Add share memory commands for user to change object dynamic types

5 files changed, 65 insertions, 1 deletions

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 5906d82f1..829eeca56 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -3219,6 +3219,17 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHa
 	return 0;
 }
 
+B3_SHARED_API int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, int dynamicType)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
+	b3Assert(dynamicType == eDynamic || dynamicType == eStatic || dynamicType == eKinematic);
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
+	command->m_changeDynamicsInfoArgs.m_dynamicType = dynamicType;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE;
+	return 0;
+}
 
 
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index cd35502fb..318263b2d 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -155,7 +155,7 @@ extern "C"
 	B3_SHARED_API int b3ChangeDynamicsInfoSetAnisotropicFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double anisotropicFriction[]);
 	B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimit(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointLowerLimit, double jointUpperLimit);
 	B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double jointLimitForce);
-
+	B3_SHARED_API int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, int dynamicType);
 	
 	
 	B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index fa6506643..c6cef7397 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -9713,6 +9713,17 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
 						}
 					}
 				}
+				if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE)
+				{
+					int dynamic_type = clientCmd.m_changeDynamicsInfoArgs.m_dynamicType;
+					mb->setBaseDynamicType(dynamic_type);
+
+					bool isDynamic = dynamic_type == eDynamic;
+					int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+					int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+					m_data->m_dynamicsWorld->removeCollisionObject(mb->getBaseCollider());
+					m_data->m_dynamicsWorld->addCollisionObject(mb->getBaseCollider(), collisionFilterGroup, collisionFilterMask);
+				}
 			}
 			else
 			{
@@ -9859,7 +9870,17 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
 					{
 						mb->getLinkCollider(linkIndex)->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold);
 					}
+					if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE)
+					{
+						int dynamic_type = clientCmd.m_changeDynamicsInfoArgs.m_dynamicType;
+						mb->setLinkDynamicType(linkIndex, dynamic_type);
 
+						bool isDynamic = dynamic_type == eDynamic;
+						int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+						int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+						m_data->m_dynamicsWorld->removeCollisionObject(mb->getLinkCollider(linkIndex));
+						m_data->m_dynamicsWorld->addCollisionObject(mb->getLinkCollider(linkIndex), collisionFilterGroup, collisionFilterMask);
+					}
 				}
 			}
 		}
@@ -9987,6 +10008,22 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
 				{
 					rb->getCollisionShape()->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
 				}
+				if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE)
+				{
+					int dynamic_type = clientCmd.m_changeDynamicsInfoArgs.m_dynamicType;
+					// If mass is zero, the object cannot be set to be dynamic.
+					if (!(rb->getInvMass() != btScalar(0.) || dynamic_type != eDynamic)) {
+						int collision_flags = rb->getCollisionFlags();
+						collision_flags &= ~(btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT);
+						collision_flags |= dynamic_type;
+						rb->setCollisionFlags(collision_flags);
+						bool isDynamic = dynamic_type == eDynamic;
+						int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+						int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+						m_data->m_dynamicsWorld->removeCollisionObject(rb);
+						m_data->m_dynamicsWorld->addCollisionObject(rb, collisionFilterGroup, collisionFilterMask);
+					}
+				}
 			}
 		}
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -10067,6 +10104,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
 				serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = mb->getBaseCollider()->getCcdSweptSphereRadius();
 				serverCmd.m_dynamicsInfo.m_frictionAnchor = mb->getBaseCollider()->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR;
 				serverCmd.m_dynamicsInfo.m_collisionMargin = mb->getBaseCollider()->getCollisionShape()->getMargin();
+				serverCmd.m_dynamicsInfo.m_dynamicType = mb->getBaseCollider()->getCollisionFlags() & (btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT);
 			}
 			else
 			{
@@ -10075,6 +10113,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
 				serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = 0;
 				serverCmd.m_dynamicsInfo.m_frictionAnchor = 0;
 				serverCmd.m_dynamicsInfo.m_collisionMargin = 0;
+				serverCmd.m_dynamicsInfo.m_dynamicType = 0;
 			}
 			serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = mb->getBaseInertia()[0];
 			serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = mb->getBaseInertia()[1];
@@ -10118,6 +10157,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
 				serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = mb->getLinkCollider(linkIndex)->getCcdSweptSphereRadius();
 				serverCmd.m_dynamicsInfo.m_frictionAnchor = mb->getLinkCollider(linkIndex)->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR;
 				serverCmd.m_dynamicsInfo.m_collisionMargin = mb->getLinkCollider(linkIndex)->getCollisionShape()->getMargin();
+				serverCmd.m_dynamicsInfo.m_dynamicType = mb->getLinkCollider(linkIndex)->getCollisionFlags() & (btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT);
 			}
 			else
 			{
@@ -10126,6 +10166,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
 				serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = 0;
 				serverCmd.m_dynamicsInfo.m_frictionAnchor = 0;
 				serverCmd.m_dynamicsInfo.m_collisionMargin = 0;
+				serverCmd.m_dynamicsInfo.m_dynamicType = 0;
 			}
 
 			serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = mb->getLinkInertia(linkIndex)[0];
@@ -10183,6 +10224,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
 		serverCmd.m_dynamicsInfo.m_linearDamping = rb->getLinearDamping();
 		serverCmd.m_dynamicsInfo.m_mass = rb->getMass();
 		serverCmd.m_dynamicsInfo.m_collisionMargin = rb->getCollisionShape() ? rb->getCollisionShape()->getMargin() : 0;
+		serverCmd.m_dynamicsInfo.m_dynamicType = rb->getCollisionFlags() & (btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_KINEMATIC_OBJECT);
 	}
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 	else if (body && body->m_softBody)
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 197dbc0c6..a019a58ca 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -173,6 +173,7 @@ enum EnumChangeDynamicsInfoFlags
 	CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN = 1 << 17,
 	CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS = 1 << 18,
 	CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE = 1 << 19,
+	CHANGE_DYNAMICS_INFO_SET_DYNAMIC_TYPE = 1 << 20,
 };
 
 struct ChangeDynamicsInfoArgs
@@ -202,6 +203,8 @@ struct ChangeDynamicsInfoArgs
 	double m_jointLowerLimit;
 	double m_jointUpperLimit;
 	double m_jointLimitForce;
+	
+	int m_dynamicType;
 };
 
 struct GetDynamicsInfoArgs
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 46c69fe07..775f9f708 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -395,6 +395,7 @@ struct b3DynamicsInfo
 	double m_contactProcessingThreshold;
 	int m_frictionAnchor;
 	double m_collisionMargin;
+	int m_dynamicType;
 };
 
 // copied from btMultiBodyLink.h
@@ -1070,6 +1071,13 @@ struct b3ForwardDynamicsAnalyticsArgs
 	struct b3ForwardDynamicsAnalyticsIslandData m_islandData[MAX_ISLANDS_ANALYTICS];
 };
 
+enum eDynamicTypes
+{
+	eDynamic= 0,
+	eStatic= 1,
+	eKinematic= 2
+};
+
 enum eFileIOActions
 {
 	eAddFileIOAction = 1024,//avoid collision with eFileIOTypes