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add getClosestPoints.py example.

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allow to perform a getClosestPoints query with a collisionShape and world transform (position, orientation) that isn't part of the world.
(use createCollisionShape to create it)
add optional removeCollisionShape, for collision shapes only used in a query (and not used to create a body)
This commit is contained in:
erwincoumans
2018-09-22 14:18:21 -07:00
parent cdf8c908ad
commit b73b05e9fb
6 changed files with 139 additions and 11 deletions
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62
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -232,9 +232,16 @@ struct InternalCollisionShapeData
{
btCollisionShape* m_collisionShape;
b3AlignedObjectArray<UrdfCollision> m_urdfCollisionObjects;
int m_used;
InternalCollisionShapeData()
:m_collisionShape(0),
m_used(0)
{
}
void clear()
{
m_collisionShape=0;
m_used = 0;
}
};
@@ -2383,6 +2390,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(colShapeUniqueId);
if (handle && handle->m_collisionShape)
{
handle->m_used++;
if (handle->m_collisionShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* childCompound = (btCompoundShape*)handle->m_collisionShape;
@@ -6270,6 +6278,7 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
clientCmd.m_requestContactPointArguments.m_collisionShapeOrientationA[3]);
}
InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(collisionShapeA);
if (handle && handle->m_collisionShape)
{
colObA.setCollisionShape(handle->m_collisionShape);
@@ -6280,6 +6289,9 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
colObA.setWorldTransform(tr);
setA.push_back(&colObA);
setALinkIndex.push_back(-2);
} else
{
b3Warning("collisionShapeA provided is not valid.");
}
}
if (collisionShapeB>=0)
@@ -6311,6 +6323,9 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
colObB.setWorldTransform(tr);
setB.push_back(&colObB);
setBLinkIndex.push_back(-2);
} else
{
b3Warning("collisionShapeB provided is not valid.");
}
}
@@ -6436,11 +6451,9 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
m_cachedContactPoints.push_back(pt);
}
return 1;
}
};
MyContactResultCallback cb(m_data->m_cachedContactPoints);
cb.m_bodyUniqueIdA = bodyUniqueIdA;
@@ -8663,9 +8676,50 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
}
m_data->m_bodyHandles.freeHandle(bodyUniqueId);
}
}
for (int i=0;i<clientCmd.m_removeObjectArgs.m_numUserCollisionShapes;i++)
{
int removeCollisionShapeId = clientCmd.m_removeObjectArgs.m_userCollisionShapes[i];
InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(removeCollisionShapeId);
if (handle && handle->m_collisionShape)
{
if (handle->m_used)
{
b3Warning("Don't remove collision shape: it is used.");
}
else
{
b3Warning("TODO: dealloc");
int foundIndex = -1;
for (int i=0;i<m_data->m_worldImporters.size();i++)
{
btMultiBodyWorldImporter* importer = m_data->m_worldImporters[i];
for (int c=0;c<importer->getNumCollisionShapes();c++)
{
if (importer->getCollisionShapeByIndex(c) == handle->m_collisionShape)
{
if ( (importer->getNumRigidBodies()==0)&&
(importer->getNumConstraints()==0))
{
foundIndex=i;
break;
}
}
}
}
if (foundIndex>=0)
{
btMultiBodyWorldImporter* importer = m_data->m_worldImporters[i];
m_data->m_worldImporters.removeAtIndex(foundIndex);
delete importer;
m_data->m_userCollisionShapeHandles.freeHandle(removeCollisionShapeId);
}
}
}
}
m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL,1);
for (int i=0;i<serverCmd.m_removeObjectArgs.m_numBodies;i++)