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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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This commit is contained in:
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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23
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -739,6 +739,29 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan
}
///return the total number of bodies in the simulation
int b3GetNumBodies(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
return cl->getNumBodies();
}
/// return the body unique id, given the index in range [0 , b3GetNumBodies() )
int b3GetBodyUniqueId(b3PhysicsClientHandle physClient, int serialIndex)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
return cl->getBodyUniqueId(serialIndex);
}
///given a body unique id, return the body information. See b3BodyInfo in SharedMemoryPublic.h
int b3GetBodyInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, struct b3BodyInfo* info)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
return cl->getBodyInfo(bodyUniqueId,*info);
}
int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;