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small progress towards shared memory C-api and test.c.

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This commit is contained in:
erwincoumans
2015-07-30 23:22:44 -07:00
parent 26531f3fbc
commit 19c5be5646
11 changed files with 346 additions and 256 deletions
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103
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1,6 +1,49 @@
#include "PhysicsClientC_API.h"
#include "PhysicsClient.h"
#include "Bullet3Common/b3Scalar.h"
#include <string.h>
int b3LoadUrdfCommandInit(struct SharedMemoryCommand* command, const char* urdfFileName)
{
b3Assert(command);
command->m_type = CMD_LOAD_URDF;
int len = strlen(urdfFileName);
if (len<MAX_URDF_FILENAME_LENGTH)
{
strcpy(command->m_urdfArguments.m_urdfFileName,urdfFileName);
} else
{
command->m_urdfArguments.m_urdfFileName[0] = 0;
}
command->m_updateFlags = URDF_ARGS_FILE_NAME;
return 0;
}
int b3LoadUrdfCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ)
{
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_URDF);
command->m_urdfArguments.m_initialPosition[0] = startPosX;
command->m_urdfArguments.m_initialPosition[1] = startPosY;
command->m_urdfArguments.m_initialPosition[2] = startPosZ;
command->m_updateFlags|=URDF_ARGS_INITIAL_POSITION;
return 0;
}
int b3LoadUrdfCommandSetStartOrientation(struct SharedMemoryCommand* command, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
{
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_URDF);
command->m_urdfArguments.m_initialOrientation[0] = startOrnX;
command->m_urdfArguments.m_initialOrientation[1] = startOrnY;
command->m_urdfArguments.m_initialOrientation[2] = startOrnZ;
command->m_urdfArguments.m_initialOrientation[3] = startOrnW;
command->m_updateFlags|=URDF_ARGS_INITIAL_ORIENTATION;
return 0;
}
int b3InitPhysicsParamCommand(struct SharedMemoryCommand* command)
{
@@ -20,6 +63,66 @@ int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gra
return 0;
}
int b3PhysicsParamSetTimeStep(struct SharedMemoryCommand* command, double timeStep)
{
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_deltaTime = timeStep;
return 0;
}
int b3InitStepSimulationCommand(struct SharedMemoryCommand* command)
{
b3Assert(command);
command->m_type = CMD_STEP_FORWARD_SIMULATION;
command->m_updateFlags = 0;
return 0;
}
b3PhysicsClientHandle b3ConnectSharedMemory( int allowSharedMemoryInitialization)
{
PhysicsClientSharedMemory* cl = new PhysicsClientSharedMemory();
cl->connect(allowSharedMemoryInitialization);
return (b3PhysicsClientHandle ) cl;
}
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
delete cl;
}
int b3ProcessServerStatus(b3PhysicsClientHandle physClient, struct SharedMemoryStatus* status)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
return (int)cl->processServerStatus(*status);
}
int b3CanSubmitCommand(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
return (int)cl->canSubmitCommand();
}
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
return (int)cl->submitClientCommand(*command);
}
int b3GetNumJoints(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
return cl->getNumPoweredJoints();
}
void b3GetPoweredJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct PoweredJointInfo* info)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
cl->getPoweredJointInfo(linkIndex,*info);
}
#if 0
#include "SharedMemoryBlock.h"