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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2016-12-01 16:48:22 -08:00
parent a88272de1b 179c48cc58
commit bf83c77dab
11 changed files with 354 additions and 57 deletions
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20
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -317,6 +317,26 @@ int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle commandHan
return 0;
}
int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_useSplitImpulse = useSplitImpulse;
command->m_updateFlags |= SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE;
return 0;
}
int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_splitImpulsePenetrationThreshold = splitImpulsePenetrationThreshold;
command->m_updateFlags |= SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD;
return 0;
}
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -163,6 +163,9 @@ int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle
int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);
//b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes
//Use at own risk: magic things may or my not happen when calling this API

122
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2338,6 +2338,17 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE)
{
m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulse = clientCmd.m_physSimParamArgs.m_useSplitImpulse;
}
if (clientCmd.m_updateFlags &SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD)
{
m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold = clientCmd.m_physSimParamArgs.m_splitImpulsePenetrationThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS)
{
m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps;
@@ -2363,27 +2374,50 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId;
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
btVector3 baseLinVel(0, 0, 0);
btVector3 baseAngVel(0, 0, 0);
if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY)
{
baseLinVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[0],
clientCmd.m_initPoseArgs.m_initialStateQdot[1],
clientCmd.m_initPoseArgs.m_initialStateQdot[2]);
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_ANGULAR_VELOCITY)
{
baseAngVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[3],
clientCmd.m_initPoseArgs.m_initialStateQdot[4],
clientCmd.m_initPoseArgs.m_initialStateQdot[5]);
}
btVector3 basePos(0, 0, 0);
if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_POSITION)
{
basePos = btVector3(
clientCmd.m_initPoseArgs.m_initialStateQ[0],
clientCmd.m_initPoseArgs.m_initialStateQ[1],
clientCmd.m_initPoseArgs.m_initialStateQ[2]);
}
btQuaternion baseOrn(0, 0, 0, 1);
if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_ORIENTATION)
{
baseOrn.setValue(clientCmd.m_initPoseArgs.m_initialStateQ[3],
clientCmd.m_initPoseArgs.m_initialStateQ[4],
clientCmd.m_initPoseArgs.m_initialStateQ[5],
clientCmd.m_initPoseArgs.m_initialStateQ[6]);
}
if (body && body->m_multiBody)
{
btMultiBody* mb = body->m_multiBody;
btVector3 baseLinVel(0, 0, 0);
btVector3 baseAngVel(0, 0, 0);
if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY)
{
baseLinVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[0],
clientCmd.m_initPoseArgs.m_initialStateQdot[1],
clientCmd.m_initPoseArgs.m_initialStateQdot[2]);
mb->setBaseVel(baseLinVel);
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_ANGULAR_VELOCITY)
{
baseAngVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[3],
clientCmd.m_initPoseArgs.m_initialStateQdot[4],
clientCmd.m_initPoseArgs.m_initialStateQdot[5]);
mb->setBaseOmega(baseAngVel);
}
@@ -2396,10 +2430,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
clientCmd.m_initPoseArgs.m_hasInitialStateQ[2]);
mb->setBaseVel(baseLinVel);
mb->setBasePos(btVector3(
clientCmd.m_initPoseArgs.m_initialStateQ[0],
clientCmd.m_initPoseArgs.m_initialStateQ[1],
clientCmd.m_initPoseArgs.m_initialStateQ[2]));
mb->setBasePos(basePos);
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_ORIENTATION)
{
@@ -2409,10 +2440,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
clientCmd.m_initPoseArgs.m_hasInitialStateQ[6]);
mb->setBaseOmega(baseAngVel);
btQuaternion invOrn(clientCmd.m_initPoseArgs.m_initialStateQ[3],
clientCmd.m_initPoseArgs.m_initialStateQ[4],
clientCmd.m_initPoseArgs.m_initialStateQ[5],
clientCmd.m_initPoseArgs.m_initialStateQ[6]);
btQuaternion invOrn(baseOrn);
mb->setWorldToBaseRot(invOrn.inverse());
}
@@ -2441,6 +2469,31 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
mb->updateCollisionObjectWorldTransforms(scratch_q,scratch_m);
}
if (body && body->m_rigidBody)
{
if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY)
{
body->m_rigidBody->setLinearVelocity(baseLinVel);
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_ANGULAR_VELOCITY)
{
body->m_rigidBody->setAngularVelocity(baseAngVel);
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_POSITION)
{
body->m_rigidBody->getWorldTransform().setOrigin(basePos);
body->m_rigidBody->setLinearVelocity(baseLinVel);
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_ORIENTATION)
{
body->m_rigidBody->getWorldTransform().setRotation(baseOrn);
body->m_rigidBody->setAngularVelocity(baseAngVel);
}
}
SharedMemoryStatus& serverCmd =serverStatusOut;
@@ -3114,11 +3167,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
{
InteralBodyData* body = m_data->getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME) != 0);
if (body && body->m_multiBody)
{
btMultiBody* mb = body->m_multiBody;
bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME)!=0);
if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE)!=0)
{
btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+0],
@@ -3166,6 +3220,36 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
}
if (body && body->m_rigidBody)
{
btRigidBody* rb = body->m_rigidBody;
if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE) != 0)
{
btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
btVector3 positionLocal(
clientCmd.m_externalForceArguments.m_positions[i * 3 + 0],
clientCmd.m_externalForceArguments.m_positions[i * 3 + 1],
clientCmd.m_externalForceArguments.m_positions[i * 3 + 2]);
btVector3 forceWorld = isLinkFrame ? forceLocal : rb->getWorldTransform().getBasis()*forceLocal;
btVector3 relPosWorld = isLinkFrame ? positionLocal : rb->getWorldTransform().getBasis()*positionLocal;
rb->applyForce(forceWorld, relPosWorld);
}
if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_TORQUE) != 0)
{
btVector3 torqueLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
btVector3 torqueWorld = isLinkFrame ? torqueLocal : rb->getWorldTransform().getBasis()*torqueLocal;
rb->applyTorque(torqueWorld);
}
}
}
SharedMemoryStatus& serverCmd =serverStatusOut;

6
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -287,7 +287,9 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8,
SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16,
SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP=32,
SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64
SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64,
SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE=128,
SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256,
};
enum EnumLoadBunnyUpdateFlags
@@ -312,6 +314,8 @@ struct SendPhysicsSimulationParameters
int m_numSimulationSubSteps;
int m_numSolverIterations;
bool m_allowRealTimeSimulation;
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;
int m_internalSimFlags;
double m_defaultContactERP;
};