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

Merge branch 'master' of https://github.com/erwincoumans/bullet3

Browse Source
This commit is contained in:
erwincoumans
2017-10-25 08:15:14 -07:00
parent ed8de36ffa c1ba04a580
commit 7524e37124
30 changed files with 759 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files

56
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -2128,7 +2128,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHan
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linearDamping = angularDamping;
command->m_changeDynamicsInfoArgs.m_angularDamping = angularDamping;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING;
return 0;
}
@@ -2292,10 +2292,47 @@ B3_SHARED_API int b3InitChangeUserConstraintSetERP(b3SharedMemoryCommandHandle c
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitGetUserConstraintStateCommand(b3PhysicsClientHandle physClient, int constraintUniqueId)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_USER_CONSTRAINT;
command->m_updateFlags = USER_CONSTRAINT_REQUEST_STATE;
command->m_userConstraintArguments.m_userConstraintUniqueId = constraintUniqueId;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API int b3GetStatusUserConstraintState(b3SharedMemoryStatusHandle statusHandle, struct b3UserConstraintState* constraintState)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
if (status)
{
btAssert(status->m_type == CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED);
if (status && status->m_type == CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED)
{
int i = 0;
constraintState->m_numDofs = status->m_userConstraintStateResultArgs.m_numDofs;
for (i = 0; i < constraintState->m_numDofs; i++)
{
constraintState->m_appliedConstraintForces[i] = status->m_userConstraintStateResultArgs.m_appliedConstraintForces[i];
}
for (; i < 6; i++)
{
constraintState->m_appliedConstraintForces[i] = 0;
}
return 1;
}
}
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
@@ -2341,6 +2378,7 @@ B3_SHARED_API int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle s
}
B3_SHARED_API b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ)
@@ -3612,6 +3650,12 @@ B3_SHARED_API void b3CalculateInverseKinematicsAddTargetPurePosition(b3SharedMem
command->m_calculateInverseKinematicsArguments.m_targetPosition[0] = targetPosition[0];
command->m_calculateInverseKinematicsArguments.m_targetPosition[1] = targetPosition[1];
command->m_calculateInverseKinematicsArguments.m_targetPosition[2] = targetPosition[2];
command->m_calculateInverseKinematicsArguments.m_targetOrientation[0] = 0;
command->m_calculateInverseKinematicsArguments.m_targetOrientation[1] = 0;
command->m_calculateInverseKinematicsArguments.m_targetOrientation[2] = 0;
command->m_calculateInverseKinematicsArguments.m_targetOrientation[3] = 1;
}
@@ -3695,6 +3739,14 @@ B3_SHARED_API void b3CalculateInverseKinematicsSetJointDamping(b3SharedMemoryCom
}
}
B3_SHARED_API void b3CalculateInverseKinematicsSelectSolver(b3SharedMemoryCommandHandle commandHandle, int solver)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CALCULATE_INVERSE_KINEMATICS);
command->m_updateFlags |= solver;
}
B3_SHARED_API int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* dofCount,