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work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon)

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pybullet/C-API, expose linear/angular damping
fix some warnings (param name needs to be same in .h and .cpp)
fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread)
fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
This commit is contained in:
Erwin Coumans
2017-06-04 22:04:16 -07:00
parent b23cb1dd2c
commit a7aed37632
12 changed files with 183 additions and 68 deletions
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29
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3530,9 +3530,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_FAILED;
if (clientCmd.m_createMultiBodyArgs.m_baseLinkIndex>=0)
{
m_data->m_sdfRecentLoadedBodies.clear();
ProgrammaticUrdfInterface u2b(clientCmd.m_createMultiBodyArgs, m_data);
bool useMultiBody = false;
bool useMultiBody = true;
if (clientCmd.m_updateFlags & MULT_BODY_USE_MAXIMAL_COORDINATES)
{
useMultiBody = false;
}
int flags = 0;
bool ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);
@@ -4329,6 +4336,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
mb->getBaseCollider()->setRestitution(restitution);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
{
mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING)
{
mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
{
mb->getBaseCollider()->setFriction(lateralFriction);
@@ -4395,6 +4411,17 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (body && body->m_rigidBody)
{
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
{
btScalar angDamping = body->m_rigidBody->getAngularDamping();
body->m_rigidBody->setDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping,angDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING)
{
btScalar linDamping = body->m_rigidBody->getLinearDamping();
body->m_rigidBody->setDamping(linDamping, clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
{
body->m_rigidBody->setRestitution(restitution);