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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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29
examples/SharedMemory/PhysicsDirect.cpp
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@@ -40,7 +40,7 @@ struct PhysicsDirectInternalData
btHashMap<btHashInt,b3UserConstraint> m_userConstraintInfoMap;
char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
btAlignedObjectArray<double> m_cachedMassMatrix;
int m_cachedCameraPixelsWidth;
int m_cachedCameraPixelsHeight;
btAlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
@@ -951,6 +951,21 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
b3Warning("jacobian calculation failed");
break;
}
case CMD_CALCULATED_MASS_MATRIX_FAILED:
{
b3Warning("calculate mass matrix failed");
break;
}
case CMD_CALCULATED_MASS_MATRIX_COMPLETED:
{
double* matrixData = (double*)&m_data->m_bulletStreamDataServerToClient[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;
}
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
break;
@@ -1220,6 +1235,18 @@ void PhysicsDirect::getCachedRaycastHits(struct b3RaycastInformation* raycastHit
raycastHits->m_rayHits = raycastHits->m_numRayHits? &m_data->m_raycastHits[0] : 0;
}
void PhysicsDirect::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 PhysicsDirect::setTimeOut(double timeOutInSeconds)
{
m_data->m_timeOutInSeconds = timeOutInSeconds;