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pybullet getOverlappingObjects added: report all object unique ids within a world space bounding box (aabb)

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This commit is contained in:
erwincoumans
2016-11-10 11:22:22 -08:00
parent b16d9abddd
commit 9b5aa9a723
12 changed files with 299 additions and 99 deletions
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46
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -40,7 +40,7 @@ struct PhysicsClientSharedMemoryInternalData {
btAlignedObjectArray<int> m_cachedSegmentationMaskBuffer;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
btAlignedObjectArray<b3OverlappingObject> m_cachedOverlappingObjects;
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<int> m_bodyIdsRequestInfo;
@@ -596,6 +596,30 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Inverse Dynamics computations failed");
break;
}
case CMD_REQUEST_AABB_OVERLAP_FAILED:
{
b3Warning("Overlapping object query failed");
break;
}
case CMD_REQUEST_AABB_OVERLAP_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Overlapping object request completed");
}
int startOverlapIndex = serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex;
int numOverlapCopied = serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied;
m_data->m_cachedOverlappingObjects.resize(startOverlapIndex + numOverlapCopied);
b3OverlappingObject* objects = (b3OverlappingObject*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < numOverlapCopied; i++)
{
m_data->m_cachedOverlappingObjects[startOverlapIndex + i] = objects[i];
}
break;
}
case CMD_CONTACT_POINT_INFORMATION_COMPLETED:
{
if (m_data->m_verboseOutput)
@@ -740,6 +764,18 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
m_data->m_lastServerStatus = m_data->m_tempBackupServerStatus;
}
}
if (serverCmd.m_type == CMD_REQUEST_AABB_OVERLAP_COMPLETED)
{
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied)
{
command.m_type = CMD_REQUEST_AABB_OVERLAP;
command.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex = serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex + serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied;
submitClientCommand(command);
return 0;
}
}
if (serverCmd.m_type == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
{
@@ -873,6 +909,14 @@ void PhysicsClientSharedMemory::getCachedContactPointInformation(struct b3Contac
}
void PhysicsClientSharedMemory::getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects)
{
overlappingObjects->m_numOverlappingObjects = m_data->m_cachedOverlappingObjects.size();
overlappingObjects->m_overlappingObjects = m_data->m_cachedOverlappingObjects.size() ?
&m_data->m_cachedOverlappingObjects[0] : 0;
}
void PhysicsClientSharedMemory::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo)
{
visualShapesInfo->m_numVisualShapes = m_data->m_cachedVisualShapes.size();