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Merge pull request #1568 from erwincoumans/master

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PyBullet: soft bodies are rendered, so we don't need to also render w…
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erwincoumans 2018-02-18 16:54:49 -08:00 committed by GitHub
commit 62b86e6eab
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4 changed files with 16 additions and 14 deletions
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2
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@ -1303,7 +1303,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
BT_PROFILE("Render Scene");
sCurrentDemo->renderScene();
}
//else
else
{
B3_PROFILE("physicsDebugDraw");
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );

8
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@ -1047,11 +1047,17 @@ void GLInstancingRenderer::updateShape(int shapeIndex, const float* vertices)
int numvertices = gfxObj->m_numVertices;
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
char* dest= (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
int vertexStrideInBytes = 9*sizeof(float);
int sz = numvertices*vertexStrideInBytes;
#if 0
char* dest= (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
memcpy(dest+vertexStrideInBytes*gfxObj->m_vertexArrayOffset,vertices,sz);
glUnmapBuffer( GL_ARRAY_BUFFER);
#else
glBufferSubData( GL_ARRAY_BUFFER,vertexStrideInBytes*gfxObj->m_vertexArrayOffset,sz,
vertices);
#endif
}
int GLInstancingRenderer::registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)

12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -1538,7 +1538,6 @@ struct PhysicsServerCommandProcessorInternalData
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btSoftMultiBodyDynamicsWorld* m_dynamicsWorld;
btSoftBodySolver* m_softbodySolver;
btSoftBodyWorldInfo m_softBodyWorldInfo;
#else
btMultiBodyDynamicsWorld* m_dynamicsWorld;
#endif
@ -5833,13 +5832,6 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin;
}
m_data->m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_data->m_softBodyWorldInfo.water_density = 0;
m_data->m_softBodyWorldInfo.water_offset = 0;
m_data->m_softBodyWorldInfo.water_normal = btVector3(0,0,0);
m_data->m_softBodyWorldInfo.m_gravity.setValue(0,0,-10);
m_data->m_softBodyWorldInfo.m_broadphase = m_data->m_broadphase;
m_data->m_softBodyWorldInfo.m_sparsesdf.Initialize();
{
char relativeFileName[1024];
@ -5871,7 +5863,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
int numTris = indices.size()/3;
if (numTris>0)
{
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_softBodyWorldInfo,&vertices[0],&indices[0],numTris);
btSoftBody* psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(),&vertices[0],&indices[0],numTris);
btSoftBody::Material* pm=psb->appendMaterial();
pm->m_kLST = 0.5;
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
@ -5882,6 +5874,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
psb->rotate(btQuaternion(0.70711,0,0,0.70711));
psb->translate(btVector3(-0.05,0,1.0));
psb->scale(btVector3(scale,scale,scale));
psb->setTotalMass(mass,true);
psb->getCollisionShape()->setMargin(collisionMargin);
psb->getCollisionShape()->setUserPointer(psb);
@ -6594,6 +6587,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
clientCmd.m_physSimParamArgs.m_gravityAcceleration[1],
clientCmd.m_physSimParamArgs.m_gravityAcceleration[2]);
this->m_data->m_dynamicsWorld->setGravity(grav);
m_data->m_dynamicsWorld->getWorldInfo().m_gravity=grav;
if (m_data->m_verboseOutput)
{
b3Printf("Updated Gravity: %f,%f,%f",grav[0],grav[1],grav[2]);

8
examples/pybullet/examples/load_soft_body.py
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@ -6,15 +6,17 @@ physicsClient = p.connect(p.GUI)
p.setGravity(0,0,-10)
planeId = p.loadURDF("plane.urdf")
bunnyId = p.loadSoftBody("bunny.obj")
p.loadURDF("cube_small.urdf",[1,0,1])
useRealTimeSimulation = 1
if (useRealTimeSimulation):
p.setRealTimeSimulation(1)
while 1:
while p.isConnected():
p.setGravity(0,0,-10)
if (useRealTimeSimulation):
p.setGravity(0,0,-10)
sleep(0.01) # Time in seconds.
#p.getCameraImage(320,200,renderer=p.ER_BULLET_HARDWARE_OPENGL )
else:
p.stepSimulation()