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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2017-05-12 17:18:10 -07:00
parent 85c84ce09a c068cb8297
commit 845eb43610
4 changed files with 59 additions and 38 deletions
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56
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -4536,7 +4536,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int linkIndexB = -1;
int objectIndexB = -1;
const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
if (bodyB)
{
@@ -4547,12 +4546,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
linkIndexB = mblB->m_link;
objectIndexB = mblB->m_multiBody->getUserIndex2();
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
{
continue;
}
}
int objectIndexA = -1;
@@ -4566,30 +4559,55 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
linkIndexA = mblA->m_link;
objectIndexA = mblA->m_multiBody->getUserIndex2();
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
}
btAssert(bodyA || mblA);
//apply the filter, if the user provides it
bool swap = false;
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
{
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
{
swap = false;
}
else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
{
swap = true;
}
else
{
continue;
}
}
btAssert(bodyA || mblA);
//apply the filter, if the user provides it
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
if (swap)
{
if ((clientCmd.m_requestContactPointArguments.m_objectAIndexFilter != objectIndexA) &&
(clientCmd.m_requestContactPointArguments.m_objectAIndexFilter != objectIndexB))
continue;
std::swap(objectIndexA, objectIndexB);
std::swap(linkIndexA, linkIndexB);
std::swap(bodyA, bodyB);
}
//apply the second object filter, if the user provides it
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
{
if ((clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexA) &&
(clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB))
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
{
continue;
}
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
{
continue;
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
{
continue;
}
for (int p = 0; p < manifold->getNumContacts(); p++)

4
examples/pybullet/tensorflow/humanoid_running.py
View File

@@ -50,7 +50,9 @@ dummy.initial_z = None
def current_relative_position(human, j, lower, upper):
#print("j")
#print(j)
pos, vel, *other = p.getJointState(human, j)
temp = p.getJointState(human, j)
pos = temp[0]
vel = temp[1]
#print("pos")
#print(pos)
#print("vel")