetSleepThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double sleepThreshold)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_sleepThreshold = sleepThreshold;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD;
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, int dynamicType)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
examples/SharedMemory/PhysicsClientC_API.h
+4 -1
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@@ -156,7 +156,8 @@ extern "C"
B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimit(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointLowerLimit, double jointUpperLimit);
B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointLimitForce);
B3_SHARED_API int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, int dynamicType);
B3_SHARED_API int b3ChangeDynamicsInfoSetSleepThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double sleepThreshold);
B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
B3_SHARED_API int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
@@ -415,6 +416,8 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit2(b3SharedMemoryCommandHandle commandHandle, const char* fileName);
B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
B3_SHARED_API void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId,
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+27
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@@ -2771,6 +2771,9 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
#endif
}
//may help improve run-time performance for many sleeping objects
m_data->m_dynamicsWorld->setForceUpdateAllAabbs(false);
//Workaround: in a VR application, where we avoid synchronizing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(128 * 1024);
@@ -9761,6 +9764,11 @@ 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 +10053,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
btRigidBody* rb = 0;
if (body && body->m_rigidBody)
{
if (linkIndex == -1)
{
rb = body->m_rigidBody;
@@ -10180,6 +10189,13 @@ 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 +10389,12 @@ 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 +14634,12 @@ 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);
examples/SharedMemory/SharedMemoryCommands.h
+4
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@@ -174,6 +174,7 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS = 1 << 18,
CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE = 1 << 19,
CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE = 1 << 20,
CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD = 1 << 21,
};
struct ChangeDynamicsInfoArgs
@@ -205,6 +206,9 @@ struct ChangeDynamicsInfoArgs
double m_jointLimitForce;
int m_dynamicType;
double m_sleepThreshold;
};
struct GetDynamicsInfoArgs