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fix the pybullet.changeDynamics linear/angular damping

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expose pybullet.getConstraintState
This commit is contained in:
Erwin Coumans
2017-10-18 19:15:35 -07:00
parent 618deae3e4
commit c178c101a8
8 changed files with 154 additions and 16 deletions
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44
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5630,13 +5630,22 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
double rollingFriction = clientCmd.m_changeDynamicsInfoArgs.m_rollingFriction;
double restitution = clientCmd.m_changeDynamicsInfoArgs.m_restitution;
btAssert(bodyUniqueId >= 0);
btAssert(linkIndex >= -1);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody)
{
btMultiBody* mb = body->m_multiBody;
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->setAngularDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
}
if (linkIndex == -1)
{
if (mb->getBaseCollider())
@@ -5645,14 +5654,7 @@ 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_CONTACT_STIFFNESS_AND_DAMPING)
{
@@ -7173,6 +7175,29 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED;
hasStatus = true;
if (clientCmd.m_updateFlags & USER_CONSTRAINT_REQUEST_STATE)
{
int constraintUid = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;
InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(constraintUid);
if (userConstraintPtr)
{
serverCmd.m_userConstraintStateResultArgs.m_numDofs = 0;
for (int i = 0; i < 6; i++)
{
serverCmd.m_userConstraintStateResultArgs.m_appliedConstraintForces[i] = 0;
}
if (userConstraintPtr->m_mbConstraint)
{
serverCmd.m_userConstraintStateResultArgs.m_numDofs = userConstraintPtr->m_mbConstraint->getNumRows();
for (int i = 0; i < userConstraintPtr->m_mbConstraint->getNumRows(); i++)
{
serverCmd.m_userConstraintStateResultArgs.m_appliedConstraintForces[i] = userConstraintPtr->m_mbConstraint->getAppliedImpulse(i) / m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
}
serverCmd.m_type = CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED;
}
}
};
if (clientCmd.m_updateFlags & USER_CONSTRAINT_REQUEST_INFO)
{
int userConstraintUidChange = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;
@@ -7180,6 +7205,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (userConstraintPtr)
{
serverCmd.m_userConstraintResultArgs = userConstraintPtr->m_userConstraintData;
serverCmd.m_type = CMD_USER_CONSTRAINT_INFO_COMPLETED;
}
}