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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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41
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5996,6 +5996,8 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar
b3AlignedObjectArray<int> usedHandles;
m_data->m_bodyHandles.getUsedHandles(usedHandles);
int actualNumBodies = 0;
int* bodyIds = (int*) bufferServerToClient;
for (int i = 0; i < usedHandles.size(); i++)
{
int usedHandle = usedHandles[i];
@@ -6006,18 +6008,19 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar
if (body && (body->m_multiBody || body->m_rigidBody))
#endif
{
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle;
bodyIds[actualNumBodies++] = usedHandle;
}
}
serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies;
int usz = m_data->m_userConstraints.size();
serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = usz;
int* constraintIds = bodyIds + actualNumBodies;
for (int i = 0; i < usz; i++)
{
int key = m_data->m_userConstraints.getKeyAtIndex(i).getUid1();
// int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId;
serverStatusOut.m_sdfLoadedArgs.m_userConstraintUniqueIds[i] = key;
//int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId;
constraintIds[i] = key;
}
serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED;
@@ -7755,8 +7758,11 @@ bool PhysicsServerCommandProcessor::processRequestBodyInfoCommand(const struct S
const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs;
//stream info into memory
int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
{
BT_PROFILE("createBodyInfoStream");
int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
}
serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED;
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
@@ -7767,7 +7773,7 @@ bool PhysicsServerCommandProcessor::processRequestBodyInfoCommand(const struct S
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, bodyHandle->m_bodyName.c_str());
}
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
return hasStatus;
}
@@ -12830,16 +12836,19 @@ void PhysicsServerCommandProcessor::renderScene(int renderFlags)
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifndef SKIP_DEFORMABLE_BODY
for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags());
}
}
m_data->m_guiHelper->drawDebugDrawerLines();
m_data->m_guiHelper->clearLines();
if (m_data->m_dynamicsWorld->getSoftBodyArray().size())
{
for (int i = 0; i < m_data->m_dynamicsWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, m_data->m_dynamicsWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, m_data->m_dynamicsWorld->getDebugDrawer(), m_data->m_dynamicsWorld->getDrawFlags());
}
}
m_data->m_guiHelper->drawDebugDrawerLines();
m_data->m_guiHelper->clearLines();
}
#endif
#endif
}