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more work towards removeBody for C-API/pybullet, work-in-progress.

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This commit is contained in:
Erwin Coumans
2017-05-03 21:53:29 -07:00
parent 152e3da3e4
commit a86f584824
13 changed files with 278 additions and 23 deletions
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76
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -135,13 +135,21 @@ struct InteralBodyData
btHashMap<btHashInt, SDFAudioSource> m_audioSources;
#endif //B3_ENABLE_TINY_AUDIO
InteralBodyData()
:m_multiBody(0),
m_rigidBody(0),
m_testData(0)
InteralBodyData()
{
m_rootLocalInertialFrame.setIdentity();
clear();
}
void clear()
{
m_multiBody=0;
m_rigidBody=0;
m_testData=0;
m_bodyName="";
m_rootLocalInertialFrame.setIdentity();
m_linkLocalInertialFrames.clear();
}
};
struct InteralUserConstraintData
@@ -1248,6 +1256,7 @@ struct PhysicsServerCommandProcessorInternalData
{
m_vrControllerEvents.init();
m_bodyHandles.exitHandles();
m_bodyHandles.initHandles();
#if 0
btAlignedObjectArray<int> bla;
@@ -2849,7 +2858,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
///this is a very rudimentary way to save the state of the world, for scene authoring
///many todo's, for example save the state of motor controllers etc.
{
//saveWorld(clientCmd.m_sdfArguments.m_sdfFileName);
@@ -4860,6 +4868,62 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_REMOVE_BODY:
{
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_REMOVE_BODY_FAILED;
serverCmd.m_removeObjectArgs.m_numBodies = 0;
serverCmd.m_removeObjectArgs.m_numUserConstraints = 0;
for (int i=0;i<clientCmd.m_removeObjectArgs.m_numBodies;i++)
{
int bodyUniqueId = clientCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (bodyHandle)
{
if (bodyHandle->m_multiBody)
{
serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
if (bodyHandle->m_multiBody->getBaseCollider())
{
int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider());
}
for (int link=0;link<bodyHandle->m_multiBody->getNumLinks();link++)
{
if (bodyHandle->m_multiBody->getLink(link).m_collider)
{
int graphicsIndex = bodyHandle->m_multiBody->getLink(link).m_collider->getUserIndex();
m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getLink(link).m_collider);
}
}
int numCollisionObjects = m_data->m_dynamicsWorld->getNumCollisionObjects();
m_data->m_dynamicsWorld->removeMultiBody(bodyHandle->m_multiBody);
numCollisionObjects = m_data->m_dynamicsWorld->getNumCollisionObjects();
//todo: clear all other remaining data, release memory etc
serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
}
if (bodyHandle->m_rigidBody)
{
serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
//todo: clear all other remaining data...
m_data->m_dynamicsWorld->removeRigidBody(bodyHandle->m_rigidBody);
int graphicsInstance = bodyHandle->m_rigidBody->getUserIndex2();
m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance);
serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
}
}
m_data->m_bodyHandles.freeHandle(bodyUniqueId);
}
hasStatus = true;
break;
}
case CMD_USER_CONSTRAINT:
{
BT_PROFILE("CMD_USER_CONSTRAINT");