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pybullet.createSoftBodyAnchor

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This commit is contained in:
Erwin Coumans
2019-11-19 19:20:08 -08:00
parent 431a71ebad
commit 96deb42aa5
12 changed files with 370 additions and 45 deletions
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24
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3248,6 +3248,30 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHa
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, const double bodyFramePosition[3])
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_USER_CONSTRAINT;
command->m_updateFlags = USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR;
command->m_userConstraintArguments.m_parentBodyIndex = softBodyUniqueId;
command->m_userConstraintArguments.m_parentJointIndex = nodeIndex;
command->m_userConstraintArguments.m_childBodyIndex = bodyUniqueId;
command->m_userConstraintArguments.m_childJointIndex = linkIndex;
command->m_userConstraintArguments.m_childFrame[0] = bodyFramePosition[0];
command->m_userConstraintArguments.m_childFrame[1] = bodyFramePosition[1];
command->m_userConstraintArguments.m_childFrame[2] = bodyFramePosition[2];
command->m_userConstraintArguments.m_childFrame[3] = 0.;
command->m_userConstraintArguments.m_childFrame[4] = 0.;
command->m_userConstraintArguments.m_childFrame[5] = 0.;
command->m_userConstraintArguments.m_childFrame[6] = 1.;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info)
{
PhysicsClient* cl = (PhysicsClient*)physClient;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -643,6 +643,8 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact);
B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient);
B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateSoftBodyAnchorConstraintCommand(b3PhysicsClientHandle physClient, int softBodyUniqueId, int nodeIndex, int bodyUniqueId, int linkIndex, const double bodyFramePosition[3]);
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);

124
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -53,7 +53,7 @@
#include "../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "LinearMath/TaskScheduler/btThreadSupportInterface.h"
#include "Wavefront/tiny_obj_loader.h"
#ifndef SKIP_COLLISION_FILTER_PLUGIN
#include "plugins/collisionFilterPlugin/collisionFilterPlugin.h"
#endif
@@ -1709,10 +1709,11 @@ struct PhysicsServerCommandProcessorInternalData
m_dispatcher(0),
m_solver(0),
m_collisionConfiguration(0),
m_dynamicsWorld(0),
#ifndef SKIP_DEFORMABLE_BODY
m_deformablebodySolver(0),
#endif
m_dynamicsWorld(0),
m_constraintSolverType(-1),
m_remoteDebugDrawer(0),
m_stateLoggersUniqueId(0),
@@ -8204,7 +8205,46 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
if (!render_mesh_is_sim_mesh)
{
// load render mesh
btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb);
{
tinyobj::attrib_t attribute;
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface());
for (int s = 0; s < (int)shapes.size(); s++)
{
tinyobj::shape_t& shape = shapes[s];
int faceCount = shape.mesh.indices.size();
int vertexCount = attribute.vertices.size()/3;
for (int v=0;v<vertexCount;v++)
{
btSoftBody::Node n;
n.m_x = btVector3(attribute.vertices[3*v],attribute.vertices[3*v+1],attribute.vertices[3*v+2]);
psb->m_renderNodes.push_back(n);
}
for (int f = 0; f < faceCount; f += 3)
{
if (f < 0 && f >= int(shape.mesh.indices.size()))
{
continue;
}
tinyobj::index_t v_0 = shape.mesh.indices[f];
tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
btSoftBody::Face ff;
ff.m_n[0] = &psb->m_renderNodes[v_0.vertex_index];
ff.m_n[1] = &psb->m_renderNodes[v_1.vertex_index];
ff.m_n[2] = &psb->m_renderNodes[v_2.vertex_index];
psb->m_renderFaces.push_back(ff);
}
}
}
btSoftBodyHelpers::interpolateBarycentricWeights(psb);
}
else
@@ -10645,6 +10685,84 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED;
hasStatus = true;
if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR)
{
#ifndef SKIP_DEFORMABLE_BODY
InternalBodyHandle* sbodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
if (sbodyHandle)
{
if (sbodyHandle->m_softBody)
{
int nodeIndex = clientCmd.m_userConstraintArguments.m_parentJointIndex;
if (nodeIndex>=0 && nodeIndex < sbodyHandle->m_softBody->m_nodes.size())
{
int bodyUniqueId = clientCmd.m_userConstraintArguments.m_childBodyIndex;
if (bodyUniqueId<=0)
{
//fixed anchor (mass = 0)
sbodyHandle->m_softBody->setMass(nodeIndex,0.0);
int uid = m_data->m_userConstraintUIDGenerator++;
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
} else
{
InternalBodyHandle* mbodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (mbodyHandle && mbodyHandle->m_multiBody)
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
int linkIndex = clientCmd.m_userConstraintArguments.m_childJointIndex;
if (linkIndex<0)
{
sbodyHandle->m_softBody->appendDeformableAnchor(nodeIndex, mbodyHandle->m_multiBody->getBaseCollider());
} else
{
if (linkIndex < mbodyHandle->m_multiBody->getNumLinks())
{
sbodyHandle->m_softBody->appendDeformableAnchor(nodeIndex, mbodyHandle->m_multiBody->getLinkCollider(linkIndex));
}
}
}
}
if (mbodyHandle && mbodyHandle->m_rigidBody)
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
//todo: expose those values
bool disableCollisionBetweenLinkedBodies = true;
//btVector3 localPivot(0,0,0);
sbodyHandle->m_softBody->appendDeformableAnchor(nodeIndex, mbodyHandle->m_rigidBody);
}
#if 1
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
if (softWorld)
{
bool disableCollisionBetweenLinkedBodies = true;
btVector3 localPivot(clientCmd.m_userConstraintArguments.m_childFrame[0],
clientCmd.m_userConstraintArguments.m_childFrame[1],
clientCmd.m_userConstraintArguments.m_childFrame[2]);
sbodyHandle->m_softBody->appendAnchor(nodeIndex, mbodyHandle->m_rigidBody, localPivot, disableCollisionBetweenLinkedBodies);
}
#endif
}
int uid = m_data->m_userConstraintUIDGenerator++;
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
}
}
}
#endif
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_REQUEST_STATE)
{
int constraintUid = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -800,6 +800,7 @@ enum EnumUserConstraintFlags
USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET = 512,
USER_CONSTRAINT_CHANGE_ERP = 1024,
USER_CONSTRAINT_REQUEST_STATE = 2048,
USER_CONSTRAINT_ADD_SOFT_BODY_ANCHOR = 4096,
};
enum EnumBodyChangeFlags