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expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world.

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erwin coumans
2016-09-27 12:13:45 -07:00
parent a325747dd4
commit 0936ae6600
13 changed files with 250 additions and 23 deletions
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10
examples/SharedMemory/PhysicsClient.h
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@@ -24,9 +24,15 @@ public:
virtual bool submitClientCommand(const struct SharedMemoryCommand& command) = 0;
virtual int getNumJoints(int bodyIndex) const = 0;
virtual int getNumBodies() const = 0;
virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const = 0;
virtual int getBodyUniqueId(int serialIndex) const = 0;
virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const = 0;
virtual int getNumJoints(int bodyUniqueId) const = 0;
virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const = 0;
virtual void setSharedMemoryKey(int key) = 0;