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Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok!

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Visit http://www.snakerobots.com to see one of these in the wild
This commit is contained in:
erwincoumans
2019-03-07 21:13:00 -08:00
parent d7b54b0265
commit 9408e4f2d0
6 changed files with 169 additions and 3 deletions
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15
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2780,6 +2780,21 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle comman
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetAnisotropicFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double anisotropicFriction[])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_changeDynamicsInfoArgs.m_anisotropicFriction[0] = anisotropicFriction[0];
command->m_changeDynamicsInfoArgs.m_anisotropicFriction[1] = anisotropicFriction[1];
command->m_changeDynamicsInfoArgs.m_anisotropicFriction[2] = anisotropicFriction[2];
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION;
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double localInertiaDiagonal[])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -148,7 +148,9 @@ extern "C"
B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double localInertiaDiagonal[]);
B3_SHARED_API int b3ChangeDynamicsInfoSetAnisotropicFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double anisotropicFriction[]);
B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
B3_SHARED_API int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
B3_SHARED_API int b3ChangeDynamicsInfoSetRollingFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);

19
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7664,6 +7664,9 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
btVector3 newLocalInertiaDiagonal(clientCmd.m_changeDynamicsInfoArgs.m_localInertiaDiagonal[0],
clientCmd.m_changeDynamicsInfoArgs.m_localInertiaDiagonal[1],
clientCmd.m_changeDynamicsInfoArgs.m_localInertiaDiagonal[2]);
btVector3 anisotropicFriction(clientCmd.m_changeDynamicsInfoArgs.m_anisotropicFriction[0],
clientCmd.m_changeDynamicsInfoArgs.m_anisotropicFriction[1],
clientCmd.m_changeDynamicsInfoArgs.m_anisotropicFriction[2]);
btAssert(bodyUniqueId >= 0);
@@ -7796,6 +7799,12 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
mb->setBaseInertia(newLocalInertiaDiagonal);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION)
{
mb->getBaseCollider()->setAnisotropicFriction(anisotropicFriction);
}
}
else
{
@@ -7858,6 +7867,10 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
mb->getLink(linkIndex).m_inertiaLocal = newLocalInertiaDiagonal;
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION)
{
mb->getLinkCollider(linkIndex)->setAnisotropicFriction(anisotropicFriction);
}
}
}
}
@@ -7946,7 +7959,11 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
body->m_rigidBody->setMassProps(mass, newLocalInertiaDiagonal);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION)
{
body->m_rigidBody->setAnisotropicFriction(anisotropicFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD)
{
body->m_rigidBody->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold);

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -164,6 +164,7 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD = 4096,
CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE = 8192,
CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING = 16384,
CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION = 32768,
};
struct ChangeDynamicsInfoArgs
@@ -186,6 +187,7 @@ struct ChangeDynamicsInfoArgs
double m_contactProcessingThreshold;
int m_activationState;
double m_jointDamping;
double m_anisotropicFriction[3];
};
struct GetDynamicsInfoArgs