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PyBullet: soft bodies are rendered, so we don't need to also render wireframes in regular mode.

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Use glBufferSubData instead of glMapBuffer/glUnmapBuffer, much faster soft body vertex sync.
Don't use a separate btSoftBodyWorldInfo, use the existing one in btSoftMultiBodyDynamicsWorld.
This commit is contained in:
erwincoumans
2018-02-18 11:09:42 -08:00
parent a6849de99c
commit 01f58f8f02
4 changed files with 16 additions and 14 deletions
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12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1538,7 +1538,6 @@ struct PhysicsServerCommandProcessorInternalData
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btSoftMultiBodyDynamicsWorld* m_dynamicsWorld;
btSoftBodySolver* m_softbodySolver;
btSoftBodyWorldInfo m_softBodyWorldInfo;
#else
btMultiBodyDynamicsWorld* m_dynamicsWorld;
#endif
@@ -5833,13 +5832,6 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin;
}
m_data->m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_data->m_softBodyWorldInfo.water_density = 0;
m_data->m_softBodyWorldInfo.water_offset = 0;
m_data->m_softBodyWorldInfo.water_normal = btVector3(0,0,0);
m_data->m_softBodyWorldInfo.m_gravity.setValue(0,0,-10);
m_data->m_softBodyWorldInfo.m_broadphase = m_data->m_broadphase;
m_data->m_softBodyWorldInfo.m_sparsesdf.Initialize();
{
char relativeFileName[1024];
@@ -5871,7 +5863,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
int numTris = indices.size()/3;
if (numTris>0)
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_softBodyWorldInfo,&vertices[0],&indices[0],numTris);
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(),&vertices[0],&indices[0],numTris);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.5;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
@@ -5882,6 +5874,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
psb->translate(btVector3(-0.05,0,1.0));
psb->scale(btVector3(scale,scale,scale));
psb->setTotalMass(mass,true);
psb->getCollisionShape()->setMargin(collisionMargin);
psb->getCollisionShape()->setUserPointer(psb);
@@ -6594,6 +6587,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
clientCmd.m_physSimParamArgs.m_gravityAcceleration[1],
clientCmd.m_physSimParamArgs.m_gravityAcceleration[2]);
this->m_data->m_dynamicsWorld->setGravity(grav);
m_data->m_dynamicsWorld->getWorldInfo().m_gravity=grav;
if (m_data->m_verboseOutput)
{
b3Printf("Updated Gravity: %f,%f,%f",grav[0],grav[1],grav[2]);