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Change the API names for loading softbody.

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This commit is contained in:
yunfeibai
2018-01-07 19:24:37 -08:00
parent e3e9546960
commit d077bdec07
9 changed files with 47 additions and 65 deletions
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38
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5660,7 +5660,7 @@ bool PhysicsServerCommandProcessor::processLoadURDFCommand(const struct SharedMe
return hasStatus;
}
bool PhysicsServerCommandProcessor::processLoadBunnyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
serverStatusOut.m_type = CMD_UNKNOWN_COMMAND_FLUSHED;
bool hasStatus = true;
@@ -5668,17 +5668,17 @@ bool PhysicsServerCommandProcessor::processLoadBunnyCommand(const struct SharedM
double scale = 0.1;
double mass = 0.1;
double collisionMargin = 0.02;
if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_SCALE)
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_UPDATE_SCALE)
{
scale = clientCmd.m_loadBunnyArguments.m_scale;
scale = clientCmd.m_loadSoftBodyArguments.m_scale;
}
if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_MASS)
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_UPDATE_MASS)
{
mass = clientCmd.m_loadBunnyArguments.m_mass;
mass = clientCmd.m_loadSoftBodyArguments.m_mass;
}
if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_COLLISION_MARGIN)
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN)
{
collisionMargin = clientCmd.m_loadBunnyArguments.m_collisionMargin;
collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin;
}
m_data->m_softBodyWorldInfo.air_density = (btScalar)1.2;
@@ -5688,24 +5688,6 @@ bool PhysicsServerCommandProcessor::processLoadBunnyCommand(const struct SharedM
m_data->m_softBodyWorldInfo.m_gravity.setValue(0,0,-10);
m_data->m_softBodyWorldInfo.m_broadphase = m_data->m_broadphase;
m_data->m_softBodyWorldInfo.m_sparsesdf.Initialize();
/*
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_softBodyWorldInfo,gVerticesBunny, &gIndicesBunny[0][0], BUNNY_NUM_TRIANGLES);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 1.0;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->generateBendingConstraints(2,pm);
psb->m_cfg.piterations = 50;
psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints();
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
psb->translate(btVector3(0,0,1.0));
psb->scale(btVector3(scale,scale,scale));
psb->setTotalMass(mass,true);
psb->getCollisionShape()->setMargin(collisionMargin);
m_data->m_dynamicsWorld->addSoftBody(psb);
*/
{
char relativeFileName[1024];
@@ -5754,7 +5736,7 @@ bool PhysicsServerCommandProcessor::processLoadBunnyCommand(const struct SharedM
int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
bodyHandle->m_softBody = psb;
serverStatusOut.m_loadBunnyResultArguments.m_objectUniqueId = bodyUniqueId;
serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
}
}
}
@@ -8584,9 +8566,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = processLoadURDFCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_LOAD_BUNNY:
case CMD_LOAD_SOFT_BODY:
{
hasStatus = processLoadBunnyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
hasStatus = processLoadSoftBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_SENSOR: