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Allow to create concave collision meshes. Note that this is only supported for static (mass 0) multibodies.

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This commit is contained in:
Erwin Coumans
2017-06-23 14:43:28 -07:00
parent a136098120
commit 2ab56b4d62
5 changed files with 111 additions and 40 deletions
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8
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -716,6 +716,7 @@ b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHan
b3Assert(command);
command->m_type = CMD_CREATE_COLLISION_SHAPE;
command->m_updateFlags =0;
command->m_createCollisionShapeArgs = {0};
command->m_createCollisionShapeArgs.m_numCollisionShapes = 0;
return (b3SharedMemoryCommandHandle) command;
}
@@ -733,6 +734,7 @@ int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,do
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_SPHERE;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_sphereRadius = radius;
command->m_createCollisionShapeArgs.m_numCollisionShapes++;
@@ -753,6 +755,7 @@ int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,doubl
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_BOX;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[0] = halfExtents[0];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[1] = halfExtents[1];
@@ -775,6 +778,7 @@ int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,d
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CAPSULE;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
@@ -796,6 +800,7 @@ int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CYLINDER;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
@@ -818,6 +823,7 @@ int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, do
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_PLANE;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[0] = planeNormal[0];
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[1] = planeNormal[1];
@@ -841,6 +847,7 @@ int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,cons
if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES && strlen(fileName)<VISUAL_SHAPE_MAX_PATH_LEN)
{
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_MESH;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
strcpy(command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshFileName,fileName);
command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
@@ -856,6 +863,7 @@ int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,cons
void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);