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b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API

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Parse and use colors from URDF file (single rgba color per link, not per visual)
Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof'
btHashMap, add const Value* operator[]
remove a few more obsolete btMultiBody methods (on the non-multi-dof path)
fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill)
Add mention to Jakub Stepien for his work on btMultiBody
This commit is contained in:
erwincoumans
2015-11-06 17:11:15 -08:00
parent 8160354d02
commit 3b9b803683
16 changed files with 96 additions and 588 deletions
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12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -284,6 +284,18 @@ int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandH
return 0;
}
int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_COLOR;
command->m_createBoxShapeArguments.m_colorRGBA[0] = red;
command->m_createBoxShapeArguments.m_colorRGBA[1] = green;
command->m_createBoxShapeArguments.m_colorRGBA[2] = blue;
command->m_createBoxShapeArguments.m_colorRGBA[3] = alpha;
return 0;
}
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
{

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -94,6 +94,7 @@ int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHan
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandHandle, int collisionShapeType);
int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha);
///Initialize (teleport) the pose of a body/robot. You can individually set the base position, base orientation and joint angles.

2
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -211,6 +211,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
{
b3SharedMemoryCommandHandle commandHandle = b3CreateBoxShapeCommandInit(m_physicsClientHandle);
b3CreateBoxCommandSetStartPosition(commandHandle,0,0,-3);
b3CreateBoxCommandSetColorRGBA(commandHandle,0,0,1,1);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
@@ -220,6 +221,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3CreateBoxCommandSetStartPosition(commandHandle,0,0,0);
b3CreateBoxCommandSetMass(commandHandle,1);
b3CreateBoxCommandSetCollisionShapeType(commandHandle,COLLISION_SHAPE_TYPE_CYLINDER_Y);
b3CreateBoxCommandSetColorRGBA(commandHandle,1,1,0,1);
double radius = 0.2;
double halfHeight = 0.5;
b3CreateBoxCommandSetHalfExtents(commandHandle,radius,halfHeight,radius);

12
examples/SharedMemory/PhysicsServer.cpp
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@@ -1684,7 +1684,17 @@ void PhysicsServerSharedMemory::processClientCommands()
bool isDynamic = (mass>0);
btRigidBody* rb = worldImporter->createRigidBody(isDynamic,mass,startTrans,shape,0);
rb->setRollingFriction(0.2);
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
//m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
btVector4 colorRGBA(1,0,0,1);
if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_COLOR)
{
colorRGBA[0] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[0];
colorRGBA[1] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[1];
colorRGBA[2] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[2];
colorRGBA[3] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[3];
}
m_data->m_guiHelper->createCollisionShapeGraphicsObject(rb->getCollisionShape());
m_data->m_guiHelper->createCollisionObjectGraphicsObject(rb,colorRGBA);
SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_RIGID_BODY_CREATION_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
int bodyUniqueId = m_data->allocHandle();

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -205,6 +205,7 @@ enum EnumBoxShapeFlags
BOX_SHAPE_HAS_HALF_EXTENTS=4,
BOX_SHAPE_HAS_MASS=8,
BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE=16,
BOX_SHAPE_HAS_COLOR=32,
};
///This command will be replaced to allow arbitrary collision shape types
struct CreateBoxShapeArgs
@@ -218,6 +219,7 @@ struct CreateBoxShapeArgs
double m_initialPosition[3];
double m_initialOrientation[4];
double m_colorRGBA[4];
};
struct SharedMemoryCommand