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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) 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+1],
clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+2]); 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+0],
clientCmd.m_externalForceArguments.m_positions[i*3+1], clientCmd.m_externalForceArguments.m_positions[i*3+1],
clientCmd.m_externalForceArguments.m_positions[i*3+2]); clientCmd.m_externalForceArguments.m_positions[i*3+2]);
if (clientCmd.m_externalForceArguments.m_linkIds[i] == -1) if (clientCmd.m_externalForceArguments.m_linkIds[i] == -1)
{ {
btVector3 forceWorld = isLinkFrame ? forceLocal : mb->getBaseWorldTransform().getBasis()*forceLocal; btVector3 forceWorld = isLinkFrame ? mb->getBaseWorldTransform().getBasis()*tmpForce : tmpForce;
btVector3 relPosWorld = isLinkFrame ? positionLocal : mb->getBaseWorldTransform().getBasis()*positionLocal; btVector3 relPosWorld = isLinkFrame ? mb->getBaseWorldTransform().getBasis()*tmpPosition : tmpPosition - mb->getBaseWorldTransform().getOrigin();
mb->addBaseForce(forceWorld); mb->addBaseForce(forceWorld);
mb->addBaseTorque(relPosWorld.cross(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]); //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 } else
{ {
int link = clientCmd.m_externalForceArguments.m_linkIds[i]; 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; btVector3 forceWorld = isLinkFrame ? mb->getLink(link).m_cachedWorldTransform.getBasis()*tmpForce : tmpForce;
mb->addLinkForce(link, forceWorld); btVector3 relPosWorld = isLinkFrame ? mb->getLink(link).m_cachedWorldTransform.getBasis()*tmpPosition : tmpPosition - mb->getBaseWorldTransform().getOrigin();
mb->addLinkTorque(link,relPosWorld.cross(forceWorld)); 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]); //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; int i;
for (i = 0; i < MAX_PHYSICS_CLIENTS; 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, 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; return NULL;
} }
} }