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enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies.

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See examples\pybullet\examples\mimicJointConstraint.py
This commit is contained in:
Erwin Coumans
2017-06-07 13:44:34 -07:00
parent d08f3e5f91
commit 60e3887456
7 changed files with 94 additions and 8 deletions
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11
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1704,7 +1704,18 @@ int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHan
return 0;
}
int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_CONSTRAINT);
b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
command->m_updateFlags |=USER_CONSTRAINT_CHANGE_GEAR_RATIO;
command->m_userConstraintArguments.m_gearRatio = gearRatio;
return 0;
}
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{

4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -102,7 +102,9 @@ b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHa
int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[3]);
int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio);
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
int b3GetNumUserConstraints(b3PhysicsClientHandle physClient);

54
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5877,7 +5877,48 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
}
else
{
InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
if (parentBody && childBody)
{
if (parentBody->m_rigidBody)
{
if (clientCmd.m_userConstraintArguments.m_jointType == eGearType)
{
btRigidBody* childRb = childBody->m_rigidBody;
if (childRb)
{
btVector3 axisA(clientCmd.m_userConstraintArguments.m_jointAxis[0],
clientCmd.m_userConstraintArguments.m_jointAxis[1],
clientCmd.m_userConstraintArguments.m_jointAxis[2]);
//for now we use the same local axis for both objects
btVector3 axisB(clientCmd.m_userConstraintArguments.m_jointAxis[0],
clientCmd.m_userConstraintArguments.m_jointAxis[1],
clientCmd.m_userConstraintArguments.m_jointAxis[2]);
btScalar ratio=1;
btGearConstraint* gear = new btGearConstraint(*parentBody->m_rigidBody,*childRb, axisA,axisB,ratio);
m_data->m_dynamicsWorld->addConstraint(gear,true);
InteralUserConstraintData userConstraintData;
userConstraintData.m_rbConstraint = gear;
int uid = m_data->m_userConstraintUIDGenerator++;
serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
m_data->m_userConstraints.insert(uid,userConstraintData);
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
}
}
}
}
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT)
@@ -5921,7 +5962,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
if (userConstraintPtr->m_rbConstraint)
{
//todo
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
{
if (userConstraintPtr->m_rbConstraint->getObjectType()==GEAR_CONSTRAINT_TYPE)
{
btGearConstraint* gear = (btGearConstraint*) userConstraintPtr->m_rbConstraint;
gear->setRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
}
}
}
serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = userConstraintUidChange;
@@ -5944,7 +5992,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
if (userConstraintPtr->m_rbConstraint)
{
m_data->m_dynamicsWorld->removeConstraint(userConstraintPtr->m_rbConstraint);
delete userConstraintPtr->m_rbConstraint;
m_data->m_userConstraints.remove(userConstraintUidRemove);
}
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = userConstraintUidRemove;
serverCmd.m_type = CMD_REMOVE_USER_CONSTRAINT_COMPLETED;

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -627,7 +627,7 @@ enum EnumUserConstraintFlags
USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B=16,
USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
USER_CONSTRAINT_REQUEST_INFO=64,
USER_CONSTRAINT_CHANGE_GEAR_RATIO=128,
};
enum EnumBodyChangeFlags

3
examples/SharedMemory/SharedMemoryPublic.h
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@@ -184,6 +184,7 @@ enum JointType {
ePlanarType = 3,
eFixedType = 4,
ePoint2PointType = 5,
eGearType=6
};
@@ -227,6 +228,8 @@ struct b3UserConstraint
int m_jointType;
double m_maxAppliedForce;
int m_userConstraintUniqueId;
double m_gearRatio;
};
struct b3BodyInfo