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Set physics clock subdivider.

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This commit is contained in:
yunfeibai
2016-08-24 14:25:06 -07:00
parent 3b25489d89
commit 758ca025d5
6 changed files with 33 additions and 3 deletions
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9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -154,6 +154,15 @@ int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double
return 0;
}
int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS;
command->m_physSimParamArgs.m_numSimulationSubSteps = numSubSteps;
return 0;
}
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -84,6 +84,7 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);

11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -385,6 +385,7 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
@@ -428,6 +429,7 @@ struct PhysicsServerCommandProcessorInternalData
m_commandLogger(0),
m_logPlayback(0),
m_physicsDeltaTime(1./240.),
m_numSimulationSubSteps(0),
m_dynamicsWorld(0),
m_remoteDebugDrawer(0),
m_guiHelper(0),
@@ -1812,7 +1814,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
applyJointDamping(i);
}
m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime,0);
if (m_data->m_numSimulationSubSteps > 0)
m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime,m_data->m_numSimulationSubSteps,m_data->m_physicsDeltaTime/m_data->m_numSimulationSubSteps);
else
m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime,0);
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
@@ -1842,6 +1847,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS)
{
m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps;
}
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;