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

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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
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58
examples/SharedMemory/PhysicsDirect.cpp
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@@ -39,6 +39,8 @@ struct PhysicsDirectInternalData
btAlignedObjectArray<float> m_cachedCameraDepthBuffer;
btAlignedObjectArray<int> m_cachedSegmentationMask;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
PhysicsServerCommandProcessor* m_commandProcessor;
@@ -193,6 +195,51 @@ bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgComma
return m_data->m_hasStatus;
}
bool PhysicsDirect::processContactPointData(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_hasStatus = hasStatus;
if (hasStatus)
{
if (m_data->m_verboseOutput)
{
b3Printf("Contact Point Information Request OK\n");
}
int startContactIndex = serverCmd.m_sendContactPointArgs.m_startingContactPointIndex;
int numContactsCopied = serverCmd.m_sendContactPointArgs.m_numContactPointsCopied;
m_data->m_cachedContactPoints.resize(startContactIndex+numContactsCopied);
b3ContactPointData* contactData = (b3ContactPointData*)&m_data->m_bulletStreamDataServerToClient[0];
for (int i=0;i<numContactsCopied;i++)
{
m_data->m_cachedContactPoints[startContactIndex+i] = contactData[i];
}
if (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints>0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied)
{
command.m_type = CMD_REQUEST_CONTACT_POINT_INFORMATION;
command.m_requestContactPointArguments.m_startingContactPointIndex = serverCmd.m_sendContactPointArgs.m_startingContactPointIndex+serverCmd.m_sendContactPointArgs.m_numContactPointsCopied;
command.m_requestContactPointArguments.m_objectAIndexFilter = -1;
command.m_requestContactPointArguments.m_objectBIndexFilter = -1;
}
}
} while (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints > 0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied);
return m_data->m_hasStatus;
}
bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
@@ -326,6 +373,10 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman
{
return processCamera(command);
}
if (command.m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION)
{
return processContactPointData(command);
}
bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
m_data->m_hasStatus = hasStatus;
@@ -490,9 +541,8 @@ void PhysicsDirect::getCachedCameraImage(b3CameraImageData* cameraData)
void PhysicsDirect::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
{
if (contactPointData)
{
contactPointData->m_numContactPoints = 0;
}
contactPointData->m_numContactPoints = m_data->m_cachedContactPoints.size();
contactPointData->m_contactPointData = contactPointData->m_numContactPoints? &m_data->m_cachedContactPoints[0] : 0;
}