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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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50
test/SharedMemory/test.c
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@@ -1,11 +1,59 @@
#include "SharedMemoryBlock.h"
#include "PhysicsClientC_API.h"
#include "SharedMemoryCommands.h"
struct test
{
int unused;
};
#include <stdio.h>
#define MAX_TIMEOUT 1024
int main(int argc, char* argv[])
{
printf("hello world\n");
int ret ,allowSharedMemoryInitialization=0;
int timeout = MAX_TIMEOUT;
const char* urdfFileName = "r2d2.urdf";
double gravx=0, gravy=0, gravz=0;
double timeStep = 1./60.;
double startPosX, startPosY,startPosZ;
SharedMemoryCommand_t command;
SharedMemoryStatus_t status;
b3PhysicsClientHandle sm;
printf("hello world\n");
sm = b3ConnectSharedMemory( allowSharedMemoryInitialization);
if (b3CanSubmitCommand(sm))
{
ret = b3InitPhysicsParamCommand(&command);
ret = b3PhysicsParamSetGravity(&command, gravx,gravy, gravz);
ret = b3PhysicsParamSetTimeStep(&command, timeStep);
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
ret = b3LoadUrdfCommandInit(&command, urdfFileName);
//setting the initial position, orientation and other arguments are optional
startPosX =2;
startPosY =3;
startPosZ = 1;
ret = b3LoadUrdfCommandSetStartPosition(&command, startPosX,startPosY,startPosZ);
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
ret = b3InitStepSimulationCommand(&command);
ret = b3SubmitClientCommand(sm, &command);
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
}
b3DisconnectSharedMemory(sm);
}