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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2016-11-29 14:17:38 -08:00
parent 0cb2b21b5f 5e52760fbd
commit e8ff969a6f
25 changed files with 931 additions and 264 deletions
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112
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -542,7 +542,7 @@ struct PhysicsServerCommandProcessorInternalData
m_kukaGripperMultiBody(0),
m_kukaGripperRevolute1(0),
m_kukaGripperRevolute2(0),
m_allowRealTimeSimulation(true),
m_allowRealTimeSimulation(false),
m_huskyId(-1),
m_KukaId(-1),
m_sphereId(-1),
@@ -2352,6 +2352,28 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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);
}
if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_POSITION)
{
btVector3 zero(0,0,0);
@@ -2359,7 +2381,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
clientCmd.m_initPoseArgs.m_hasInitialStateQ[1] &&
clientCmd.m_initPoseArgs.m_hasInitialStateQ[2]);
mb->setBaseVel(zero);
mb->setBaseVel(baseLinVel);
mb->setBasePos(btVector3(
clientCmd.m_initPoseArgs.m_initialStateQ[0],
clientCmd.m_initPoseArgs.m_initialStateQ[1],
@@ -2372,7 +2394,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
clientCmd.m_initPoseArgs.m_hasInitialStateQ[5] &&
clientCmd.m_initPoseArgs.m_hasInitialStateQ[6]);
mb->setBaseOmega(btVector3(0,0,0));
mb->setBaseOmega(baseAngVel);
btQuaternion invOrn(clientCmd.m_initPoseArgs.m_initialStateQ[3],
clientCmd.m_initPoseArgs.m_initialStateQ[4],
clientCmd.m_initPoseArgs.m_initialStateQ[5],
@@ -2784,6 +2806,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int bodyUniqueIdA = clientCmd.m_requestContactPointArguments.m_objectAIndexFilter;
int bodyUniqueIdB = clientCmd.m_requestContactPointArguments.m_objectBIndexFilter;
bool hasLinkIndexAFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER));
bool hasLinkIndexBFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER));
int linkIndexA = clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter;
int linkIndexB = clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter;
btAlignedObjectArray<btCollisionObject*> setA;
btAlignedObjectArray<btCollisionObject*> setB;
btAlignedObjectArray<int> setALinkIndex;
@@ -2798,15 +2826,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (bodyA->m_multiBody->getBaseCollider())
{
setA.push_back(bodyA->m_multiBody->getBaseCollider());
setALinkIndex.push_back(-1);
if (!hasLinkIndexAFilter || (linkIndexA == -1))
{
setA.push_back(bodyA->m_multiBody->getBaseCollider());
setALinkIndex.push_back(-1);
}
}
for (int i = 0; i < bodyA->m_multiBody->getNumLinks(); i++)
{
if (bodyA->m_multiBody->getLink(i).m_collider)
{
setA.push_back(bodyA->m_multiBody->getLink(i).m_collider);
setALinkIndex.push_back(i);
if (!hasLinkIndexAFilter || (linkIndexA == i))
{
setA.push_back(bodyA->m_multiBody->getLink(i).m_collider);
setALinkIndex.push_back(i);
}
}
}
}
@@ -2826,15 +2860,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (bodyB->m_multiBody->getBaseCollider())
{
setB.push_back(bodyB->m_multiBody->getBaseCollider());
setBLinkIndex.push_back(-1);
if (!hasLinkIndexBFilter || (linkIndexB == -1))
{
setB.push_back(bodyB->m_multiBody->getBaseCollider());
setBLinkIndex.push_back(-1);
}
}
for (int i = 0; i < bodyB->m_multiBody->getNumLinks(); i++)
{
if (bodyB->m_multiBody->getLink(i).m_collider)
{
setB.push_back(bodyB->m_multiBody->getLink(i).m_collider);
setBLinkIndex.push_back(i);
if (!hasLinkIndexBFilter || (linkIndexB ==i))
{
setB.push_back(bodyB->m_multiBody->getLink(i).m_collider);
setBLinkIndex.push_back(i);
}
}
}
}
@@ -3528,7 +3568,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
for( int i=0;i<numRb;i++)
{
btCollisionObject* colObj = importer->getRigidBodyByIndex(i);
if (colObj)
{
btRigidBody* rb = btRigidBody::upcast(colObj);
@@ -3591,7 +3630,54 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED;
hasStatus = true;
if ((clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR) || (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR))
{
int bodyUniqueId = clientCmd.m_userDebugDrawArgs.m_objectUniqueId;
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
if (body)
{
btCollisionObject* destColObj = 0;
if (body->m_multiBody)
{
if (clientCmd.m_userDebugDrawArgs.m_linkIndex == -1)
{
destColObj = body->m_multiBody->getBaseCollider();
}
else
{
if (clientCmd.m_userDebugDrawArgs.m_linkIndex >= 0 && clientCmd.m_userDebugDrawArgs.m_linkIndex < body->m_multiBody->getNumLinks())
{
destColObj = body->m_multiBody->getLink(clientCmd.m_userDebugDrawArgs.m_linkIndex).m_collider;
}
}
}
if (body->m_rigidBody)
{
destColObj = body->m_rigidBody;
}
if (destColObj)
{
if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR)
{
destColObj->removeCustomDebugColor();
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
}
if (clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR)
{
btVector3 objectColorRGB;
objectColorRGB.setValue(clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[0],
clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[1],
clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[2]);
destColObj->setCustomDebugColor(objectColorRGB);
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
}
}
}
}
if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT)
{