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add joint damping in PhysicsServerCommandProcessor

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This commit is contained in:
Erwin Coumans 2016-04-13 17:21:43 -07:00
parent 4df7257250
commit 0ca56e756f
2 changed files with 23 additions and 1 deletions
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22
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -1415,6 +1415,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
b3Printf("Step simulation request");
}
///todo(erwincoumans) move this damping inside Bullet
for (int i=0;i<m_data->m_bodyHandles.size();i++)
{
applyJointDamping(i);
}
m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime,0);
SharedMemoryStatus& serverCmd =serverStatusOut;
@ -1883,3 +1888,20 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
m_data->m_logPlayback = pb;
}
void PhysicsServerCommandProcessor::applyJointDamping(int bodyUniqueId)
{
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
if (body) {
btMultiBody* mb = body->m_multiBody;
if (mb) {
for (int l=0;l<mb->getNumLinks();l++) {
for (int d=0;d<mb->getLink(l).m_dofCount;d++) {
double damping_coefficient = mb->getLink(l).m_jointDamping;
double damping = -damping_coefficient*mb->getJointVelMultiDof(l)[d];
mb->addJointTorqueMultiDof(l, d, damping);
}
}
}
}
}

2
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@ -48,7 +48,7 @@ public:
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
void applyJointDamping(int bodyUniqueId);
};
#endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H