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

make pybullet.getMeshData work for softbody

Browse Source
This commit is contained in:
Erwin Coumans
2019-06-17 21:43:38 -07:00
parent 20d9ad5f24
commit 7e76ee0ad7
10 changed files with 244 additions and 198 deletions
Download Patch File Download Diff File Expand all files Collapse all files

57
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -53,8 +53,8 @@ struct PhysicsClientSharedMemoryInternalData
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
b3MeshData m_cachedMeshData;
btAlignedObjectArray<double> m_cachedVertexPositions;
b3MeshData m_cachedMeshData;
btAlignedObjectArray<b3MeshVertex> m_cachedVertexPositions;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
@@ -100,6 +100,8 @@ struct PhysicsClientSharedMemoryInternalData
m_verboseOutput(false),
m_timeOutInSeconds(1e30)
{
m_cachedMeshData.m_numVertices = 0;
m_cachedMeshData.m_vertices = 0;
}
void processServerStatus();
@@ -1035,15 +1037,24 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
b3Warning("Camera image FAILED\n");
break;
}
case CMD_REQUEST_MESH_DATA_COMPLETED:
{
break;
}
case CMD_REQUEST_MESH_DATA_FAILED:
{
b3Warning("Request mesh data failed");
break;
}
case CMD_REQUEST_MESH_DATA_COMPLETED:
{
m_data->m_cachedVertexPositions.resize(serverCmd.m_sendMeshDataArgs.m_startingVertex + serverCmd.m_sendMeshDataArgs.m_numVerticesCopied);
btVector3* verticesReceived = (btVector3*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < serverCmd.m_sendMeshDataArgs.m_numVerticesCopied; i++)
{
m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].x = verticesReceived[i].x();
m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].y = verticesReceived[i].y();
m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].z = verticesReceived[i].z();
m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].w = verticesReceived[i].w();
}
break;
}
case CMD_REQUEST_MESH_DATA_FAILED:
{
b3Warning("Request mesh data failed");
break;
}
case CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED:
{
break;
@@ -1770,15 +1781,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
}
}
if(serverCmd.m_type == CMD_REQUEST_MESH_DATA_COMPLETED)
{
if (serverCmd.m_type == CMD_REQUEST_MESH_DATA_COMPLETED)
{
B3_PROFILE("CMD_REQUEST_MESH_DATA_COMPLETED");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendMeshDataArgs.m_numVerticesRemaining > 0 && serverCmd.m_sendMeshDataArgs.m_numVerticesCopied)
if (serverCmd.m_sendMeshDataArgs.m_numVerticesRemaining > 0 && serverCmd.m_sendMeshDataArgs.m_numVerticesCopied)
{
command.m_type = CMD_REQUEST_MESH_DATA;
command.m_requestMeshDataArgs.m_startingVertex=
command.m_requestMeshDataArgs.m_startingVertex =
serverCmd.m_sendMeshDataArgs.m_startingVertex +
serverCmd.m_sendMeshDataArgs.m_numVerticesCopied;
submitClientCommand(command);
@@ -1786,9 +1797,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
}
else
{
m_data->m_cachedMeshData.m_numVertices =serverCmd.m_sendMeshDataArgs.m_startingVertex +serverCmd.m_sendMeshDataArgs.m_numVerticesCopied;
m_data->m_cachedMeshData.m_numVertices = serverCmd.m_sendMeshDataArgs.m_startingVertex + serverCmd.m_sendMeshDataArgs.m_numVerticesCopied;
}
}
}
if ((serverCmd.m_type == CMD_DEBUG_LINES_COMPLETED) &&
(serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0))
@@ -1972,9 +1983,13 @@ void PhysicsClientSharedMemory::getCachedCollisionShapeInformation(struct b3Coll
collisionShapesInfo->m_collisionShapeData = collisionShapesInfo->m_numCollisionShapes ? &m_data->m_cachedCollisionShapes[0] : 0;
}
void PhysicsClientSharedMemory::getCachedMeshData(struct b3MeshData* meshData){
*meshData = m_data->m_cachedMeshData;
void PhysicsClientSharedMemory::getCachedMeshData(struct b3MeshData* meshData)
{
m_data->m_cachedMeshData.m_numVertices = m_data->m_cachedVertexPositions.size();
m_data->m_cachedMeshData.m_vertices = m_data->m_cachedMeshData.m_numVertices ? &m_data->m_cachedVertexPositions[0] : 0;
*meshData = m_data->m_cachedMeshData;
}
const float* PhysicsClientSharedMemory::getDebugLinesFrom() const