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Add C API to log contact points.

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This commit is contained in:
yunfeibai
2017-04-02 15:45:48 -07:00
parent 7c7d831767
commit 0d83667817
4 changed files with 94 additions and 4 deletions
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14
examples/SharedMemory/SharedMemoryCommands.h
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@@ -628,7 +628,11 @@ enum eStateLoggingEnums
STATE_LOGGING_START_LOG=1,
STATE_LOGGING_STOP_LOG=2,
STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID=4,
STATE_LOGGING_MAX_LOG_DOF=8
STATE_LOGGING_MAX_LOG_DOF=8,
STATE_LOGGING_FILTER_LINK_INDEX_A=16,
STATE_LOGGING_FILTER_LINK_INDEX_B=32,
STATE_LOGGING_FILTER_BODY_INDEX_A=64,
STATE_LOGGING_FILTER_BODY_INDEX_B=128,
};
struct VRCameraState
@@ -643,11 +647,15 @@ struct VRCameraState
struct StateLoggingRequest
{
char m_fileName[MAX_FILENAME_LENGTH];
int m_logType;//Minitaur, generic robot, VR states
int m_numBodyUniqueIds;////only if ROBOT_LOGGING_FILTER_OBJECT_UNIQUE_ID flag is set
int m_logType;//Minitaur, generic robot, VR states, contact points
int m_numBodyUniqueIds;////only if STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID flag is set
int m_bodyUniqueIds[MAX_SDF_BODIES];
int m_loggingUniqueId;
int m_maxLogDof;
int m_linkIndexA; // only if STATE_LOGGING_FILTER_LINK_INDEX_A flag is set
int m_linkIndexB; // only if STATE_LOGGING_FILTER_LINK_INDEX_B flag is set
int m_bodyIndexA;
int m_bodyIndexB;
};
struct StateLoggingResultArgs