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

expose API to change the local inertia diagonal, pybullet.ChangeDynamics(objectUid, linkIndex, localInertiaDiagonal=[xx,yy,zz])

Browse Source
This commit is contained in:
erwincoumans
2017-12-20 16:56:31 -08:00
parent eb35cba740
commit 41f9bb89e5
6 changed files with 64 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -2092,6 +2092,21 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle comman
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_changeDynamicsInfoArgs.m_localInertiaDiagonal[0] = localInertiaDiagonal[0];
command->m_changeDynamicsInfoArgs.m_localInertiaDiagonal[1] = localInertiaDiagonal[1];
command->m_changeDynamicsInfoArgs.m_localInertiaDiagonal[2] = localInertiaDiagonal[2];
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL;
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

2
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -116,6 +116,8 @@ B3_SHARED_API int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, str
B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[3]);
B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
B3_SHARED_API int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
B3_SHARED_API int b3ChangeDynamicsInfoSetRollingFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);

20
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -5933,6 +5933,10 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
double spinningFriction = clientCmd.m_changeDynamicsInfoArgs.m_spinningFriction;
double rollingFriction = clientCmd.m_changeDynamicsInfoArgs.m_rollingFriction;
double restitution = clientCmd.m_changeDynamicsInfoArgs.m_restitution;
btVector3 newLocalInertiaDiagonal(clientCmd.m_changeDynamicsInfoArgs.m_localInertiaDiagonal[0],
clientCmd.m_changeDynamicsInfoArgs.m_localInertiaDiagonal[1],
clientCmd.m_changeDynamicsInfoArgs.m_localInertiaDiagonal[2]);
btAssert(bodyUniqueId >= 0);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
@@ -5998,6 +6002,10 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
mb->setBaseInertia(localInertia);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL)
{
mb->setBaseInertia(newLocalInertiaDiagonal);
}
}
else
{
@@ -6052,6 +6060,10 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
mb->getLink(linkIndex).m_inertiaLocal = localInertia;
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL)
{
mb->getLink(linkIndex).m_inertiaLocal = newLocalInertiaDiagonal;
}
}
}
} else
@@ -6110,6 +6122,14 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
}
body->m_rigidBody->setMassProps(mass,localInertia);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL)
{
btScalar orgMass = body->m_rigidBody->getInvMass();
if (orgMass>0)
{
body->m_rigidBody->setMassProps(mass,newLocalInertiaDiagonal);
}
}
}
}

2
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -151,6 +151,7 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING=128,
CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING=256,
CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512,
CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL = 1024,
};
@@ -168,6 +169,7 @@ struct ChangeDynamicsInfoArgs
double m_angularDamping;
double m_contactStiffness;
double m_contactDamping;
double m_localInertiaDiagonal[3];
int m_frictionAnchor;
};