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Merge pull request #2809 from erwincoumans/master

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add pybullet.unsupportedChangeScaling feature for some small experime…
This commit is contained in:
erwincoumans
2020-05-17 19:22:40 -07:00
committed by GitHub
parent fee2eb53bf 3f0b8c938b
commit d4c7687b29
14 changed files with 182 additions and 3 deletions
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27
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8063,7 +8063,9 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
cb.m_bodyUniqueIdA = bodyUniqueIdA;
cb.m_bodyUniqueIdB = bodyUniqueIdB;
cb.m_deltaTime = m_data->m_physicsDeltaTime;
cb.m_deltaTime = m_data->m_numSimulationSubSteps>0 ?
m_data->m_physicsDeltaTime/ m_data->m_numSimulationSubSteps :
m_data->m_physicsDeltaTime;
for (int i = 0; i < setA.size(); i++)
{
@@ -10047,6 +10049,20 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
{
btMultiBody* mb = body->m_multiBody;
if (clientCmd.m_updateFlags & INIT_POSE_HAS_SCALING)
{
btVector3 scaling(clientCmd.m_initPoseArgs.m_scaling[0], clientCmd.m_initPoseArgs.m_scaling[1], clientCmd.m_initPoseArgs.m_scaling[2]);
mb->getBaseCollider()->getCollisionShape()->setLocalScaling(scaling);
//refresh broadphase
m_data->m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(
mb->getBaseCollider()->getBroadphaseHandle(),
m_data->m_dynamicsWorld->getDispatcher());
//also visuals
int graphicsIndex = mb->getBaseCollider()->getUserIndex();
m_data->m_guiHelper->changeScaling(graphicsIndex, clientCmd.m_initPoseArgs.m_scaling);
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY)
{
mb->setBaseVel(baseLinVel);
@@ -11605,6 +11621,10 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT)
{
btScalar fixedTimeSubStep = m_data->m_numSimulationSubSteps > 0 ?
m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps :
m_data->m_physicsDeltaTime;
serverCmd.m_type = CMD_CHANGE_USER_CONSTRAINT_FAILED;
int userConstraintUidChange = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;
InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(userConstraintUidChange);
@@ -11637,7 +11657,8 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * m_data->m_physicsDeltaTime;
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * fixedTimeSubStep;
userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
userConstraintPtr->m_mbConstraint->setMaxAppliedImpulse(maxImp);
}
@@ -11668,7 +11689,7 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
{
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * m_data->m_physicsDeltaTime;
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce * fixedTimeSubStep;
userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
//userConstraintPtr->m_rbConstraint->setMaxAppliedImpulse(maxImp);
}