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Add b3GetStatusActualState() to C_API.

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Change pick-and-move C_API to use handlers
This commit is contained in:
Erwin Coumans
2015-11-04 16:08:28 -08:00
parent d6464ce40d
commit 2317307a22
4 changed files with 100 additions and 45 deletions
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26
examples/SharedMemory/PhysicsClientC_API.h
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@@ -36,7 +36,15 @@ int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle);
int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
int* bodyUniqueId,
int* numDegreeOfFreedomQ,
int* numDegreeOfFreedomU,
const double* rootLocalInertialFrame[],
const double* actualStateQ[],
const double* actualStateQdot[],
const double* jointReactionForces[]);
int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
void b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, struct b3JointInfo* info);
@@ -103,15 +111,15 @@ int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, in
b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
int b3PickBody(struct SharedMemoryCommand *command,
double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ);
int b3MovePickedBody(struct SharedMemoryCommand *command,
double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ);
int b3RemovePickingConstraint(struct SharedMemoryCommand *command);
b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ);
b3SharedMemoryCommandHandle b3MovePickedBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY,
double rayToWorldZ);
b3SharedMemoryCommandHandle b3RemovePickingConstraint(b3PhysicsClientHandle physClient);
#ifdef __cplusplus
}
#endif