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more work on proto/pybullet.proto

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This commit is contained in:
erwincoumans
2018-09-01 13:49:56 -07:00
parent 9a26d4aaaf
commit 23e84ca9b6
11 changed files with 13387 additions and 285 deletions
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37
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7148,6 +7148,21 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
if (linkIndex == -1)
{
serverCmd.m_dynamicsInfo.m_mass = mb->getBaseMass();
if (mb->getBaseCollider())
{
serverCmd.m_dynamicsInfo.m_activationState = mb->getBaseCollider()->getActivationState();
serverCmd.m_dynamicsInfo.m_contactProcessingThreshold = mb->getBaseCollider()->getContactProcessingThreshold();
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = mb->getBaseCollider()->getCcdSweptSphereRadius();
serverCmd.m_dynamicsInfo.m_frictionAnchor = mb->getBaseCollider()->getCollisionFlags()&btCollisionObject::CF_HAS_FRICTION_ANCHOR;
}
else
{
serverCmd.m_dynamicsInfo.m_activationState = 0;
serverCmd.m_dynamicsInfo.m_contactProcessingThreshold = 0;
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = 0;
serverCmd.m_dynamicsInfo.m_frictionAnchor = 0;
}
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = mb->getBaseInertia()[0];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = mb->getBaseInertia()[1];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = mb->getBaseInertia()[2];
@@ -7161,6 +7176,9 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_localInertialFrame[5] = body->m_rootLocalInertialFrame.getRotation()[2];
serverCmd.m_dynamicsInfo.m_localInertialFrame[6] = body->m_rootLocalInertialFrame.getRotation()[3];
serverCmd.m_dynamicsInfo.m_angularDamping = body->m_multiBody->getAngularDamping();
serverCmd.m_dynamicsInfo.m_linearDamping = body->m_multiBody->getLinearDamping();
serverCmd.m_dynamicsInfo.m_restitution = mb->getBaseCollider()->getRestitution();
serverCmd.m_dynamicsInfo.m_rollingFrictionCoeff = mb->getBaseCollider()->getRollingFriction();
serverCmd.m_dynamicsInfo.m_spinningFrictionCoeff = mb->getBaseCollider()->getSpinningFriction();
@@ -7179,6 +7197,22 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
else
{
serverCmd.m_dynamicsInfo.m_mass = mb->getLinkMass(linkIndex);
if (mb->getLinkCollider(linkIndex))
{
serverCmd.m_dynamicsInfo.m_activationState = mb->getLinkCollider(linkIndex)->getActivationState();
serverCmd.m_dynamicsInfo.m_contactProcessingThreshold = mb->getLinkCollider(linkIndex)->getContactProcessingThreshold();
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = mb->getLinkCollider(linkIndex)->getCcdSweptSphereRadius();
serverCmd.m_dynamicsInfo.m_frictionAnchor = mb->getLinkCollider(linkIndex)->getCollisionFlags()&btCollisionObject::CF_HAS_FRICTION_ANCHOR;
}
else
{
serverCmd.m_dynamicsInfo.m_activationState = 0;
serverCmd.m_dynamicsInfo.m_contactProcessingThreshold = 0;
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = 0;
serverCmd.m_dynamicsInfo.m_frictionAnchor = 0;
}
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = mb->getLinkInertia(linkIndex)[0];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = mb->getLinkInertia(linkIndex)[1];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[2] = mb->getLinkInertia(linkIndex)[2];
@@ -7191,6 +7225,9 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_localInertialFrame[5] = body->m_linkLocalInertialFrames[linkIndex].getRotation()[2];
serverCmd.m_dynamicsInfo.m_localInertialFrame[6] = body->m_linkLocalInertialFrames[linkIndex].getRotation()[3];
serverCmd.m_dynamicsInfo.m_angularDamping = body->m_multiBody->getAngularDamping();
serverCmd.m_dynamicsInfo.m_linearDamping = body->m_multiBody->getLinearDamping();
if (mb->getLinkCollider(linkIndex))
{
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();