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move global from btMultiBody into dynamicsWorld.getSolverInfo

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This commit is contained in:
Erwin Coumans
2018-11-05 10:50:03 -08:00
parent ac18c95ea1
commit 882252f8c0
9 changed files with 64 additions and 48 deletions
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9
examples/MultiBody/InvertedPendulumPDControl.cpp
View File

@@ -48,9 +48,6 @@ InvertedPendulumPDControl::~InvertedPendulumPDControl()
{
}
///this is a temporary global, until we determine if we need the option or not
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GUIHelperInterface* guiHelper, const btTransform& baseWorldTrans, bool fixedBase)
{
@@ -315,8 +312,10 @@ void InvertedPendulumPDControl::initPhysics()
}
int upAxis = 1;
gJointFeedbackInWorldSpace = true;
gJointFeedbackInJointFrame = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis);

9
examples/MultiBody/MultiBodyConstraintFeedback.cpp
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@@ -44,14 +44,9 @@ MultiBodyConstraintFeedbackSetup::~MultiBodyConstraintFeedbackSetup()
{
}
///this is a temporary global, until we determine if we need the option or not
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
void MultiBodyConstraintFeedbackSetup::initPhysics()
{
int upAxis = 2;
gJointFeedbackInWorldSpace = true;
gJointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis);
btVector4 colors[4] =
@@ -69,6 +64,10 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
//btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
//create a static ground object
if (1)
{

9
examples/MultiBody/TestJointTorqueSetup.cpp
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@@ -44,15 +44,10 @@ TestJointTorqueSetup::~TestJointTorqueSetup()
{
}
///this is a temporary global, until we determine if we need the option or not
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
void TestJointTorqueSetup::initPhysics()
{
int upAxis = 1;
gJointFeedbackInWorldSpace = true;
gJointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis);
@@ -71,6 +66,10 @@ void TestJointTorqueSetup::initPhysics()
//btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb); //+btIDebugDraw::DBG_DrawConstraintLimits);
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
//create a static ground object
if (1)
{

10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -96,8 +96,6 @@
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
int gInternalSimFlags = 0;
bool gResetSimulation = 0;
@@ -7697,11 +7695,11 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom
serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[2] = grav[2];
serverCmd.m_simulationParameterResultArgs.m_internalSimFlags = gInternalSimFlags;
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode = 0;
if (gJointFeedbackInWorldSpace)
if (m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace)
{
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode |= JOINT_FEEDBACK_IN_WORLD_SPACE;
}
if (gJointFeedbackInJointFrame)
if (m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame)
{
serverCmd.m_simulationParameterResultArgs.m_jointFeedbackMode |= JOINT_FEEDBACK_IN_JOINT_FRAME;
}
@@ -7747,8 +7745,8 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE)
{
gJointFeedbackInWorldSpace = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_WORLD_SPACE) != 0;
gJointFeedbackInJointFrame = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_JOINT_FRAME) != 0;
m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_WORLD_SPACE) != 0;
m_data->m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = (clientCmd.m_physSimParamArgs.m_jointFeedbackMode & JOINT_FEEDBACK_IN_JOINT_FRAME) != 0;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_DELTA_TIME)