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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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43
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4630,16 +4630,41 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
{
bool hasStatus = true;
BT_PROFILE("CMD_REQUEST_MESH_DATA");
serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_FAILED;
serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_FAILED;
serverStatusOut.m_numDataStreamBytes = 0;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_requestMeshDataArgs.m_bodyUniqueId);
if (bodyHandle)
{
serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = 1;
serverStatusOut.m_sendMeshDataArgs.m_startingVertex = 0;
serverStatusOut.m_sendMeshDataArgs.m_numVerticesRemaining = 0;
if (bodyHandle->m_multiBody)
{
//todo
}
if (bodyHandle->m_rigidBody)
{
//todo
}
if (bodyHandle->m_softBody)
{
btSoftBody* psb = bodyHandle->m_softBody;
int totalBytesPerVertex = sizeof(btVector3);
int numVertices = psb->m_nodes.size();
int maxNumVertices = bufferSizeInBytes / totalBytesPerVertex - 1;
int numVerticesRemaining = numVertices - clientCmd.m_requestMeshDataArgs.m_startingVertex;
int verticesCopied = btMin(maxNumVertices, numVerticesRemaining);
btVector3* verticesOut = (btVector3*)bufferServerToClient;
for (int i = 0; i < verticesCopied; ++i)
{
const btSoftBody::Node& n = psb->m_nodes[i+ clientCmd.m_requestMeshDataArgs.m_startingVertex];
verticesOut[i] = n.m_x;
}
serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = verticesCopied;
serverStatusOut.m_sendMeshDataArgs.m_startingVertex = clientCmd.m_requestMeshDataArgs.m_startingVertex;
serverStatusOut.m_sendMeshDataArgs.m_numVerticesRemaining = numVerticesRemaining - verticesCopied;
}
}
serverStatusOut.m_numDataStreamBytes = 0;
@@ -4647,7 +4672,6 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
return hasStatus;
}
bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
@@ -11309,10 +11333,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = processCreateVisualShapeCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_MESH_DATA:{
hasStatus = processRequestMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
case CMD_REQUEST_MESH_DATA:
{
hasStatus = processRequestMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
}
case CMD_CREATE_MULTI_BODY:
{
hasStatus = processCreateMultiBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);