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expose PyBullet API to wakeup/put objects to sleep, enable/disable deactivation

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fix wakeup -> reset deactivation clock
This commit is contained in:
Erwin Coumans
2018-06-15 21:26:26 -07:00
parent bb0d70d98b
commit fbbd675ed6
8 changed files with 86 additions and 6 deletions
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12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2443,8 +2443,16 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemo
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int activationState)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = -1;
command->m_changeDynamicsInfoArgs.m_activationState = activationState;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info)

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -142,6 +142,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemo
B3_SHARED_API int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, int frictionAnchor);
B3_SHARED_API int b3ChangeDynamicsInfoSetCcdSweptSphereRadius(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, double ccdSweptSphereRadius);
B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double contactProcessingThreshold);
B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int activationState);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info);

41
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6599,6 +6599,26 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
btMultiBody* mb = body->m_multiBody;
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE)
{
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateWakeUp)
{
mb->wakeUp();
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateSleep)
{
mb->goToSleep();
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateEnableSleeping)
{
mb->setCanSleep(true);
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateDisableSleeping)
{
mb->setCanSleep(false);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
{
mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping);
@@ -6724,6 +6744,27 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
if (body && body->m_rigidBody)
{
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE)
{
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateEnableSleeping)
{
body->m_rigidBody->forceActivationState(ACTIVE_TAG);
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateDisableSleeping)
{
body->m_rigidBody->forceActivationState(DISABLE_DEACTIVATION);
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateWakeUp)
{
body->m_rigidBody->forceActivationState(ACTIVE_TAG);
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateSleep)
{
body->m_rigidBody->forceActivationState(ISLAND_SLEEPING);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
{
btScalar angDamping = body->m_rigidBody->getAngularDamping();

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -166,6 +166,7 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL = 1024,
CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS = 2048,
CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD = 4096,
CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE = 8192,
};
struct ChangeDynamicsInfoArgs
@@ -186,6 +187,7 @@ struct ChangeDynamicsInfoArgs
int m_frictionAnchor;
double m_ccdSweptSphereRadius;
double m_contactProcessingThreshold;
int m_activationState;
};
struct GetDynamicsInfoArgs

9
examples/SharedMemory/SharedMemoryPublic.h
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@@ -314,6 +314,15 @@ struct b3BodyInfo
char m_bodyName[1024]; // for btRigidBody, it does not have a base, but can still have a body name from urdf
};
enum DynamicsActivationState
{
eActivationStateEnableSleeping = 1,
eActivationStateDisableSleeping = 2,
eActivationStateWakeUp = 4,
eActivationStateSleep = 8,
};
struct b3DynamicsInfo
{
double m_mass;