Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Update to bullet formatting

Browse Source
This commit is contained in:
mbennice
2019-03-17 11:52:56 -07:00
parent d41e449d6f
commit 8fcb8d0694
3 changed files with 14 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -31,7 +31,7 @@
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "Bullet3Common/b3HashMap.h"
#include "../Utils/ChromeTraceUtil.h"
#include "third_party/stblib/stb_image.h"
#include "stb_image/stb_image.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "IKTrajectoryHelper.h"
#include "btBulletDynamicsCommon.h"
@@ -1613,8 +1613,7 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps;
btScalar m_simulationTimestamp;
btScalar m_simulationTimestamp;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
@@ -7610,12 +7609,12 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
if (m_data->m_numSimulationSubSteps > 0)
{
numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, m_data->m_numSimulationSubSteps, m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps);
m_data->m_simulationTimestamp += deltaTimeScaled;
m_data->m_simulationTimestamp += deltaTimeScaled;
}
else
{
numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, 0);
m_data->m_simulationTimestamp += deltaTimeScaled;
m_data->m_simulationTimestamp += deltaTimeScaled;
}
if (numSteps > 0)
@@ -8165,7 +8164,7 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom
serverCmd.m_simulationParameterResultArgs.m_allowedCcdPenetration = m_data->m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration;
serverCmd.m_simulationParameterResultArgs.m_collisionFilterMode = m_data->m_broadphaseCollisionFilterCallback->m_filterMode;
serverCmd.m_simulationParameterResultArgs.m_deltaTime = m_data->m_physicsDeltaTime;
serverCmd.m_simulationParameterResultArgs.m_simulationTimestamp = m_data->m_simulationTimestamp;
serverCmd.m_simulationParameterResultArgs.m_simulationTimestamp = m_data->m_simulationTimestamp;
serverCmd.m_simulationParameterResultArgs.m_contactBreakingThreshold = gContactBreakingThreshold;
serverCmd.m_simulationParameterResultArgs.m_contactSlop = m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop;
serverCmd.m_simulationParameterResultArgs.m_enableSAT = m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex;
@@ -11723,9 +11722,9 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
gSubStep = m_data->m_physicsDeltaTime;
}
btScalar deltaTimeScaled = dtInSec * simTimeScalingFactor;
int numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, maxSteps, gSubStep);
m_data->m_simulationTimestamp += deltaTimeScaled;
btScalar deltaTimeScaled = dtInSec * simTimeScalingFactor;
int numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, maxSteps, gSubStep);
m_data->m_simulationTimestamp += deltaTimeScaled;
gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;
if (numSteps)
@@ -11803,8 +11802,9 @@ void PhysicsServerCommandProcessor::addTransformChangedNotifications()
void PhysicsServerCommandProcessor::resetSimulation()
{
//clean up all data
m_data->m_simulationTimestamp = 0;
m_data->m_cachedVUrdfisualShapes.clear();
m_data->m_simulationTimestamp = 0;
m_data->m_cachedVUrdfisualShapes.clear();
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
if (m_data && m_data->m_dynamicsWorld)