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add support to load rigidbody

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This commit is contained in:
Chuyuan Fu
2019-08-05 13:38:43 -07:00
parent 3ac4959e95
commit 1cb3655f71
3 changed files with 68 additions and 34 deletions
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37
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7042,7 +7042,8 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
hasStatus = true;
}
else if (body && body->m_rigidBody){
else if (body && body->m_rigidBody)
{
btRigidBody* rb = body->m_rigidBody;
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;
@@ -7052,8 +7053,21 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage);
serverCmd.m_sendActualStateArgs.m_stateDetails = 0;
int totalDegreeOfFreedomQ = 0;
int totalDegreeOfFreedomU = 0;
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] =
body->m_rootLocalInertialFrame.getOrigin()[0];
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] =
body->m_rootLocalInertialFrame.getOrigin()[1];
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[2] =
body->m_rootLocalInertialFrame.getOrigin()[2];
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[3] =
body->m_rootLocalInertialFrame.getRotation()[0];
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[4] =
body->m_rootLocalInertialFrame.getRotation()[1];
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[5] =
body->m_rootLocalInertialFrame.getRotation()[2];
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] =
body->m_rootLocalInertialFrame.getRotation()[3];
btTransform tr = rb->getWorldTransform();
//base position in world space, cartesian
@@ -7066,7 +7080,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
stateDetails->m_actualStateQ[4] = tr.getRotation()[1];
stateDetails->m_actualStateQ[5] = tr.getRotation()[2];
stateDetails->m_actualStateQ[6] = tr.getRotation()[3];
totalDegreeOfFreedomQ += 7; //pos + quaternion
int totalDegreeOfFreedomQ = 7; //pos + quaternion
//base linear velocity (in world space, cartesian)
stateDetails->m_actualStateQdot[0] = rb->getLinearVelocity()[0];
@@ -7077,7 +7091,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
stateDetails->m_actualStateQdot[3] = rb->getAngularVelocity()[0];
stateDetails->m_actualStateQdot[4] = rb->getAngularVelocity()[1];
stateDetails->m_actualStateQdot[5] = rb->getAngularVelocity()[2];
totalDegreeOfFreedomU += 6; //3 linear and 3 angular DOF
int totalDegreeOfFreedomU = 6; //3 linear and 3 angular DOF
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU;
@@ -8774,6 +8788,19 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
}
hasStatus = true;
}
else if (body && body->m_rigidBody)
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED;
btRigidBody* rb = body->m_rigidBody;
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = rb->getFriction();
serverCmd.m_dynamicsInfo.m_rollingFrictionCoeff = rb->getRollingFriction();
serverCmd.m_dynamicsInfo.m_spinningFrictionCoeff = rb->getSpinningFriction();
serverCmd.m_dynamicsInfo.m_angularDamping = rb->getAngularDamping();
serverCmd.m_dynamicsInfo.m_linearDamping = rb->getLinearDamping();
serverCmd.m_dynamicsInfo.m_mass = rb->getMass();
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
else if (body && body->m_softBody){
//todo: @fuchuyuan implement dynamics info

1
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -86,6 +86,7 @@ void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo&
m_debugBodyId = uniqueId++;
setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia);
m_mass = constructionInfo.m_mass;
updateInertiaTensor();
m_rigidbodyFlags = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY;

6
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -62,6 +62,7 @@ class btRigidBody : public btCollisionObject
btVector3 m_linearVelocity;
btVector3 m_angularVelocity;
btScalar m_inverseMass;
btScalar m_mass;
btVector3 m_linearFactor;
btVector3 m_gravity;
@@ -259,6 +260,9 @@ public:
m_invMass = m_linearFactor * m_inverseMass;
}
btScalar getInvMass() const { return m_inverseMass; }
btScalar getMass() const { return m_mass; }
const btMatrix3x3& getInvInertiaTensorWorld() const
{
return m_invInertiaTensorWorld;
@@ -554,6 +558,7 @@ struct btRigidBodyFloatData
btVector3FloatData m_totalForce;
btVector3FloatData m_totalTorque;
float m_inverseMass;
float m_mass;
float m_linearDamping;
float m_angularDamping;
float m_additionalDampingFactor;
@@ -580,6 +585,7 @@ struct btRigidBodyDoubleData
btVector3DoubleData m_totalForce;
btVector3DoubleData m_totalTorque;
double m_inverseMass;
double m_mass;
double m_linearDamping;
double m_angularDamping;
double m_additionalDampingFactor;