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Separate SharedMemoryStatus from SharedMemoryCommand

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Added CMD_CMD_SEND_PHYSICS_SIMULATION_PARAMETERS (set gravity as example)
and CMD_INIT_POSE, not fully implemented yet.
This commit is contained in:
Erwin Coumans
2015-07-21 21:46:28 -07:00
parent 8e163c984d
commit 05fc203ec1
5 changed files with 165 additions and 33 deletions
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24
examples/SharedMemory/PhysicsClient.cpp
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@@ -132,7 +132,7 @@ bool PhysicsClientSharedMemory::processServerStatus(ServerStatus& serverStatus)
{
btAssert(m_data->m_testBlock1->m_numServerCommands==m_data->m_testBlock1->m_numProcessedServerCommands+1);
const SharedMemoryCommand& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
const SharedMemoryStatus& serverCmd =m_data->m_testBlock1->m_serverCommands[0];
hasStatus = true;
serverStatus = serverCmd;
@@ -272,7 +272,7 @@ bool PhysicsClientSharedMemory::processServerStatus(ServerStatus& serverStatus)
case CMD_ACTUAL_STATE_UPDATE_COMPLETED:
{
b3Printf("Received actual state\n");
SharedMemoryCommand& command = m_data->m_testBlock1->m_serverCommands[0];
SharedMemoryStatus& command = m_data->m_testBlock1->m_serverCommands[0];
int numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU;
@@ -432,6 +432,26 @@ bool PhysicsClientSharedMemory::submitClientCommand(const SharedMemoryCommand& c
break;
}
case CMD_INIT_POSE:
{
if (m_data->m_serverLoadUrdfOK)
{
b3Printf("Initialize Pose");
m_data->m_testBlock1->m_clientCommands[0] = command;
m_data->m_testBlock1->m_numClientCommands++;
}
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
b3Printf("Send Physics Simulation Parameters");
m_data->m_testBlock1->m_clientCommands[0] = command;
m_data->m_testBlock1->m_numClientCommands++;
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
if (m_data->m_serverLoadUrdfOK)