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Merge branch 'master' of github.com:erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans 2020-06-09 10:13:49 -07:00
commit e18bf1f0d6
3 changed files with 78 additions and 1 deletions
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59
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -310,9 +310,16 @@ struct InteralUserConstraintData
b3UserConstraint m_userConstraintData;
int m_sbHandle;
int m_sbNodeIndex;
btScalar m_sbNodeMass;
InteralUserConstraintData()
: m_rbConstraint(0),
m_mbConstraint(0)
m_mbConstraint(0),
m_sbHandle(-1),
m_sbNodeIndex(-1),
m_sbNodeMass(-1)
{
}
};
@ -10998,6 +11005,29 @@ bool PhysicsServerCommandProcessor::processApplyExternalForceCommand(const struc
rb->applyTorque(torqueWorld);
}
}
if (body && body->m_softBody)
{
btSoftBody* sb = body->m_softBody;
int link = clientCmd.m_externalForceArguments.m_linkIds[i];
if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE) != 0)
{
btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
btVector3 positionLocal(
clientCmd.m_externalForceArguments.m_positions[i * 3 + 0],
clientCmd.m_externalForceArguments.m_positions[i * 3 + 1],
clientCmd.m_externalForceArguments.m_positions[i * 3 + 2]);
btVector3 forceWorld = isLinkFrame ? forceLocal : sb->getWorldTransform().getBasis() * forceLocal;
btVector3 relPosWorld = isLinkFrame ? positionLocal : sb->getWorldTransform().getBasis() * positionLocal;
if (link >= 0 && link < sb->m_nodes.size())
{
sb->addForce(forceWorld, link);
}
}
}
}
SharedMemoryStatus& serverCmd = serverStatusOut;
@ -11232,8 +11262,13 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
if (bodyUniqueId<=0)
{
//fixed anchor (mass = 0)
InteralUserConstraintData userConstraintData;
userConstraintData.m_sbHandle = clientCmd.m_userConstraintArguments.m_parentBodyIndex;
userConstraintData.m_sbNodeIndex = nodeIndex;
userConstraintData.m_sbNodeMass = sbodyHandle->m_softBody->getMass(nodeIndex);
sbodyHandle->m_softBody->setMass(nodeIndex,0.0);
int uid = m_data->m_userConstraintUIDGenerator++;
m_data->m_userConstraints.insert(uid, userConstraintData);
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
} else
@ -11284,6 +11319,10 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
}
int uid = m_data->m_userConstraintUIDGenerator++;
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
InteralUserConstraintData userConstraintData;
userConstraintData.m_sbHandle = clientCmd.m_userConstraintArguments.m_parentBodyIndex;
userConstraintData.m_sbNodeIndex = nodeIndex;
m_data->m_userConstraints.insert(uid, userConstraintData);
serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
}
@ -11746,6 +11785,24 @@ bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const str
delete userConstraintPtr->m_rbConstraint;
m_data->m_userConstraints.remove(userConstraintUidRemove);
}
if (userConstraintPtr->m_sbHandle >= 0)
{
InternalBodyHandle* sbodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
if (sbodyHandle)
{
if (sbodyHandle->m_softBody)
{
if (userConstraintPtr->m_sbNodeMass >= 0)
{
sbodyHandle->m_softBody->setMass(userConstraintPtr->m_sbNodeIndex, userConstraintPtr->m_sbNodeMass);
}
else
{
sbodyHandle->m_softBody->removeAnchor(userConstraintPtr->m_sbNodeIndex);
}
}
}
}
serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = userConstraintUidRemove;
serverCmd.m_type = CMD_REMOVE_USER_CONSTRAINT_COMPLETED;
}

19
src/BulletSoftBody/btSoftBody.cpp
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@ -558,6 +558,25 @@ void btSoftBody::appendDeformableAnchor(int node, btRigidBody* body)
m_deformableAnchors.push_back(c);
}
void btSoftBody::removeAnchor(int node)
{
const btSoftBody::Node& n = m_nodes[node];
for (int i = 0; i < m_deformableAnchors.size(); )
{
const DeformableNodeRigidAnchor& c = m_deformableAnchors[i];
if (c.m_node == &n)
{
m_deformableAnchors.removeAtIndex(i);
}
else
{
i++;
}
}
}
//
void btSoftBody::appendDeformableAnchor(int node, btMultiBodyLinkCollider* link)
{

1
src/BulletSoftBody/btSoftBody.h
View File

@ -927,6 +927,7 @@ public:
void appendAnchor(int node,
btRigidBody* body, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1);
void appendAnchor(int node, btRigidBody* body, const btVector3& localPivot, bool disableCollisionBetweenLinkedBodies = false, btScalar influence = 1);
void removeAnchor(int node);
/* Append linear joint */
void appendLinearJoint(const LJoint::Specs& specs, Cluster* body0, Body body1);
void appendLinearJoint(const LJoint::Specs& specs, Body body = Body());