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Merge pull request #2161 from crewmatt/master

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Adds a timestamp as a physics parameter.
This commit is contained in:
erwincoumans
2019-03-17 16:13:48 -07:00
committed by GitHub
parent 17d2b318bf 8fcb8d0694
commit 2e81714e7a
3 changed files with 11 additions and 3 deletions
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2
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1082,7 +1082,7 @@ B3_SHARED_API int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemor
int numLinks = status->m_sendActualStateArgs.m_numLinks;
b3Assert(linkIndex < numLinks);
if ((bodyIndex >= 0) && (linkIndex >= 0) && linkIndex < numLinks)
if (status->m_sendActualStateArgs.m_stateDetails != NULL && (bodyIndex >= 0) && (linkIndex >= 0) && linkIndex < numLinks)
{
b3Transform wlf, com, inertial;

11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1613,6 +1613,7 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps;
btScalar m_simulationTimestamp;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
@@ -7608,10 +7609,12 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
if (m_data->m_numSimulationSubSteps > 0)
{
numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, m_data->m_numSimulationSubSteps, m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps);
m_data->m_simulationTimestamp += deltaTimeScaled;
}
else
{
numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, 0);
m_data->m_simulationTimestamp += deltaTimeScaled;
}
if (numSteps > 0)
@@ -8161,6 +8164,7 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom
serverCmd.m_simulationParameterResultArgs.m_allowedCcdPenetration = m_data->m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration;
serverCmd.m_simulationParameterResultArgs.m_collisionFilterMode = m_data->m_broadphaseCollisionFilterCallback->m_filterMode;
serverCmd.m_simulationParameterResultArgs.m_deltaTime = m_data->m_physicsDeltaTime;
serverCmd.m_simulationParameterResultArgs.m_simulationTimestamp = m_data->m_simulationTimestamp;
serverCmd.m_simulationParameterResultArgs.m_contactBreakingThreshold = gContactBreakingThreshold;
serverCmd.m_simulationParameterResultArgs.m_contactSlop = m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop;
serverCmd.m_simulationParameterResultArgs.m_enableSAT = m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex;
@@ -11718,7 +11722,9 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
gSubStep = m_data->m_physicsDeltaTime;
}
int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec * simTimeScalingFactor, maxSteps, gSubStep);
btScalar deltaTimeScaled = dtInSec * simTimeScalingFactor;
int numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, maxSteps, gSubStep);
m_data->m_simulationTimestamp += deltaTimeScaled;
gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;
if (numSteps)
@@ -11797,7 +11803,8 @@ void PhysicsServerCommandProcessor::resetSimulation()
{
//clean up all data
m_data->m_cachedVUrdfisualShapes.clear();
m_data->m_simulationTimestamp = 0;
m_data->m_cachedVUrdfisualShapes.clear();
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
if (m_data && m_data->m_dynamicsWorld)

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -900,6 +900,7 @@ struct b3PluginArguments
struct b3PhysicsSimulationParameters
{
double m_deltaTime;
double m_simulationTimestamp; // Output only timestamp of simulation.
double m_gravityAcceleration[3];
int m_numSimulationSubSteps;
int m_numSolverIterations;