Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

45
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -18,6 +18,7 @@
struct BodyJointInfoCache
{
std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo;
};
@@ -74,10 +75,37 @@ struct PhysicsClientSharedMemoryInternalData {
int PhysicsClientSharedMemory::getNumJoints(int bodyIndex) const
int PhysicsClientSharedMemory::getNumBodies() const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
return m_data->m_bodyJointMap.size();
}
int PhysicsClientSharedMemory::getBodyUniqueId(int serialIndex) const
{
if ((serialIndex >= 0) && (serialIndex < getNumBodies()))
{
return m_data->m_bodyJointMap.getKeyAtIndex(serialIndex).getUid1();
}
return -1;
}
bool PhysicsClientSharedMemory::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str();
return true;
}
return false;
}
int PhysicsClientSharedMemory::getNumJoints(int bodyUniqueId) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
@@ -88,9 +116,9 @@ int PhysicsClientSharedMemory::getNumJoints(int bodyIndex) const
}
bool PhysicsClientSharedMemory::getJointInfo(int bodyIndex, int jointIndex, b3JointInfo& info) const
bool PhysicsClientSharedMemory::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo& info) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
@@ -196,12 +224,13 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
Bullet::btMultiBodyDoubleData* mb =
(Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i];
bodyJoints->m_baseName = mb->m_baseName;
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
} else
{
Bullet::btMultiBodyFloatData* mb =
(Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i];
bodyJoints->m_baseName = mb->m_baseName;
addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput);
}
}
@@ -272,10 +301,10 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf.setFileDNAisMemoryDNA();
bf.parse(false);
int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId;
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints);
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
for (int i = 0; i < bf.m_multiBodies.size(); i++) {