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make pybullet.getMeshData work for softbody

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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
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48
examples/SharedMemory/PhysicsDirect.cpp
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@@ -66,8 +66,8 @@ struct PhysicsDirectInternalData
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;
@@ -94,6 +94,7 @@ struct PhysicsDirectInternalData
m_ownsCommandProcessor(false),
m_timeOutInSeconds(1e30)
{
memset(&m_cachedMeshData.m_numVertices, 0, sizeof(b3MeshData));
memset(&m_command, 0, sizeof(m_command));
memset(&m_serverStatus, 0, sizeof(m_serverStatus));
memset(m_bulletStreamDataServerToClient, 0, sizeof(m_bulletStreamDataServerToClient));
@@ -589,13 +590,12 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
return m_data->m_hasStatus;
}
bool PhysicsDirect::processMeshData(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
do
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
@@ -622,21 +622,23 @@ bool PhysicsDirect::processMeshData(const struct SharedMemoryCommand& orgCommand
b3Printf("Mesh data OK\n");
}
const b3SendMeshDataArgs& args = serverCmd.m_sendMeshDataArgs;
int numTotalPixels =args.m_startingVertex +
args.m_numVerticesCopied + args.m_numVerticesRemaining;
const b3SendMeshDataArgs& args = serverCmd.m_sendMeshDataArgs;
int numTotalPixels = args.m_startingVertex +
args.m_numVerticesCopied + args.m_numVerticesRemaining;
double* verticesReceived =
(double*)&m_data->m_bulletStreamDataServerToClient[0];
btVector3* verticesReceived =
(btVector3*)&m_data->m_bulletStreamDataServerToClient[0];
// flattened position
const int dimension = 3;
m_data->m_cachedVertexPositions.resize((args.m_startingVertex +
args.m_numVerticesCopied)*dimension);
m_data->m_cachedVertexPositions.resize(args.m_startingVertex +
args.m_numVerticesCopied);
for (int i = 0; i < dimension*args.m_numVerticesCopied; i++)
for (int i = 0; i < args.m_numVerticesCopied; i++)
{
m_data->m_cachedVertexPositions[i + dimension*args.m_startingVertex] = verticesReceived[i];
m_data->m_cachedVertexPositions[i + args.m_startingVertex].x = verticesReceived[i].x();
m_data->m_cachedVertexPositions[i + args.m_startingVertex].y = verticesReceived[i].y();
m_data->m_cachedVertexPositions[i + args.m_startingVertex].z = verticesReceived[i].z();
m_data->m_cachedVertexPositions[i + args.m_startingVertex].w = verticesReceived[i].w();
}
if (args.m_numVerticesRemaining > 0 && args.m_numVerticesCopied)
@@ -646,12 +648,12 @@ bool PhysicsDirect::processMeshData(const struct SharedMemoryCommand& orgCommand
// continue requesting remaining vertices
command.m_type = CMD_REQUEST_MESH_DATA;
command.m_requestMeshDataArgs.m_startingVertex =
args.m_startingVertex + args.m_numVerticesCopied;
args.m_startingVertex + args.m_numVerticesCopied;
}
else
{
m_data->m_cachedMeshData.m_numVertices=args.m_startingVertex +
args.m_numVerticesCopied;
m_data->m_cachedMeshData.m_numVertices = args.m_startingVertex +
args.m_numVerticesCopied;
}
}
} while (serverCmd.m_sendMeshDataArgs.m_numVerticesRemaining > 0 && serverCmd.m_sendMeshDataArgs.m_numVerticesCopied);
@@ -1526,9 +1528,15 @@ void PhysicsDirect::getCachedCameraImage(b3CameraImageData* cameraData)
}
}
void PhysicsDirect::getCachedMeshData(struct b3MeshData* meshData){
*meshData = m_data->m_cachedMeshData;
void PhysicsDirect::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;
}
void PhysicsDirect::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
{
contactPointData->m_numContactPoints = m_data->m_cachedContactPoints.size();