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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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4
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -87,7 +87,7 @@ public:
args.m_fileName = "cube_small.urdf"; args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0, 0, .107); args.m_startPosition.setValue(0, 0, .107);
args.m_startOrientation.setEulerZYX(0, 0, 0); args.m_startOrientation.setEulerZYX(0, 0, 0);
args.m_useMultiBody = true; args.m_useMultiBody = false;
m_robotSim.loadFile(args, results); m_robotSim.loadFile(args, results);
} }
@@ -152,7 +152,7 @@ public:
} }
m_robotSim.setGravity(b3MakeVector3(0,0,-10)); m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.setNumSimulationSubSteps(4);
} }

9
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -460,6 +460,15 @@ void b3RobotSimAPI::setGravity(const b3Vector3& gravityAcceleration)
} }
void b3RobotSimAPI::setNumSimulationSubSteps(int numSubSteps)
{
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetNumSubSteps(command, numSubSteps);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
}
b3RobotSimAPI::~b3RobotSimAPI() b3RobotSimAPI::~b3RobotSimAPI()
{ {
delete m_data; delete m_data;

2
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -96,6 +96,8 @@ public:
void setGravity(const b3Vector3& gravityAcceleration); void setGravity(const b3Vector3& gravityAcceleration);
void setNumSimulationSubSteps(int numSubSteps);
void renderScene(); void renderScene();
void debugDraw(int debugDrawMode); void debugDraw(int debugDrawMode);
}; };

9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -154,6 +154,15 @@ int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double
return 0; 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) b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{ {
PhysicsClient* cl = (PhysicsClient* ) 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); b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz); int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep); int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation); int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);

9
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -385,6 +385,7 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime; btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks; btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies; btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
@@ -428,6 +429,7 @@ struct PhysicsServerCommandProcessorInternalData
m_commandLogger(0), m_commandLogger(0),
m_logPlayback(0), m_logPlayback(0),
m_physicsDeltaTime(1./240.), m_physicsDeltaTime(1./240.),
m_numSimulationSubSteps(0),
m_dynamicsWorld(0), m_dynamicsWorld(0),
m_remoteDebugDrawer(0), m_remoteDebugDrawer(0),
m_guiHelper(0), m_guiHelper(0),
@@ -1812,6 +1814,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{ {
applyJointDamping(i); applyJointDamping(i);
} }
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); m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime,0);
SharedMemoryStatus& serverCmd =serverStatusOut; SharedMemoryStatus& serverCmd =serverStatusOut;
@@ -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; SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED; serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;