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regular OR wireframe rendering, not both

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add option to perform filtering of 'getClosestPoints' using linkA/linkB.
don't use 'realtimesimulation' as default
add/remove debug items within same thread
pybullet, report contact points and normal as [x,y,z] triplet/vector, not 3 scalars
separate 'getClosestPointsAlgorithm': box-box doesn't report closest points with positive distance, and the query shouldn't impact regular 'closesst points'
This commit is contained in:
erwincoumans
2016-11-19 17:13:56 -08:00
parent 936a104fb2
commit 9ee1c4ec24
19 changed files with 417 additions and 222 deletions
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36
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -542,7 +542,7 @@ struct PhysicsServerCommandProcessorInternalData
m_kukaGripperMultiBody(0),
m_kukaGripperRevolute1(0),
m_kukaGripperRevolute2(0),
m_allowRealTimeSimulation(true),
m_allowRealTimeSimulation(false),
m_huskyId(-1),
m_KukaId(-1),
m_sphereId(-1),
@@ -2769,6 +2769,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int bodyUniqueIdA = clientCmd.m_requestContactPointArguments.m_objectAIndexFilter;
int bodyUniqueIdB = clientCmd.m_requestContactPointArguments.m_objectBIndexFilter;
bool hasLinkIndexAFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER));
bool hasLinkIndexBFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER));
int linkIndexA = clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter;
int linkIndexB = clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter;
btAlignedObjectArray<btCollisionObject*> setA;
btAlignedObjectArray<btCollisionObject*> setB;
btAlignedObjectArray<int> setALinkIndex;
@@ -2783,15 +2789,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (bodyA->m_multiBody->getBaseCollider())
{
setA.push_back(bodyA->m_multiBody->getBaseCollider());
setALinkIndex.push_back(-1);
if (!hasLinkIndexAFilter || (linkIndexA == -1))
{
setA.push_back(bodyA->m_multiBody->getBaseCollider());
setALinkIndex.push_back(-1);
}
}
for (int i = 0; i < bodyA->m_multiBody->getNumLinks(); i++)
{
if (bodyA->m_multiBody->getLink(i).m_collider)
{
setA.push_back(bodyA->m_multiBody->getLink(i).m_collider);
setALinkIndex.push_back(i);
if (!hasLinkIndexAFilter || (linkIndexA == i))
{
setA.push_back(bodyA->m_multiBody->getLink(i).m_collider);
setALinkIndex.push_back(i);
}
}
}
}
@@ -2811,15 +2823,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (bodyB->m_multiBody->getBaseCollider())
{
setB.push_back(bodyB->m_multiBody->getBaseCollider());
setBLinkIndex.push_back(-1);
if (!hasLinkIndexBFilter || (linkIndexB == -1))
{
setB.push_back(bodyB->m_multiBody->getBaseCollider());
setBLinkIndex.push_back(-1);
}
}
for (int i = 0; i < bodyB->m_multiBody->getNumLinks(); i++)
{
if (bodyB->m_multiBody->getLink(i).m_collider)
{
setB.push_back(bodyB->m_multiBody->getLink(i).m_collider);
setBLinkIndex.push_back(i);
if (!hasLinkIndexBFilter || (linkIndexB ==i))
{
setB.push_back(bodyB->m_multiBody->getLink(i).m_collider);
setBLinkIndex.push_back(i);
}
}
}
}