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hook deformable world into the physics server

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This commit is contained in:
Xuchen Han
2019-08-26 15:43:21 -07:00
committed by Xuchen Han
parent 9cf50846d6
commit 0b391798b7
9 changed files with 277 additions and 43 deletions
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69
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -338,6 +338,74 @@ B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle
return 0;
}
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_corotatedMu = corotatedMu;
command->m_loadSoftBodyArguments.m_corotatedLambda = corotatedLambda;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_COROTATED_FORCE;
return 0;
}
B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_NeoHookeanMu = NeoHookeanMu;
command->m_loadSoftBodyArguments.m_NeoHookeanLambda = NeoHookeanLambda;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE;
return 0;
}
B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_springElasticStiffness = springElasticStiffness;
command->m_loadSoftBodyArguments.m_springDampingStiffness = springDampingStiffness;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE;
return 0;
}
B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_gravity[0] = gravityX;
command->m_loadSoftBodyArguments.m_gravity[1] = gravityY;
command->m_loadSoftBodyArguments.m_gravity[2] = gravityZ;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_GRAVITY_FORCE;
return 0;
}
B3_SHARED_API int b3LoadSoftBodySetCollsionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_collisionHardness = collisionHardness;
command->m_updateFlags |= LOAD_SOFT_BODY_SET_COLLISION_HARDNESS;
return 0;
}
B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_frictionCoeff = frictionCoefficient;
command->m_updateFlags |= LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT;
return 0;
}
B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_useBendingSprings = useBendingSprings;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_BENDING_SPRINGS;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -1373,7 +1441,6 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle ph
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = numHeightfieldRows;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = numHeightfieldColumns;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_replaceHeightfieldIndex = replaceHeightfieldIndex;
cl->uploadBulletFileToSharedMemory((const char*)heightfieldData, numHeightfieldRows*numHeightfieldColumns* sizeof(float));
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;