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The softbody/bunny test is very experimental and shouldn't be enabled in the example browser, unless USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD is defined. I fixed a few bugs that cause the hang.

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This commit is contained in:
Erwin Coumans
2017-05-21 06:50:53 -07:00
parent 16a8dceb73
commit b19c209dbc
3 changed files with 9 additions and 4 deletions
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7
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -277,9 +277,10 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP), ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP),
ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP), ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP),
ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP), ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP),
ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY), #ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING), ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
#endif //USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifdef ENABLE_LUA #ifdef ENABLE_LUA
ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting", ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",

3
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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@@ -290,6 +290,7 @@ void b3RobotSimulatorClientAPI::setGravity(const b3Vector3& gravityAcceleration)
b3Warning("Not connected"); b3Warning("Not connected");
return; return;
} }
b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle); b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
@@ -1142,5 +1143,5 @@ void b3RobotSimulatorClientAPI::loadBunny(double scale, double mass, double coll
b3LoadBunnySetScale(command, scale); b3LoadBunnySetScale(command, scale);
b3LoadBunnySetMass(command, mass); b3LoadBunnySetMass(command, mass);
b3LoadBunnySetCollisionMargin(command, collisionMargin); b3LoadBunnySetCollisionMargin(command, collisionMargin);
b3SubmitClientCommand(m_data->m_physicsClientHandle, command); b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
} }

3
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3247,6 +3247,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
case CMD_LOAD_BUNNY: case CMD_LOAD_BUNNY:
{ {
serverStatusOut.m_type = CMD_UNKNOWN_COMMAND_FLUSHED;
hasStatus = true;
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
double scale = 0.1; double scale = 0.1;
double mass = 0.1; double mass = 0.1;
@@ -3287,6 +3289,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
psb->getCollisionShape()->setMargin(collisionMargin); psb->getCollisionShape()->setMargin(collisionMargin);
m_data->m_dynamicsWorld->addSoftBody(psb); m_data->m_dynamicsWorld->addSoftBody(psb);
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
#endif #endif
break; break;
} }