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pybullet only allow one GUI/GUI_SERVER instance.

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Fix LINK_FRAME/WORLD_FRAME coordinate issue in pybullet applyExternalForce
This commit is contained in:
erwincoumans
2017-08-15 14:15:30 -07:00
parent 99beb44625
commit 2e0a987750
2 changed files with 12 additions and 10 deletions
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18
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -6080,28 +6080,30 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE)!=0)
{
btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+0],
btVector3 tmpForce(clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+0],
clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+1],
clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+2]);
btVector3 positionLocal(
btVector3 tmpPosition(
clientCmd.m_externalForceArguments.m_positions[i*3+0],
clientCmd.m_externalForceArguments.m_positions[i*3+1],
clientCmd.m_externalForceArguments.m_positions[i*3+2]);
if (clientCmd.m_externalForceArguments.m_linkIds[i] == -1)
{
btVector3 forceWorld = isLinkFrame ? forceLocal : mb->getBaseWorldTransform().getBasis()*forceLocal;
btVector3 relPosWorld = isLinkFrame ? positionLocal : mb->getBaseWorldTransform().getBasis()*positionLocal;
btVector3 forceWorld = isLinkFrame ? mb->getBaseWorldTransform().getBasis()*tmpForce : tmpForce;
btVector3 relPosWorld = isLinkFrame ? mb->getBaseWorldTransform().getBasis()*tmpPosition : tmpPosition - mb->getBaseWorldTransform().getOrigin();
mb->addBaseForce(forceWorld);
mb->addBaseTorque(relPosWorld.cross(forceWorld));
//b3Printf("apply base force of %f,%f,%f at %f,%f,%f\n", forceWorld[0],forceWorld[1],forceWorld[2],positionLocal[0],positionLocal[1],positionLocal[2]);
} else
{
int link = clientCmd.m_externalForceArguments.m_linkIds[i];
btVector3 forceWorld = mb->getLink(link).m_cachedWorldTransform.getBasis()*forceLocal;
btVector3 relPosWorld = mb->getLink(link).m_cachedWorldTransform.getBasis()*positionLocal;
mb->addLinkForce(link, forceWorld);
mb->addLinkTorque(link,relPosWorld.cross(forceWorld));
btVector3 forceWorld = isLinkFrame ? mb->getLink(link).m_cachedWorldTransform.getBasis()*tmpForce : tmpForce;
btVector3 relPosWorld = isLinkFrame ? mb->getLink(link).m_cachedWorldTransform.getBasis()*tmpPosition : tmpPosition - mb->getBaseWorldTransform().getOrigin();
mb->addLinkForce(link, forceWorld);
mb->addLinkTorque(link,relPosWorld.cross(forceWorld));
//b3Printf("apply link force of %f,%f,%f at %f,%f,%f\n", forceWorld[0],forceWorld[1],forceWorld[2], positionLocal[0],positionLocal[1],positionLocal[2]);
}
}

4
examples/pybullet/pybullet.c
View File

@@ -338,10 +338,10 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
int i;
for (i = 0; i < MAX_PHYSICS_CLIENTS; i++)
{
if (sPhysicsClientsGUI[i] == eCONNECT_GUI)
if ((sPhysicsClientsGUI[i] == eCONNECT_GUI) || (sPhysicsClientsGUI[i] == eCONNECT_GUI_SERVER))
{
PyErr_SetString(SpamError,
"Only one local in-process GUI connection allowed. Use DIRECT connection mode or start a separate GUI physics server (ExampleBrowser, App_SharedMemoryPhysics_GUI, App_SharedMemoryPhysics_VR) and connect over SHARED_MEMORY, UDP or TCP instead.");
"Only one local in-process GUI/GUI_SERVER connection allowed. Use DIRECT connection mode or start a separate GUI physics server (ExampleBrowser, App_SharedMemoryPhysics_GUI, App_SharedMemoryPhysics_VR) and connect over SHARED_MEMORY, UDP or TCP instead.");
return NULL;
}
}