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Merge pull request #1091 from YunfeiBai/master

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Add APIs to reset object mass, lateral friction coefficient, and to get user constraint id.
This commit is contained in:
erwincoumans
2017-05-04 17:47:33 +00:00
committed by GitHub
parent 7c439b2b6a 939d6ead32
commit 87a24dba84
16 changed files with 265 additions and 3 deletions
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57
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3901,6 +3901,63 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
};
case CMD_RESET_DYNAMIC_INFO:
{
BT_PROFILE("CMD_RESET_DYNAMIC_INFO");
if (clientCmd.m_updateFlags & RESET_DYNAMIC_INFO_SET_MASS)
{
int bodyUniqueId = clientCmd.m_resetDynamicInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex;
double mass = clientCmd.m_resetDynamicInfoArgs.m_mass;
btAssert(bodyUniqueId >= 0);
btAssert(linkIndex >= -1);
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
if (body && body->m_multiBody)
{
btMultiBody* mb = body->m_multiBody;
if (linkIndex == -1)
{
mb->setBaseMass(mass);
}
else
{
mb->getLink(linkIndex).m_mass = mass;
}
}
}
if (clientCmd.m_updateFlags & RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION)
{
int bodyUniqueId = clientCmd.m_resetDynamicInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex;
double lateralFriction = clientCmd.m_resetDynamicInfoArgs.m_lateralFriction;
btAssert(bodyUniqueId >= 0);
btAssert(linkIndex >= -1);
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
if (body && body->m_multiBody)
{
btMultiBody* mb = body->m_multiBody;
if (linkIndex == -1)
{
mb->getBaseCollider()->setFriction(lateralFriction);
}
else
{
mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
}
}
}
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
break;
};
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS");