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Merge pull request #866 from erwincoumans/master

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separate 'getClosestPointsAlgorithm', various pybullet improvements
This commit is contained in:
erwincoumans
2016-11-21 07:41:45 -08:00
committed by GitHub
parent 323609b087 1bc427df6b
commit 1f35697152
19 changed files with 378 additions and 133 deletions
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36
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -542,7 +542,7 @@ struct PhysicsServerCommandProcessorInternalData
m_kukaGripperMultiBody(0),
m_kukaGripperRevolute1(0),
m_kukaGripperRevolute2(0),
m_allowRealTimeSimulation(true),
m_allowRealTimeSimulation(false),
m_huskyId(-1),
m_KukaId(-1),
m_sphereId(-1),
@@ -2774,6 +2774,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int bodyUniqueIdA = clientCmd.m_requestContactPointArguments.m_objectAIndexFilter;
int bodyUniqueIdB = clientCmd.m_requestContactPointArguments.m_objectBIndexFilter;
bool hasLinkIndexAFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER));
bool hasLinkIndexBFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER));
int linkIndexA = clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter;
int linkIndexB = clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter;
btAlignedObjectArray<btCollisionObject*> setA;
btAlignedObjectArray<btCollisionObject*> setB;
btAlignedObjectArray<int> setALinkIndex;
@@ -2788,15 +2794,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (bodyA->m_multiBody->getBaseCollider())
{
setA.push_back(bodyA->m_multiBody->getBaseCollider());
setALinkIndex.push_back(-1);
if (!hasLinkIndexAFilter || (linkIndexA == -1))
{
setA.push_back(bodyA->m_multiBody->getBaseCollider());
setALinkIndex.push_back(-1);
}
}
for (int i = 0; i < bodyA->m_multiBody->getNumLinks(); i++)
{
if (bodyA->m_multiBody->getLink(i).m_collider)
{
setA.push_back(bodyA->m_multiBody->getLink(i).m_collider);
setALinkIndex.push_back(i);
if (!hasLinkIndexAFilter || (linkIndexA == i))
{
setA.push_back(bodyA->m_multiBody->getLink(i).m_collider);
setALinkIndex.push_back(i);
}
}
}
}
@@ -2816,15 +2828,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (bodyB->m_multiBody->getBaseCollider())
{
setB.push_back(bodyB->m_multiBody->getBaseCollider());
setBLinkIndex.push_back(-1);
if (!hasLinkIndexBFilter || (linkIndexB == -1))
{
setB.push_back(bodyB->m_multiBody->getBaseCollider());
setBLinkIndex.push_back(-1);
}
}
for (int i = 0; i < bodyB->m_multiBody->getNumLinks(); i++)
{
if (bodyB->m_multiBody->getLink(i).m_collider)
{
setB.push_back(bodyB->m_multiBody->getLink(i).m_collider);
setBLinkIndex.push_back(i);
if (!hasLinkIndexBFilter || (linkIndexB ==i))
{
setB.push_back(bodyB->m_multiBody->getLink(i).m_collider);
setBLinkIndex.push_back(i);
}
}
}
}