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PyBullet: Fix syncBodyInfo for over 512 bodies.

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PyBullet: Fix issue related to recent change in drawDebugDrawerLines (soft body)
This commit is contained in:
Erwin Coumans
2019-09-09 14:56:26 -07:00
parent 4515fcbfaf
commit 5a3c60c709
4 changed files with 117 additions and 33 deletions
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56
examples/SharedMemory/PhysicsDirect.cpp
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@@ -688,7 +688,10 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
{
bf.setFileDNAisMemoryDNA();
}
bf.parse(false);
{
BT_PROFILE("bf.parse");
bf.parse(false);
}
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyUniqueId, bodyJoints);
@@ -718,7 +721,8 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
bodyJoints->m_baseName = mb->m_baseName;
}
addJointInfoFromMultiBodyData(mb, bodyJoints, m_data->m_verboseOutput);
}
}
}
if (bf.ok())
{
@@ -919,17 +923,57 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
break;
}
case CMD_SYNC_BODY_INFO_COMPLETED:
clearCachedBodies();
case CMD_MJCF_LOADING_COMPLETED:
case CMD_SDF_LOADING_COMPLETED:
{
//we'll stream further info from the physics server
//so serverCmd will be invalid, make a copy
btAlignedObjectArray<int> bodyIdArray;
btAlignedObjectArray<int> constraintIdArray;
int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
bodyIdArray.reserve(numBodies);
constraintIdArray.reserve(numConstraints);
if (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED)
{
clearCachedBodies();
const int* bodyIds = (int*)m_data->m_bulletStreamDataServerToClient;
const int* constaintIds = bodyIds + numBodies;
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = constaintIds[i];
constraintIdArray.push_back(constraintUid);
}
for (int i = 0; i < numBodies; i++)
{
int bodyUid = bodyIds[i];
bodyIdArray.push_back(bodyUid);
}
}
else
{
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
constraintIdArray.push_back(constraintUid);
}
for (int i = 0; i < numBodies; i++)
{
int bodyUid = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
bodyIdArray.push_back(bodyUid);
}
}
for (int i = 0; i < numConstraints; i++)
{
int constraintUid = serverCmd.m_sdfLoadedArgs.m_userConstraintUniqueIds[i];
int constraintUid = constraintIdArray[i];
m_data->m_tmpInfoRequestCommand.m_type = CMD_USER_CONSTRAINT;
m_data->m_tmpInfoRequestCommand.m_updateFlags = USER_CONSTRAINT_REQUEST_INFO;
@@ -953,10 +997,10 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
}
}
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
for (int i = 0; i < numBodies; i++)
{
int bodyUniqueId = serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i];
int bodyUniqueId = bodyIdArray[i];
m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
m_data->m_tmpInfoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;