AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-15 14:10:11 +00:00
Code Issues Releases Wiki Activity

Merge pull request #1399 from jonathantompson/gear_info

Browse Source 
Gear constraint fixes.
This commit is contained in:
erwincoumans 2017-10-24 00:28:54 +00:00 committed by GitHub
commit 3fab80a50a
4 changed files with 41 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@ -653,6 +653,22 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
{ {
userConstraintPtr->m_maxAppliedForce = serverConstraint->m_maxAppliedForce; userConstraintPtr->m_maxAppliedForce = serverConstraint->m_maxAppliedForce;
} }
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
{
userConstraintPtr->m_gearRatio = serverConstraint->m_gearRatio;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET)
{
userConstraintPtr->m_relativePositionTarget = serverConstraint->m_relativePositionTarget;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_ERP)
{
userConstraintPtr->m_erp = serverConstraint->m_erp;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
{
userConstraintPtr->m_gearAuxLink = serverConstraint->m_gearAuxLink;
}
} }
break; break;
} }

16
examples/SharedMemory/PhysicsDirect.cpp
View File

@ -780,6 +780,22 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
{ {
userConstraintPtr->m_maxAppliedForce = serverConstraint->m_maxAppliedForce; userConstraintPtr->m_maxAppliedForce = serverConstraint->m_maxAppliedForce;
} }
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
{
userConstraintPtr->m_gearRatio = serverConstraint->m_gearRatio;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET)
{
userConstraintPtr->m_relativePositionTarget = serverConstraint->m_relativePositionTarget;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_ERP)
{
userConstraintPtr->m_erp = serverConstraint->m_erp;
}
if (serverCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
{
userConstraintPtr->m_gearAuxLink = serverConstraint->m_gearAuxLink;
}
} }
break; break;
} }

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -7571,19 +7571,23 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO) if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
{ {
userConstraintPtr->m_mbConstraint->setGearRatio(clientCmd.m_userConstraintArguments.m_gearRatio); userConstraintPtr->m_mbConstraint->setGearRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
userConstraintPtr->m_userConstraintData.m_gearRatio = clientCmd.m_userConstraintArguments.m_gearRatio;
} }
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET) if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET)
{ {
userConstraintPtr->m_mbConstraint->setRelativePositionTarget(clientCmd.m_userConstraintArguments.m_relativePositionTarget); userConstraintPtr->m_mbConstraint->setRelativePositionTarget(clientCmd.m_userConstraintArguments.m_relativePositionTarget);
userConstraintPtr->m_userConstraintData.m_relativePositionTarget = clientCmd.m_userConstraintArguments.m_relativePositionTarget;
} }
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_ERP) if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_ERP)
{ {
userConstraintPtr->m_mbConstraint->setErp(clientCmd.m_userConstraintArguments.m_erp); userConstraintPtr->m_mbConstraint->setErp(clientCmd.m_userConstraintArguments.m_erp);
userConstraintPtr->m_userConstraintData.m_erp = clientCmd.m_userConstraintArguments.m_erp;
} }
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK) if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
{ {
userConstraintPtr->m_mbConstraint->setGearAuxLink(clientCmd.m_userConstraintArguments.m_gearAuxLink); userConstraintPtr->m_mbConstraint->setGearAuxLink(clientCmd.m_userConstraintArguments.m_gearAuxLink);
userConstraintPtr->m_userConstraintData.m_gearAuxLink = clientCmd.m_userConstraintArguments.m_gearAuxLink;
} }
} }

6
examples/pybullet/pybullet.c
View File

@ -2487,7 +2487,7 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
if (b3GetUserConstraintInfo(sm, constraintUniqueId, &constraintInfo)) if (b3GetUserConstraintInfo(sm, constraintUniqueId, &constraintInfo))
{ {
PyObject* pyListConstraintInfo = PyTuple_New(11); PyObject* pyListConstraintInfo = PyTuple_New(15);
PyTuple_SetItem(pyListConstraintInfo, 0, PyLong_FromLong(constraintInfo.m_parentBodyIndex)); PyTuple_SetItem(pyListConstraintInfo, 0, PyLong_FromLong(constraintInfo.m_parentBodyIndex));
PyTuple_SetItem(pyListConstraintInfo, 1, PyLong_FromLong(constraintInfo.m_parentJointIndex)); PyTuple_SetItem(pyListConstraintInfo, 1, PyLong_FromLong(constraintInfo.m_parentJointIndex));
@ -2533,6 +2533,10 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
PyTuple_SetItem(pyListConstraintInfo, 9, childFrameOrientation); PyTuple_SetItem(pyListConstraintInfo, 9, childFrameOrientation);
} }
PyTuple_SetItem(pyListConstraintInfo, 10, PyFloat_FromDouble(constraintInfo.m_maxAppliedForce)); PyTuple_SetItem(pyListConstraintInfo, 10, PyFloat_FromDouble(constraintInfo.m_maxAppliedForce));
PyTuple_SetItem(pyListConstraintInfo, 11, PyFloat_FromDouble(constraintInfo.m_gearRatio));
PyTuple_SetItem(pyListConstraintInfo, 12, PyLong_FromLong(constraintInfo.m_gearAuxLink));
PyTuple_SetItem(pyListConstraintInfo, 13, PyFloat_FromDouble(constraintInfo.m_relativePositionTarget));
PyTuple_SetItem(pyListConstraintInfo, 14, PyFloat_FromDouble(constraintInfo.m_erp));
return pyListConstraintInfo; return pyListConstraintInfo;
} }