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improvements to the shared memory physics API:

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support picking in C API etc.
This commit is contained in:
=
2015-09-24 22:42:22 -07:00
parent 066ff5f2e9
commit e05825f639
8 changed files with 140 additions and 16 deletions
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56
examples/SharedMemory/PhysicsServer.cpp
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@@ -1067,8 +1067,20 @@ void PhysicsServerSharedMemory::processClientCommands()
{
b3Printf("Server Init Pose not implemented yet");
}
///@todo: implement this
m_data->m_dynamicsWorld->setGravity(btVector3(0,0,0));
int body_unique_id = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId;
if (m_data->m_dynamicsWorld->getNumMultibodies()>body_unique_id)
{
btMultiBody* mb = m_data->m_dynamicsWorld->getMultiBody(body_unique_id);
mb->setBasePos(btVector3(
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[0],
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[1],
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[2]));
mb->setWorldToBaseRot(btQuaternion(
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[3],
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[4],
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[5],
clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[6]));
}
SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
m_data->submitServerStatus(serverCmd);
@@ -1136,6 +1148,46 @@ void PhysicsServerSharedMemory::processClientCommands()
break;
}
case CMD_PICK_BODY:
{
pickBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0],
clientCmd.m_pickBodyArguments.m_rayFromWorld[1],
clientCmd.m_pickBodyArguments.m_rayFromWorld[2]),
btVector3(clientCmd.m_pickBodyArguments.m_rayToWorld[0],
clientCmd.m_pickBodyArguments.m_rayToWorld[1],
clientCmd.m_pickBodyArguments.m_rayToWorld[2]));
SharedMemoryStatus &serverCmd =
m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,
clientCmd.m_sequenceNumber, timeStamp);
m_data->submitServerStatus(serverCmd);
break;
}
case CMD_MOVE_PICKED_BODY:
{
movePickedBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0],
clientCmd.m_pickBodyArguments.m_rayFromWorld[1],
clientCmd.m_pickBodyArguments.m_rayFromWorld[2]),
btVector3(clientCmd.m_pickBodyArguments.m_rayToWorld[0],
clientCmd.m_pickBodyArguments.m_rayToWorld[1],
clientCmd.m_pickBodyArguments.m_rayToWorld[2]));
SharedMemoryStatus &serverCmd =
m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,
clientCmd.m_sequenceNumber, timeStamp);
m_data->submitServerStatus(serverCmd);
break;
}
case CMD_REMOVE_PICKING_CONSTRAINT_BODY:
{
removePickingConstraint();
SharedMemoryStatus &serverCmd =
m_data->createServerStatus(CMD_CLIENT_COMMAND_COMPLETED,
clientCmd.m_sequenceNumber, timeStamp);
m_data->submitServerStatus(serverCmd);
break;
}
default:
{
b3Error("Unknown command encountered");