mirror of
https://github.com/bulletphysics/bullet3.git
synced 2026-08-07 13:59:24 +00:00
clang format PhysicsServerCommandProcessor and BulletSoftBody
This commit is contained in:
Xuchen Han
Chuyuan Fu
@@ -93,11 +93,10 @@
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#include "../TinyAudio/b3SoundEngine.h"
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#endif
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#ifdef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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#define SKIP_DEFORMABLE_BODY 1
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#endif
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#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "BulletSoftBody/btSoftBodySolvers.h"
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@@ -107,18 +106,16 @@
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#include "BulletSoftBody/btDeformableBodySolver.h"
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#include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h"
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#include "../SoftDemo/BunnyMesh.h"
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#endif//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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#ifndef SKIP_DEFORMABLE_BODY
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#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
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#include "BulletSoftBody/btDeformableBodySolver.h"
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#include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h"
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#endif//SKIP_DEFORMABLE_BODY
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#endif //SKIP_DEFORMABLE_BODY
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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int gInternalSimFlags = 0;
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bool gResetSimulation = 0;
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int gVRTrackingObjectUniqueId = -1;
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@@ -1617,12 +1614,9 @@ struct PhysicsServerCommandProcessorInternalData
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btScalar getDeltaTimeSubStep() const
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{
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btScalar deltaTimeSubStep = m_numSimulationSubSteps > 0 ?
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m_physicsDeltaTime / m_numSimulationSubSteps :
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m_physicsDeltaTime;
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btScalar deltaTimeSubStep = m_numSimulationSubSteps > 0 ? m_physicsDeltaTime / m_numSimulationSubSteps : m_physicsDeltaTime;
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return deltaTimeSubStep;
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}
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btScalar m_simulationTimestamp;
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btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
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@@ -1653,15 +1647,14 @@ struct PhysicsServerCommandProcessorInternalData
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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#ifndef SKIP_DEFORMABLE_BODY
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btSoftBody* m_pickedSoftBody;
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btDeformableMousePickingForce* m_mouseForce;
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btScalar m_maxPickingForce;
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btDeformableBodySolver* m_deformablebodySolver;
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btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
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btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
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#endif
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btMultiBodyDynamicsWorld* m_dynamicsWorld;
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int m_constraintSolverType;
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@@ -1687,7 +1680,7 @@ struct PhysicsServerCommandProcessorInternalData
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//data for picking objects
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class btRigidBody* m_pickedBody;
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int m_savedActivationState;
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class btTypedConstraint* m_pickedConstraint;
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class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
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@@ -2631,9 +2624,9 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
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btDeformableMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getDeformableWorld()
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{
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btDeformableMultiBodyDynamicsWorld* world = 0;
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if (m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getWorldType()== BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD)
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if (m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getWorldType() == BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD)
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{
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world = (btDeformableMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
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world = (btDeformableMultiBodyDynamicsWorld*)m_data->m_dynamicsWorld;
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}
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return world;
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}
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@@ -2641,9 +2634,9 @@ btDeformableMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getDeformable
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btSoftMultiBodyDynamicsWorld* PhysicsServerCommandProcessor::getSoftWorld()
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{
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btSoftMultiBodyDynamicsWorld* world = 0;
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if (m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getWorldType()== BT_SOFT_MULTIBODY_DYNAMICS_WORLD)
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if (m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getWorldType() == BT_SOFT_MULTIBODY_DYNAMICS_WORLD)
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{
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world = (btSoftMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
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world = (btSoftMultiBodyDynamicsWorld*)m_data->m_dynamicsWorld;
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}
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return world;
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}
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@@ -2669,43 +2662,44 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
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m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback);
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//int maxProxies = 32768;
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if (flags&RESET_USE_SIMPLE_BROADPHASE)
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if (flags & RESET_USE_SIMPLE_BROADPHASE)
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{
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m_data->m_broadphase = new btSimpleBroadphase(65536, m_data->m_pairCache);
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} else
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}
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else
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{
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btDbvtBroadphase* bv = new btDbvtBroadphase(m_data->m_pairCache);
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bv->setVelocityPrediction(0);
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m_data->m_broadphase = bv;
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}
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if (flags & RESET_USE_DEFORMABLE_WORLD)
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if (flags & RESET_USE_DEFORMABLE_WORLD)
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{
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#ifndef SKIP_DEFORMABLE_BODY
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m_data->m_deformablebodySolver = new btDeformableBodySolver();
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btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
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m_data->m_solver = solver;
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solver->setDeformableSolver(m_data->m_deformablebodySolver);
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m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver);
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m_data->m_deformablebodySolver = new btDeformableBodySolver();
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btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
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m_data->m_solver = solver;
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solver->setDeformableSolver(m_data->m_deformablebodySolver);
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m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver);
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#endif
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}
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if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD)))
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if ((0 == m_data->m_dynamicsWorld) && (0 == (flags & RESET_USE_DISCRETE_DYNAMICS_WORLD)))
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{
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m_data->m_solver = new btMultiBodyConstraintSolver;
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m_data->m_solver = new btMultiBodyConstraintSolver;
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#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
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m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
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#else
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m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
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m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
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#endif
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}
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if (0==m_data->m_dynamicsWorld)
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if (0 == m_data->m_dynamicsWorld)
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{
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m_data->m_solver = new btMultiBodyConstraintSolver;
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m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
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}
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//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
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m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(128 * 1024);
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@@ -2863,43 +2857,42 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
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delete mb;
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}
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#ifndef SKIP_DEFORMABLE_BODY
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for (int j = 0; j < m_data->m_lf.size(); j++)
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{
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btDeformableLagrangianForce* force = m_data->m_lf[j];
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delete force;
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}
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m_data->m_lf.clear();
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for (int j = 0; j < m_data->m_lf.size(); j++)
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{
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btDeformableLagrangianForce* force = m_data->m_lf[j];
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delete force;
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}
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m_data->m_lf.clear();
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#endif
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#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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{
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btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
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if (softWorld)
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{
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for (i =softWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
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for (i = softWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
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{
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btSoftBody* sb =softWorld->getSoftBodyArray()[i];
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btSoftBody* sb = softWorld->getSoftBodyArray()[i];
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softWorld->removeSoftBody(sb);
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delete sb;
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}
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}
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}
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#endif//SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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#ifndef SKIP_DEFORMABLE_BODY
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{
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{
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btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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if (deformWorld)
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{
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for (i =deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
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for (i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
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{
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btSoftBody* sb =deformWorld->getSoftBodyArray()[i];
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btSoftBody* sb = deformWorld->getSoftBodyArray()[i];
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deformWorld->removeSoftBody(sb);
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delete sb;
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}
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}
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}
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#endif
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}
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for (int i = 0; i < constraints.size(); i++)
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@@ -3037,7 +3030,8 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
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}
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}
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int PhysicsServerCommandProcessor::addUserData(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key, const char* valueBytes, int valueLength, int valueType) {
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int PhysicsServerCommandProcessor::addUserData(int bodyUniqueId, int linkIndex, int visualShapeIndex, const char* key, const char* valueBytes, int valueLength, int valueType)
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{
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InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
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if (!body)
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{
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@@ -3068,13 +3062,16 @@ int PhysicsServerCommandProcessor::addUserData(int bodyUniqueId, int linkIndex,
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return userDataHandle;
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}
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void PhysicsServerCommandProcessor::addUserData(const btHashMap<btHashString, std::string>& user_data_entries, int bodyUniqueId, int linkIndex, int visualShapeIndex) {
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for (int i = 0; i < user_data_entries.size(); ++i) {
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void PhysicsServerCommandProcessor::addUserData(const btHashMap<btHashString, std::string>& user_data_entries, int bodyUniqueId, int linkIndex, int visualShapeIndex)
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{
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for (int i = 0; i < user_data_entries.size(); ++i)
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{
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const std::string key = user_data_entries.getKeyAtIndex(i).m_string1;
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const std::string* value = user_data_entries.getAtIndex(i);
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if (value) {
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if (value)
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{
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addUserData(bodyUniqueId, linkIndex, visualShapeIndex, key.c_str(), value->c_str(),
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value->size()+1, USER_DATA_VALUE_TYPE_STRING);
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value->size() + 1, USER_DATA_VALUE_TYPE_STRING);
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}
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}
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}
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@@ -3357,23 +3354,29 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
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// create a mapping from link name to link index in order to apply the user
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// data to the correct link in the MultiBody.
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btHashMap<btHashString, int> linkNameToIndexMap;
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if (bodyHandle->m_multiBody) {
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if (bodyHandle->m_multiBody)
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{
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btMultiBody* mb = bodyHandle->m_multiBody;
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linkNameToIndexMap.insert(mb->getBaseName(), -1);
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for (int linkIndex = 0; linkIndex < mb->getNumLinks(); ++linkIndex) {
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for (int linkIndex = 0; linkIndex < mb->getNumLinks(); ++linkIndex)
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{
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linkNameToIndexMap.insert(mb->getLink(linkIndex).m_linkName, linkIndex);
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}
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}
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const UrdfModel* urdfModel = u2b.getUrdfModel();
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if (urdfModel) {
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if (urdfModel)
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{
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addUserData(urdfModel->m_userData, bodyUniqueId);
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for (int i = 0; i < urdfModel->m_links.size(); ++i) {
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for (int i = 0; i < urdfModel->m_links.size(); ++i)
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{
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const UrdfLink* link = *urdfModel->m_links.getAtIndex(i);
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int* linkIndex = linkNameToIndexMap.find(link->m_name.c_str());
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if (linkIndex) {
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if (linkIndex)
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{
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addUserData(link->m_userData, bodyUniqueId, *linkIndex);
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for (int visualShapeIndex = 0; visualShapeIndex < link->m_visualArray.size(); ++visualShapeIndex) {
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for (int visualShapeIndex = 0; visualShapeIndex < link->m_visualArray.size(); ++visualShapeIndex)
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{
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addUserData(link->m_visualArray.at(visualShapeIndex).m_userData, bodyUniqueId, *linkIndex, visualShapeIndex);
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}
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}
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@@ -3522,7 +3525,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
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if (loadOk)
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{
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btTransform rootTrans;
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rootTrans.setOrigin(pos);
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rootTrans.setRotation(orn);
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@@ -5095,19 +5097,19 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
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{
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btVector3 pt;
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pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 0],
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attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 1],
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attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 2]);
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attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 1],
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attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 2]);
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convexHull->addPoint(pt * meshScale, false);
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pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0],
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attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
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attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
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attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
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attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
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convexHull->addPoint(pt * meshScale, false);
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pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0],
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attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
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attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
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attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
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attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
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convexHull->addPoint(pt * meshScale, false);
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}
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@@ -5303,7 +5305,6 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
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if (bodyHandle->m_multiBody)
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{
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//collision shape
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if (clientCmd.m_requestMeshDataArgs.m_linkIndex == -1)
|
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{
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@@ -5325,22 +5326,22 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
|
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btTransform tr;
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tr.setIdentity();
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int collisionShapeIndex = -1;
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if (clientCmd.m_updateFlags& B3_MESH_DATA_COLLISIONSHAPEINDEX)
|
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if (clientCmd.m_updateFlags & B3_MESH_DATA_COLLISIONSHAPEINDEX)
|
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{
|
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collisionShapeIndex = clientCmd.m_requestMeshDataArgs.m_collisionShapeIndex;
|
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}
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gatherVertices(tr, colShape, vertices, collisionShapeIndex);
|
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|
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int numVertices = vertices.size();
|
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int maxNumVertices = bufferSizeInBytes / totalBytesPerVertex - 1;
|
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int numVerticesRemaining = numVertices - clientCmd.m_requestMeshDataArgs.m_startingVertex;
|
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int verticesCopied = btMin(maxNumVertices, numVerticesRemaining);
|
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|
||||
|
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if (verticesCopied > 0)
|
||||
{
|
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memcpy(verticesOut, &vertices[0], sizeof(btVector3) * verticesCopied);
|
||||
}
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||||
|
||||
|
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sizeInBytes = verticesCopied * sizeof(btVector3);
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serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
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serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = verticesCopied;
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@@ -5353,13 +5354,13 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
|
||||
if (bodyHandle->m_softBody)
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{
|
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btSoftBody* psb = bodyHandle->m_softBody;
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||||
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||||
bool separateRenderMesh = (psb->m_renderNodes.size() != 0);
|
||||
int numVertices = separateRenderMesh ? psb->m_renderNodes.size() : psb->m_nodes.size();
|
||||
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||||
bool separateRenderMesh = (psb->m_renderNodes.size() != 0);
|
||||
int numVertices = separateRenderMesh ? psb->m_renderNodes.size() : psb->m_nodes.size();
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||||
int maxNumVertices = bufferSizeInBytes / totalBytesPerVertex - 1;
|
||||
int numVerticesRemaining = numVertices - clientCmd.m_requestMeshDataArgs.m_startingVertex;
|
||||
int verticesCopied = btMin(maxNumVertices, numVerticesRemaining);
|
||||
|
||||
|
||||
for (int i = 0; i < verticesCopied; ++i)
|
||||
{
|
||||
if (separateRenderMesh)
|
||||
@@ -5818,7 +5819,6 @@ bool PhysicsServerCommandProcessor::processUserDebugDrawCommand(const struct Sha
|
||||
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
|
||||
}
|
||||
|
||||
|
||||
if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_ONE_ITEM)
|
||||
{
|
||||
m_data->m_guiHelper->removeUserDebugItem(clientCmd.m_userDebugDrawArgs.m_itemUniqueId);
|
||||
@@ -5974,14 +5974,11 @@ struct CastSyncInfo
|
||||
};
|
||||
#endif // __cplusplus >= 201103L
|
||||
|
||||
|
||||
|
||||
|
||||
struct FilteredClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback
|
||||
{
|
||||
FilteredClosestRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, int collisionFilterMask)
|
||||
: btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld),
|
||||
m_collisionFilterMask(collisionFilterMask)
|
||||
m_collisionFilterMask(collisionFilterMask)
|
||||
{
|
||||
}
|
||||
|
||||
@@ -5999,12 +5996,12 @@ struct FilteredClosestRayResultCallback : public btCollisionWorld::ClosestRayRes
|
||||
}
|
||||
};
|
||||
|
||||
struct FilteredAllHitsRayResultCallback: public btCollisionWorld::AllHitsRayResultCallback
|
||||
struct FilteredAllHitsRayResultCallback : public btCollisionWorld::AllHitsRayResultCallback
|
||||
{
|
||||
FilteredAllHitsRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, int collisionFilterMask, btScalar fractionEpsilon)
|
||||
: btCollisionWorld::AllHitsRayResultCallback(rayFromWorld, rayToWorld),
|
||||
m_collisionFilterMask(collisionFilterMask),
|
||||
m_fractionEpsilon(fractionEpsilon)
|
||||
m_collisionFilterMask(collisionFilterMask),
|
||||
m_fractionEpsilon(fractionEpsilon)
|
||||
{
|
||||
}
|
||||
|
||||
@@ -6027,7 +6024,7 @@ struct FilteredAllHitsRayResultCallback: public btCollisionWorld::AllHitsRayResu
|
||||
{
|
||||
if (m_collisionObjects[i] == rayResult.m_collisionObject)
|
||||
{
|
||||
btScalar diffFraction = m_hitFractions[i]-rayResult.m_hitFraction;
|
||||
btScalar diffFraction = m_hitFractions[i] - rayResult.m_hitFraction;
|
||||
if (btEqual(diffFraction, m_fractionEpsilon))
|
||||
{
|
||||
isDuplicate = true;
|
||||
@@ -6055,9 +6052,7 @@ struct BatchRayCaster
|
||||
btScalar m_fractionEpsilon;
|
||||
|
||||
BatchRayCaster(b3ThreadPool* threadPool, const btCollisionWorld* world, const b3RayData* rayInputBuffer, b3RayHitInfo* hitInfoOutputBuffer, int numRays, int reportHitNumber, int collisionFilterMask, btScalar fractionEpsilon)
|
||||
: m_threadPool(threadPool), m_world(world), m_rayInputBuffer(rayInputBuffer), m_hitInfoOutputBuffer(hitInfoOutputBuffer), m_numRays(numRays), m_reportHitNumber(reportHitNumber),
|
||||
m_collisionFilterMask(collisionFilterMask),
|
||||
m_fractionEpsilon(fractionEpsilon)
|
||||
: m_threadPool(threadPool), m_world(world), m_rayInputBuffer(rayInputBuffer), m_hitInfoOutputBuffer(hitInfoOutputBuffer), m_numRays(numRays), m_reportHitNumber(reportHitNumber), m_collisionFilterMask(collisionFilterMask), m_fractionEpsilon(fractionEpsilon)
|
||||
{
|
||||
m_syncInfo = new CastSyncInfo;
|
||||
}
|
||||
@@ -6162,7 +6157,7 @@ struct BatchRayCaster
|
||||
{
|
||||
objectUniqueId = rayResultCallback.m_collisionObject->getUserIndex2();
|
||||
}
|
||||
#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
|
||||
#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
|
||||
if (body)
|
||||
{
|
||||
objectUniqueId = rayResultCallback.m_collisionObject->getUserIndex2();
|
||||
@@ -6399,7 +6394,7 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar
|
||||
int usz = m_data->m_userConstraints.size();
|
||||
int* constraintUid = bodyUids + actualNumBodies;
|
||||
serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = usz;
|
||||
|
||||
|
||||
for (int i = 0; i < usz; i++)
|
||||
{
|
||||
int key = m_data->m_userConstraints.getKeyAtIndex(i).getUid1();
|
||||
@@ -6424,14 +6419,16 @@ bool PhysicsServerCommandProcessor::processSyncUserDataCommand(const struct Shar
|
||||
}
|
||||
else
|
||||
{
|
||||
for (int i=0; i<clientCmd.m_syncUserDataRequestArgs.m_numRequestedBodies; ++i) {
|
||||
for (int i = 0; i < clientCmd.m_syncUserDataRequestArgs.m_numRequestedBodies; ++i)
|
||||
{
|
||||
const int bodyUniqueId = clientCmd.m_syncUserDataRequestArgs.m_requestedBodyIds[i];
|
||||
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
|
||||
if (!body)
|
||||
{
|
||||
return hasStatus;
|
||||
}
|
||||
for (int j=0; j < body->m_userDataHandles.size(); ++j) {
|
||||
for (int j = 0; j < body->m_userDataHandles.size(); ++j)
|
||||
{
|
||||
userDataHandles.push_back(body->m_userDataHandles[j]);
|
||||
}
|
||||
}
|
||||
@@ -6446,7 +6443,7 @@ bool PhysicsServerCommandProcessor::processSyncUserDataCommand(const struct Shar
|
||||
serverStatusOut.m_syncUserDataArgs.m_numUserDataIdentifiers = userDataHandles.size();
|
||||
serverStatusOut.m_numDataStreamBytes = sizeInBytes;
|
||||
serverStatusOut.m_type = CMD_SYNC_USER_DATA_COMPLETED;
|
||||
|
||||
|
||||
return hasStatus;
|
||||
}
|
||||
|
||||
@@ -6496,7 +6493,8 @@ bool PhysicsServerCommandProcessor::processAddUserDataCommand(const struct Share
|
||||
addUserDataArgs.m_visualShapeIndex, addUserDataArgs.m_key,
|
||||
bufferServerToClient, addUserDataArgs.m_valueLength,
|
||||
addUserDataArgs.m_valueType);
|
||||
if (userDataHandle < 0) {
|
||||
if (userDataHandle < 0)
|
||||
{
|
||||
return hasStatus;
|
||||
}
|
||||
|
||||
@@ -7345,7 +7343,7 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
|
||||
}
|
||||
}
|
||||
} //fi
|
||||
//break;
|
||||
//break;
|
||||
}
|
||||
}
|
||||
} //if (body && body->m_rigidBody)
|
||||
@@ -7659,7 +7657,6 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
|
||||
serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage);
|
||||
serverCmd.m_sendActualStateArgs.m_stateDetails = 0;
|
||||
|
||||
|
||||
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] =
|
||||
body->m_rootLocalInertialFrame.getOrigin()[0];
|
||||
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] =
|
||||
@@ -7676,7 +7673,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
|
||||
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] =
|
||||
body->m_rootLocalInertialFrame.getRotation()[3];
|
||||
|
||||
btVector3 center_of_mass(sb->getCenterOfMass());
|
||||
btVector3 center_of_mass(sb->getCenterOfMass());
|
||||
btTransform tr = sb->getRigidTransform();
|
||||
//base position in world space, cartesian
|
||||
stateDetails->m_actualStateQ[0] = center_of_mass[0];
|
||||
@@ -7830,7 +7827,7 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
|
||||
{
|
||||
pt.m_contactNormalOnBInWS[j] = -srcPt.m_normalWorldOnB[j];
|
||||
pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnB()[j];
|
||||
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnA()[j];
|
||||
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnA()[j];
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -8088,9 +8085,7 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
|
||||
|
||||
cb.m_bodyUniqueIdA = bodyUniqueIdA;
|
||||
cb.m_bodyUniqueIdB = bodyUniqueIdB;
|
||||
cb.m_deltaTime = m_data->m_numSimulationSubSteps>0 ?
|
||||
m_data->m_physicsDeltaTime/ m_data->m_numSimulationSubSteps :
|
||||
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++)
|
||||
{
|
||||
@@ -8441,7 +8436,6 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision)
|
||||
{
|
||||
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
|
||||
@@ -8761,7 +8755,6 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
|
||||
{
|
||||
serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_FAILED;
|
||||
@@ -8818,11 +8811,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
|
||||
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
|
||||
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
|
||||
serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
|
||||
|
||||
}
|
||||
#endif
|
||||
return hasStatus;
|
||||
|
||||
}
|
||||
|
||||
bool PhysicsServerCommandProcessor::processCreateSensorCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
|
||||
@@ -9576,8 +9567,8 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
|
||||
{
|
||||
SharedMemoryStatus& serverCmd = serverStatusOut;
|
||||
serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED;
|
||||
serverCmd.m_dynamicsInfo.m_bodyType = BT_MULTI_BODY;
|
||||
|
||||
serverCmd.m_dynamicsInfo.m_bodyType = BT_MULTI_BODY;
|
||||
|
||||
btMultiBody* mb = body->m_multiBody;
|
||||
if (linkIndex == -1)
|
||||
{
|
||||
@@ -9695,7 +9686,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
|
||||
{
|
||||
SharedMemoryStatus& serverCmd = serverStatusOut;
|
||||
serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED;
|
||||
serverCmd.m_dynamicsInfo.m_bodyType = BT_RIGID_BODY;
|
||||
serverCmd.m_dynamicsInfo.m_bodyType = BT_RIGID_BODY;
|
||||
|
||||
btRigidBody* rb = body->m_rigidBody;
|
||||
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = rb->getFriction();
|
||||
@@ -9707,7 +9698,8 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
|
||||
serverCmd.m_dynamicsInfo.m_collisionMargin = rb->getCollisionShape() ? rb->getCollisionShape()->getMargin() : 0;
|
||||
}
|
||||
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
|
||||
else if (body && body->m_softBody){
|
||||
else if (body && body->m_softBody)
|
||||
{
|
||||
SharedMemoryStatus& serverCmd = serverStatusOut;
|
||||
serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED;
|
||||
serverCmd.m_dynamicsInfo.m_bodyType = BT_SOFT_BODY;
|
||||
@@ -9842,9 +9834,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
|
||||
gforce->m_gravity = grav;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
if (m_data->m_verboseOutput)
|
||||
@@ -9856,8 +9846,8 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
|
||||
{
|
||||
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
|
||||
}
|
||||
|
||||
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_NUM_NONCONTACT_INNER_ITERATIONS)
|
||||
|
||||
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_NUM_NONCONTACT_INNER_ITERATIONS)
|
||||
{
|
||||
m_data->m_dynamicsWorld->getSolverInfo().m_numNonContactInnerIterations = clientCmd.m_physSimParamArgs.m_numNonContactInnerIterations;
|
||||
}
|
||||
@@ -9922,7 +9912,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
if (newSolver)
|
||||
{
|
||||
delete oldSolver;
|
||||
@@ -9987,23 +9977,23 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
|
||||
{
|
||||
#ifndef SKIP_DEFORMABLE_BODY
|
||||
{
|
||||
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
|
||||
if (deformWorld)
|
||||
{
|
||||
deformWorld ->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(clientCmd.m_physSimParamArgs.m_sparseSdfVoxelSize);
|
||||
deformWorld ->getWorldInfo().m_sparsesdf.Reset();
|
||||
}
|
||||
}
|
||||
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
|
||||
if (deformWorld)
|
||||
{
|
||||
deformWorld->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(clientCmd.m_physSimParamArgs.m_sparseSdfVoxelSize);
|
||||
deformWorld->getWorldInfo().m_sparsesdf.Reset();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
|
||||
{
|
||||
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
|
||||
if (softWorld)
|
||||
{
|
||||
softWorld->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(clientCmd.m_physSimParamArgs.m_sparseSdfVoxelSize);
|
||||
softWorld->getWorldInfo().m_sparsesdf.Reset();
|
||||
}
|
||||
}
|
||||
{
|
||||
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
|
||||
if (softWorld)
|
||||
{
|
||||
softWorld->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(clientCmd.m_physSimParamArgs.m_sparseSdfVoxelSize);
|
||||
softWorld->getWorldInfo().m_sparsesdf.Reset();
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
@@ -10041,7 +10031,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
|
||||
bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
|
||||
{
|
||||
bool hasStatus = true;
|
||||
|
||||
|
||||
BT_PROFILE("CMD_INIT_POSE");
|
||||
|
||||
if (m_data->m_verboseOutput)
|
||||
@@ -10089,7 +10079,7 @@ bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMe
|
||||
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(
|
||||
@@ -10272,7 +10262,7 @@ bool PhysicsServerCommandProcessor::processResetSimulationCommand(const struct S
|
||||
bool hasStatus = true;
|
||||
BT_PROFILE("CMD_RESET_SIMULATION");
|
||||
m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL, 0);
|
||||
|
||||
|
||||
resetSimulation(clientCmd.m_updateFlags);
|
||||
m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL, 1);
|
||||
|
||||
@@ -11025,8 +11015,8 @@ bool PhysicsServerCommandProcessor::processApplyExternalForceCommand(const struc
|
||||
if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE) != 0)
|
||||
{
|
||||
btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
|
||||
clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
|
||||
clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
|
||||
clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
|
||||
clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
|
||||
btVector3 positionLocal(
|
||||
clientCmd.m_externalForceArguments.m_positions[i * 3 + 0],
|
||||
clientCmd.m_externalForceArguments.m_positions[i * 3 + 1],
|
||||
@@ -11174,7 +11164,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
|
||||
{
|
||||
deformWorld->removeSoftBody(psb);
|
||||
}
|
||||
|
||||
|
||||
int graphicsInstance = psb->getUserIndex2();
|
||||
m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance);
|
||||
delete psb;
|
||||
@@ -11268,35 +11258,36 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
|
||||
if (sbodyHandle->m_softBody)
|
||||
{
|
||||
int nodeIndex = clientCmd.m_userConstraintArguments.m_parentJointIndex;
|
||||
if (nodeIndex>=0 && nodeIndex < sbodyHandle->m_softBody->m_nodes.size())
|
||||
if (nodeIndex >= 0 && nodeIndex < sbodyHandle->m_softBody->m_nodes.size())
|
||||
{
|
||||
int bodyUniqueId = clientCmd.m_userConstraintArguments.m_childBodyIndex;
|
||||
if (bodyUniqueId<=0)
|
||||
if (bodyUniqueId <= 0)
|
||||
{
|
||||
//fixed anchor (mass = 0)
|
||||
InteralUserConstraintData userConstraintData;
|
||||
userConstraintData.m_sbHandle = clientCmd.m_userConstraintArguments.m_parentBodyIndex;
|
||||
userConstraintData.m_sbNodeIndex = nodeIndex;
|
||||
userConstraintData.m_sbNodeMass = sbodyHandle->m_softBody->getMass(nodeIndex);
|
||||
sbodyHandle->m_softBody->setMass(nodeIndex,0.0);
|
||||
sbodyHandle->m_softBody->setMass(nodeIndex, 0.0);
|
||||
int uid = m_data->m_userConstraintUIDGenerator++;
|
||||
m_data->m_userConstraints.insert(uid, userConstraintData);
|
||||
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
|
||||
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
InternalBodyHandle* mbodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
|
||||
if (mbodyHandle && mbodyHandle->m_multiBody)
|
||||
{
|
||||
|
||||
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
|
||||
if (deformWorld)
|
||||
{
|
||||
int linkIndex = clientCmd.m_userConstraintArguments.m_childJointIndex;
|
||||
if (linkIndex<0)
|
||||
if (linkIndex < 0)
|
||||
{
|
||||
sbodyHandle->m_softBody->appendDeformableAnchor(nodeIndex, mbodyHandle->m_multiBody->getBaseCollider());
|
||||
} else
|
||||
}
|
||||
else
|
||||
{
|
||||
if (linkIndex < mbodyHandle->m_multiBody->getNumLinks())
|
||||
{
|
||||
@@ -11322,11 +11313,11 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
|
||||
{
|
||||
bool disableCollisionBetweenLinkedBodies = true;
|
||||
btVector3 localPivot(clientCmd.m_userConstraintArguments.m_childFrame[0],
|
||||
clientCmd.m_userConstraintArguments.m_childFrame[1],
|
||||
clientCmd.m_userConstraintArguments.m_childFrame[2]);
|
||||
|
||||
clientCmd.m_userConstraintArguments.m_childFrame[1],
|
||||
clientCmd.m_userConstraintArguments.m_childFrame[2]);
|
||||
|
||||
sbodyHandle->m_softBody->appendAnchor(nodeIndex, mbodyHandle->m_rigidBody, localPivot, disableCollisionBetweenLinkedBodies);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
int uid = m_data->m_userConstraintUIDGenerator++;
|
||||
@@ -11336,12 +11327,8 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
|
||||
userConstraintData.m_sbNodeIndex = nodeIndex;
|
||||
m_data->m_userConstraints.insert(uid, userConstraintData);
|
||||
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
#endif
|
||||
@@ -11690,9 +11677,7 @@ 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;
|
||||
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;
|
||||
@@ -13753,49 +13738,47 @@ void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)
|
||||
|
||||
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
|
||||
{
|
||||
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
|
||||
if (deformWorld)
|
||||
{
|
||||
for (int i = 0; i < deformWorld->getSoftBodyArray().size(); i++)
|
||||
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
|
||||
if (deformWorld)
|
||||
{
|
||||
btSoftBody* psb = (btSoftBody*)deformWorld->getSoftBodyArray()[i];
|
||||
if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
|
||||
for (int i = 0; i < deformWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
//btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(),deformWorld->getDrawFlags());
|
||||
btSoftBody* psb = (btSoftBody*)deformWorld->getSoftBodyArray()[i];
|
||||
if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
|
||||
{
|
||||
//btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), deformWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
{
|
||||
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
|
||||
if (softWorld)
|
||||
{
|
||||
for (int i = 0; i < softWorld->getSoftBodyArray().size(); i++)
|
||||
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
|
||||
if (softWorld)
|
||||
{
|
||||
btSoftBody* psb = (btSoftBody*)softWorld->getSoftBodyArray()[i];
|
||||
if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
|
||||
for (int i = 0; i < softWorld->getSoftBodyArray().size(); i++)
|
||||
{
|
||||
//btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(),softWorld->getDrawFlags());
|
||||
btSoftBody* psb = (btSoftBody*)softWorld->getSoftBodyArray()[i];
|
||||
if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
|
||||
{
|
||||
//btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer());
|
||||
btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), softWorld->getDrawFlags());
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
struct MyResultCallback : public btCollisionWorld::ClosestRayResultCallback
|
||||
{
|
||||
int m_faceId;
|
||||
|
||||
MyResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
: btCollisionWorld::ClosestRayResultCallback(rayFromWorld, rayToWorld),
|
||||
m_faceId(-1)
|
||||
m_faceId(-1)
|
||||
{
|
||||
}
|
||||
|
||||
@@ -13833,7 +13816,6 @@ struct MyResultCallback : public btCollisionWorld::ClosestRayResultCallback
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
if (m_data->m_dynamicsWorld == 0)
|
||||
@@ -13994,7 +13976,6 @@ void PhysicsServerCommandProcessor::removePickingConstraint()
|
||||
m_data->m_pickingMultiBodyPoint2Point = 0;
|
||||
}
|
||||
|
||||
|
||||
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
|
||||
//deformable/soft body?
|
||||
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
|
||||
@@ -14006,7 +13987,6 @@ void PhysicsServerCommandProcessor::removePickingConstraint()
|
||||
m_data->m_pickedSoftBody = 0;
|
||||
}
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
void PhysicsServerCommandProcessor::enableCommandLogging(bool enable, const char* fileName)
|
||||
@@ -14273,7 +14253,7 @@ void PhysicsServerCommandProcessor::resetSimulation(int flags)
|
||||
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
|
||||
if (deformWorld)
|
||||
{
|
||||
deformWorld ->getWorldInfo().m_sparsesdf.Reset();
|
||||
deformWorld->getWorldInfo().m_sparsesdf.Reset();
|
||||
}
|
||||
}
|
||||
{
|
||||
|
||||
Reference in New Issue
Block a user