Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

implement pybullet.getContactPointData(), two optional object unique ids as filter

Browse Source 
returns a pylist of contact points. Each point has the following data:

	0     int m_contactFlags;//unused for now
         1     int m_bodyUniqueIdA;
         2     int m_bodyUniqueIdB;
         3     int m_linkIndexA;
         4     int m_linkIndexB;
         5-6-7     double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
         8-9-10     double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
         11-12-13     double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
         14     double m_contactDistance;//negative number is penetration, positive is distance.

         15    double m_normalForce;
This commit is contained in:
Erwin Coumans
2016-09-01 18:28:39 -07:00
parent a370c3bbac
commit e98fca1e5e
8 changed files with 205 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -39,7 +39,6 @@ struct PhysicsClientSharedMemoryInternalData {
btAlignedObjectArray<int> m_cachedSegmentationMaskBuffer;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
btAlignedObjectArray<b3ContactPointDynamicsData>m_cachedContactPointDynamics;
btAlignedObjectArray<int> m_bodyIdsRequestInfo;
SharedMemoryStatus m_tempBackupServerStatus;
@@ -572,7 +571,6 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
int numContactsCopied = serverCmd.m_sendContactPointArgs.m_numContactPointsCopied;
m_data->m_cachedContactPoints.resize(startContactIndex+numContactsCopied);
m_data->m_cachedContactPointDynamics.resize(0);
b3ContactPointData* contactData = (b3ContactPointData*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
@@ -653,8 +651,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (serverCmd.m_type == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
{
//todo: request remaining points, if needed
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints>0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied)
{
command.m_type = CMD_REQUEST_CONTACT_POINT_INFORMATION;
@@ -765,7 +762,6 @@ void PhysicsClientSharedMemory::getCachedCameraImage(struct b3CameraImageData* c
void PhysicsClientSharedMemory::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
{
contactPointData->m_numContactPoints = m_data->m_cachedContactPoints.size();
contactPointData->m_contactDynamicsData = 0;
contactPointData->m_contactPointData = contactPointData->m_numContactPoints? &m_data->m_cachedContactPoints[0] : 0;
}