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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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4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1064,6 +1064,10 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
util->m_memSerializer->m_skipPointers.insert(mb->getBaseCollider(),0);
if (mb->getBaseName())
{
util->m_memSerializer->registerNameForPointer(mb->getBaseName(),mb->getBaseName());
}
bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
for (int i=0;i<mb->getNumLinks();i++)