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Merge pull request #2354 from fuchuyuan/loadRigidbody

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add support to load rigidbody
This commit is contained in:
erwincoumans
2019-08-07 17:30:46 -07:00
committed by GitHub
parent 1981493a65 4f70e71afa
commit cc7a450a3b
2 changed files with 62 additions and 34 deletions
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95
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7043,48 +7043,62 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
hasStatus = true; hasStatus = true;
} }
else if (body && body->m_rigidBody){ else if (body && body->m_rigidBody)
btRigidBody* rb = body->m_rigidBody; {
SharedMemoryStatus& serverCmd = serverStatusOut; btRigidBody* rb = body->m_rigidBody;
serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;
serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId; serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
serverCmd.m_sendActualStateArgs.m_numLinks = 0; serverCmd.m_sendActualStateArgs.m_numLinks = 0;
serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage); serverCmd.m_numDataStreamBytes = sizeof(SendActualStateSharedMemoryStorage);
serverCmd.m_sendActualStateArgs.m_stateDetails = 0; serverCmd.m_sendActualStateArgs.m_stateDetails = 0;
int totalDegreeOfFreedomQ = 0; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] =
int totalDegreeOfFreedomU = 0; body->m_rootLocalInertialFrame.getOrigin()[0];
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] =
body->m_rootLocalInertialFrame.getOrigin()[1];
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[2] =
body->m_rootLocalInertialFrame.getOrigin()[2];
btTransform tr = rb->getWorldTransform(); serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[3] =
//base position in world space, cartesian body->m_rootLocalInertialFrame.getRotation()[0];
stateDetails->m_actualStateQ[0] = tr.getOrigin()[0]; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[4] =
stateDetails->m_actualStateQ[1] = tr.getOrigin()[1]; body->m_rootLocalInertialFrame.getRotation()[1];
stateDetails->m_actualStateQ[2] = tr.getOrigin()[2]; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[5] =
body->m_rootLocalInertialFrame.getRotation()[2];
serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] =
body->m_rootLocalInertialFrame.getRotation()[3];
//base orientation, quaternion x,y,z,w, in world space, cartesian btTransform tr = rb->getWorldTransform();
stateDetails->m_actualStateQ[3] = tr.getRotation()[0]; //base position in world space, cartesian
stateDetails->m_actualStateQ[4] = tr.getRotation()[1]; stateDetails->m_actualStateQ[0] = tr.getOrigin()[0];
stateDetails->m_actualStateQ[5] = tr.getRotation()[2]; stateDetails->m_actualStateQ[1] = tr.getOrigin()[1];
stateDetails->m_actualStateQ[6] = tr.getRotation()[3]; stateDetails->m_actualStateQ[2] = tr.getOrigin()[2];
totalDegreeOfFreedomQ += 7; //pos + quaternion
//base linear velocity (in world space, cartesian) //base orientation, quaternion x,y,z,w, in world space, cartesian
stateDetails->m_actualStateQdot[0] = rb->getLinearVelocity()[0]; stateDetails->m_actualStateQ[3] = tr.getRotation()[0];
stateDetails->m_actualStateQdot[1] = rb->getLinearVelocity()[1]; stateDetails->m_actualStateQ[4] = tr.getRotation()[1];
stateDetails->m_actualStateQdot[2] = rb->getLinearVelocity()[2]; stateDetails->m_actualStateQ[5] = tr.getRotation()[2];
stateDetails->m_actualStateQ[6] = tr.getRotation()[3];
int totalDegreeOfFreedomQ = 7; //pos + quaternion
//base angular velocity (in world space, cartesian) //base linear velocity (in world space, cartesian)
stateDetails->m_actualStateQdot[3] = rb->getAngularVelocity()[0]; stateDetails->m_actualStateQdot[0] = rb->getLinearVelocity()[0];
stateDetails->m_actualStateQdot[4] = rb->getAngularVelocity()[1]; stateDetails->m_actualStateQdot[1] = rb->getLinearVelocity()[1];
stateDetails->m_actualStateQdot[5] = rb->getAngularVelocity()[2]; stateDetails->m_actualStateQdot[2] = rb->getLinearVelocity()[2];
totalDegreeOfFreedomU += 6; //3 linear and 3 angular DOF
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ; //base angular velocity (in world space, cartesian)
serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU; stateDetails->m_actualStateQdot[3] = rb->getAngularVelocity()[0];
stateDetails->m_actualStateQdot[4] = rb->getAngularVelocity()[1];
stateDetails->m_actualStateQdot[5] = rb->getAngularVelocity()[2];
int totalDegreeOfFreedomU = 6; //3 linear and 3 angular DOF
hasStatus = true; serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;
} serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU;
hasStatus = true;
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
else if (body && body->m_softBody) else if (body && body->m_softBody)
{ {
@@ -8775,6 +8789,19 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
} }
hasStatus = true; hasStatus = true;
} }
else if (body && body->m_rigidBody)
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED;
btRigidBody* rb = body->m_rigidBody;
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = rb->getFriction();
serverCmd.m_dynamicsInfo.m_rollingFrictionCoeff = rb->getRollingFriction();
serverCmd.m_dynamicsInfo.m_spinningFrictionCoeff = rb->getSpinningFriction();
serverCmd.m_dynamicsInfo.m_angularDamping = rb->getAngularDamping();
serverCmd.m_dynamicsInfo.m_linearDamping = rb->getLinearDamping();
serverCmd.m_dynamicsInfo.m_mass = rb->getMass();
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
else if (body && body->m_softBody){ else if (body && body->m_softBody){
//todo: @fuchuyuan implement dynamics info //todo: @fuchuyuan implement dynamics info

1
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -259,6 +259,7 @@ public:
m_invMass = m_linearFactor * m_inverseMass; m_invMass = m_linearFactor * m_inverseMass;
} }
btScalar getInvMass() const { return m_inverseMass; } btScalar getInvMass() const { return m_inverseMass; }
btScalar getMass() const { return m_inverseMass == btScalar(0.) ? btScalar(0.) : btScalar(1.0) / m_inverseMass; }
const btMatrix3x3& getInvInertiaTensorWorld() const const btMatrix3x3& getInvInertiaTensorWorld() const
{ {
return m_invInertiaTensorWorld; return m_invInertiaTensorWorld;