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Add API to reset lateral friction coefficient.

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This commit is contained in:
yunfeibai
2017-05-03 21:47:53 -07:00
parent 1841a41f2a
commit 939d6ead32
8 changed files with 54 additions and 4 deletions
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11
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1240,6 +1240,17 @@ int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bod
return 0;
}
int b3ResetDynamicInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO);
command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicInfoArgs.m_lateralFriction = lateralFriction;
command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION;
return 0;
}
b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -80,6 +80,7 @@ int b3GetDynamicInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int lin
b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient);
int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
int b3ResetDynamicInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);

24
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3759,6 +3759,30 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
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;

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -110,6 +110,7 @@ enum EnumResetDynamicInfoFlags
{
RESET_DYNAMIC_INFO_SET_MASS=1,
RESET_DYNAMIC_INFO_SET_COM=2,
RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION=4,
};
struct ResetDynamicInfoArgs
@@ -118,6 +119,7 @@ struct ResetDynamicInfoArgs
int m_linkIndex;
double m_mass;
double m_COM[3];
double m_lateralFriction;
};
struct SetJointFeedbackArgs

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -212,7 +212,6 @@ struct b3DynamicInfo
{
double m_mass;
double m_localInertialPosition[3];
double m_localInertialOrientation[4];
};
// copied from btMultiBodyLink.h