Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

exposed a few more methods in the C++ b3RobotSimulatorClientAPI (_NoDirect base class)

Browse Source
This commit is contained in:
erwincoumans
2018-06-09 19:40:12 -07:00
parent 7ac3e263ab
commit 3eebcd40ca
4 changed files with 246 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -6859,24 +6859,45 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom
bool hasStatus = true;
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED;
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_contactBreakingThreshold = gContactBreakingThreshold;
serverCmd.m_simulationParameterResultArgs.m_contactSlop = m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop;
serverCmd.m_simulationParameterResultArgs.m_defaultGlobalCFM = m_data->m_dynamicsWorld->getSolverInfo().m_globalCfm;
serverCmd.m_simulationParameterResultArgs.m_defaultContactERP = m_data->m_dynamicsWorld->getSolverInfo().m_erp2;
serverCmd.m_simulationParameterResultArgs.m_defaultNonContactERP = m_data->m_dynamicsWorld->getSolverInfo().m_erp;
serverCmd.m_simulationParameterResultArgs.m_deltaTime = m_data->m_physicsDeltaTime;
serverCmd.m_simulationParameterResultArgs.m_deterministicOverlappingPairs = m_data->m_dynamicsWorld->getDispatchInfo().m_deterministicOverlappingPairs;
serverCmd.m_simulationParameterResultArgs.m_enableConeFriction = (m_data->m_dynamicsWorld->getSolverInfo().m_solverMode &SOLVER_DISABLE_IMPLICIT_CONE_FRICTION)? 0 : 1;
serverCmd.m_simulationParameterResultArgs.m_enableFileCaching = b3IsFileCachingEnabled();
serverCmd.m_simulationParameterResultArgs.m_frictionCFM = m_data->m_dynamicsWorld->getSolverInfo().m_frictionCFM;
serverCmd.m_simulationParameterResultArgs.m_frictionERP = m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP;
btVector3 grav = m_data->m_dynamicsWorld->getGravity();
serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[0] = grav[0];
serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[1] = grav[1];
serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[2] = grav[2];
serverCmd.m_simulationParameterResultArgs.m_internalSimFlags = gInternalSimFlags;
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode = 0;
if (gJointFeedbackInWorldSpace)
{
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode |= JOINT_FEEDBACK_IN_WORLD_SPACE;
}
if (gJointFeedbackInJointFrame )
{
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode |= JOINT_FEEDBACK_IN_JOINT_FRAME;
}
serverCmd.m_simulationParameterResultArgs.m_numSimulationSubSteps = m_data->m_numSimulationSubSteps;
serverCmd.m_simulationParameterResultArgs.m_numSolverIterations = m_data->m_dynamicsWorld->getSolverInfo().m_numIterations;
serverCmd.m_simulationParameterResultArgs.m_restitutionVelocityThreshold = m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold;
serverCmd.m_simulationParameterResultArgs.m_solverResidualThreshold = m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold;
serverCmd.m_simulationParameterResultArgs.m_splitImpulsePenetrationThreshold = m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold;
serverCmd.m_simulationParameterResultArgs.m_useRealTimeSimulation = m_data->m_useRealTimeSimulation;
serverCmd.m_simulationParameterResultArgs.m_useSplitImpulse = m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulse;
return hasStatus;
}
@@ -7010,7 +7031,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM)
{
m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionCFM;
m_data->m_dynamicsWorld->getSolverInfo().m_frictionCFM = clientCmd.m_physSimParamArgs.m_frictionCFM;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)