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Add API to set bunny properties. Add example to show coupling between softbody and multibody.

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This commit is contained in:
yunfeibai
2016-11-01 16:45:10 -07:00
parent 9d54f0cf8d
commit 3c37db0804
10 changed files with 115 additions and 8 deletions
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29
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -89,6 +89,33 @@ b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physCli
return (b3SharedMemoryCommandHandle) command;
}
int b3LoadBunnySetScale(b3SharedMemoryCommandHandle commandHandle, double scale)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_LOAD_BUNNY);
command->m_loadBunnyArguments.m_scale = scale;
command->m_updateFlags |= LOAD_BUNNY_UPDATE_SCALE;
return 0;
}
int b3LoadBunnySetMass(b3SharedMemoryCommandHandle commandHandle, double mass)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_LOAD_BUNNY);
command->m_loadBunnyArguments.m_mass = mass;
command->m_updateFlags |= LOAD_BUNNY_UPDATE_MASS;
return 0;
}
int b3LoadBunnySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_LOAD_BUNNY);
command->m_loadBunnyArguments.m_collisionMargin = collisionMargin;
command->m_updateFlags |= LOAD_BUNNY_UPDATE_COLLISION_MARGIN;
return 0;
}
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1580,4 +1607,4 @@ int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle status
}
return true;
}
}

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -229,6 +229,9 @@ void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUni
void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags);
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient);
int b3LoadBunnySetScale(b3SharedMemoryCommandHandle commandHandle, double scale);
int b3LoadBunnySetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
int b3LoadBunnySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
#ifdef __cplusplus
}

21
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1629,6 +1629,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_LOAD_BUNNY:
{
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
double scale = 0.1;
double mass = 0.1;
double collisionMargin = 0.02;
if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_SCALE)
{
scale = clientCmd.m_loadBunnyArguments.m_scale;
}
if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_MASS)
{
mass = clientCmd.m_loadBunnyArguments.m_mass;
}
if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_COLLISION_MARGIN)
{
collisionMargin = clientCmd.m_loadBunnyArguments.m_collisionMargin;
}
m_data->m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_data->m_softBodyWorldInfo.water_density = 0;
m_data->m_softBodyWorldInfo.water_offset = 0;
@@ -1648,9 +1663,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
psb->randomizeConstraints();
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
psb->translate(btVector3(0,0,1.0));
psb->scale(btVector3(0.1,0.1,0.1));
psb->setTotalMass(0.1,true);
psb->getCollisionShape()->setMargin(0.02);
psb->scale(btVector3(scale,scale,scale));
psb->setTotalMass(mass,true);
psb->getCollisionShape()->setMargin(collisionMargin);
m_data->m_dynamicsWorld->addSoftBody(psb);
#endif

15
examples/SharedMemory/SharedMemoryCommands.h
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@@ -255,6 +255,13 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64
};
enum EnumLoadBunnyUpdateFlags
{
LOAD_BUNNY_UPDATE_SCALE=1,
LOAD_BUNNY_UPDATE_MASS=2,
LOAD_BUNNY_UPDATE_COLLISION_MARGIN=4
};
enum EnumSimParamInternalSimFlags
{
SIM_PARAM_INTERNAL_CREATE_ROBOT_ASSETS=1,
@@ -274,6 +281,13 @@ struct SendPhysicsSimulationParameters
double m_defaultContactERP;
};
struct LoadBunnyArgs
{
double m_scale;
double m_mass;
double m_collisionMargin;
};
struct RequestActualStateArgs
{
int m_bodyUniqueId;
@@ -501,6 +515,7 @@ struct SharedMemoryCommand
struct UpdateVisualShapeDataArgs m_updateVisualShapeDataArguments;
struct LoadTextureArgs m_loadTextureArguments;
struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments;
struct LoadBunnyArgs m_loadBunnyArguments;
};
};