AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-14 13:50:04 +00:00
Code Issues Releases Wiki Activity

Merge pull request #1896 from jviereck/jviereck_add_lateral_contact_info

Browse Source 
Adding support for lateral friction to getContactPoints()
This commit is contained in:
erwincoumans 2018-10-06 15:27:14 -07:00 committed by GitHub
commit c0e38cd921
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 61 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -6172,7 +6172,13 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
}
pt.m_normalForce = srcPt.getAppliedImpulse() / m_data->m_physicsDeltaTime;
// pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1;
pt.m_linearFrictionForce1 = srcPt.m_appliedImpulseLateral1 / m_data->m_physicsDeltaTime;
pt.m_linearFrictionForce2 = srcPt.m_appliedImpulseLateral2 / m_data->m_physicsDeltaTime;
for (int j = 0; j < 3; j++)
{
pt.m_linearFrictionDirection1[j] = srcPt.m_lateralFrictionDir1[j];
pt.m_linearFrictionDirection2[j] = srcPt.m_lateralFrictionDir2[j];
}
m_data->m_cachedContactPoints.push_back(pt);
}
}
@ -6397,7 +6403,13 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
}
pt.m_normalForce = srcPt.getAppliedImpulse() / m_deltaTime;
// pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1;
pt.m_linearFrictionForce1 = srcPt.m_appliedImpulseLateral1 / m_deltaTime;
pt.m_linearFrictionForce2 = srcPt.m_appliedImpulseLateral2 / m_deltaTime;
for (int j = 0; j < 3; j++)
{
pt.m_linearFrictionDirection1[j] = srcPt.m_lateralFrictionDir1[j];
pt.m_linearFrictionDirection2[j] = srcPt.m_lateralFrictionDir2[j];
}
m_cachedContactPoints.push_back(pt);
}
return 1;

11
examples/SharedMemory/SharedMemoryPublic.h
View File

@ -572,13 +572,10 @@ struct b3ContactPointData
double m_normalForce;
//todo: expose the friction forces as well
// double m_linearFrictionDirection0[3];
// double m_linearFrictionForce0;
// double m_linearFrictionDirection1[3];
// double m_linearFrictionForce1;
// double m_angularFrictionDirection[3];
// double m_angularFrictionForce;
double m_linearFrictionForce1;
double m_linearFrictionForce2;
double m_linearFrictionDirection1[3];
double m_linearFrictionDirection2[3];
};
enum

44
examples/pybullet/pybullet.c
View File

@ -5754,6 +5754,10 @@ static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPoint
8 double m_contactDistance;//negative number is penetration, positive
is distance.
9 double m_normalForce;
10 double m_linearFrictionForce1;
11 double double m_linearFrictionDirection1[3];
12 double m_linearFrictionForce2;
13 double double m_linearFrictionDirection2[3];
*/
int i;
@ -5761,7 +5765,7 @@ static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPoint
PyObject* pyResultList = PyTuple_New(contactPointPtr->m_numContactPoints);
for (i = 0; i < contactPointPtr->m_numContactPoints; i++)
{
PyObject* contactObList = PyTuple_New(10); // see above 10 fields
PyObject* contactObList = PyTuple_New(14); // see above 10 fields
PyObject* item;
item =
PyInt_FromLong(contactPointPtr->m_contactPointData[i].m_contactFlags);
@ -5832,6 +5836,44 @@ static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPoint
contactPointPtr->m_contactPointData[i].m_normalForce);
PyTuple_SetItem(contactObList, 9, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionForce1);
PyTuple_SetItem(contactObList, 10, item);
{
PyObject* posAObj = PyTuple_New(3);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection1[0]);
PyTuple_SetItem(posAObj, 0, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection1[1]);
PyTuple_SetItem(posAObj, 1, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection1[2]);
PyTuple_SetItem(posAObj, 2, item);
PyTuple_SetItem(contactObList, 11, posAObj);
}
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionForce2);
PyTuple_SetItem(contactObList, 12, item);
{
PyObject* posAObj = PyTuple_New(3);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection2[0]);
PyTuple_SetItem(posAObj, 0, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection2[1]);
PyTuple_SetItem(posAObj, 1, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection2[2]);
PyTuple_SetItem(posAObj, 2, item);
PyTuple_SetItem(contactObList, 13, posAObj);
}
PyTuple_SetItem(pyResultList, i, contactObList);
}
return pyResultList;