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Add calculateMassMatrix to physics server command processor.

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This commit is contained in:
Jeffrey Bingham 2017-09-30 13:56:40 -07:00
parent 7dfed65287
commit d9782f953d
1 changed files with 52 additions and 0 deletions
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52
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -6707,6 +6707,58 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_CALCULATE_MASS_MATRIX:
{
BT_PROFILE("CMD_CALCULATE_MASS_MATRIX");
SharedMemoryStatus& serverCmd = serverStatusOut;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateMassMatrixArguments.m_bodyUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_FAILED;
btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody);
if (tree)
{
int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
const int numDofs = bodyHandle->m_multiBody->getNumDofs();
const int totDofs = numDofs + baseDofs;
btInverseDynamics::vecx q(totDofs);
btInverseDynamics::matxx massMatrix(totDofs, totDofs);
for (int i = 0; i < numDofs; i++)
{
q[i + baseDofs] = clientCmd.m_calculateMassMatrixArguments.m_jointPositionsQ[i];
}
if (-1 != tree->calculateMassMatrix(q, &massMatrix))
{
serverCmd.m_massMatrixResultArgs.m_dofCount = totDofs;
// Fill in the result into the shared memory.
for (int i = 0; i < (totDofs); ++i)
{
for (int j = 0; j < (totDofs); ++j)
{
int element = (totDofs) * i + j;
serverCmd.m_massMatrixResultArgs.m_massMatrix[element] = massMatrix(i,j);
}
}
serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_COMPLETED;
}
else
{
serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_FAILED;
}
}
}
else
{
serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_FAILED;
}
hasStatus = true;
break;
}
case CMD_APPLY_EXTERNAL_FORCE:
{
BT_PROFILE("CMD_APPLY_EXTERNAL_FORCE");