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store mass matrix in streaming part of shared memory (no support for unlimited mass matrix sizes at the moment)

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This commit is contained in:
erwincoumans
2017-10-05 08:23:10 -07:00
parent a2d6a2e822
commit f467f325f7
11 changed files with 129 additions and 25 deletions
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33
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -47,7 +47,7 @@ struct PhysicsClientSharedMemoryInternalData {
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
btAlignedObjectArray<b3MouseEvent> m_cachedMouseEvents;
btAlignedObjectArray<double> m_cachedMassMatrix;
btAlignedObjectArray<b3RayHitInfo> m_raycastHits;
btAlignedObjectArray<int> m_bodyIdsRequestInfo;
@@ -1210,6 +1210,22 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break;
}
case CMD_CALCULATED_MASS_MATRIX_FAILED:
{
b3Warning("calculate mass matrix failed");
break;
}
case CMD_CALCULATED_MASS_MATRIX_COMPLETED:
{
double* matrixData = (double*)&this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
m_data->m_cachedMassMatrix.resize(serverCmd.m_massMatrixResultArgs.m_dofCount*serverCmd.m_massMatrixResultArgs.m_dofCount);
for (int i=0;i<serverCmd.m_massMatrixResultArgs.m_dofCount*serverCmd.m_massMatrixResultArgs.m_dofCount;i++)
{
m_data->m_cachedMassMatrix[i] = matrixData[i];
}
break;
}
default: {
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);
@@ -1531,6 +1547,21 @@ void PhysicsClientSharedMemory::getCachedRaycastHits(struct b3RaycastInformation
}
void PhysicsClientSharedMemory::getCachedMassMatrix(int dofCountCheck, double* massMatrix)
{
int sz = dofCountCheck*dofCountCheck;
if (sz == m_data->m_cachedMassMatrix.size())
{
for (int i=0;i<sz;i++)
{
massMatrix[i] = m_data->m_cachedMassMatrix[i];
}
}
}
void PhysicsClientSharedMemory::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo)
{
visualShapesInfo->m_numVisualShapes = m_data->m_cachedVisualShapes.size();