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add getAABB.py example.

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fix getAABB / b3RequestCollisionInfoCommandInit to use less stack memory
This commit is contained in:
Erwin Coumans
2017-06-16 18:10:10 -07:00
parent 40cb8006ee
commit 23b155a2b4
9 changed files with 222 additions and 60 deletions
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31
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1308,12 +1308,25 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
return bodyId;
}
b3SharedMemoryCommandHandle b3RequestCollisionInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_COLLISION_INFO;
command->m_updateFlags = 0;
command->m_requestCollisionInfoArgs.m_bodyUniqueId = bodyUniqueId;
return (b3SharedMemoryCommandHandle) command;
}
int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, double aabbMin[3], double aabbMax[3])
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
const SendActualStateArgs &args = status->m_sendActualStateArgs;
btAssert(status->m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED);
if (status->m_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
const b3SendCollisionInfoArgs &args = status->m_sendCollisionInfoArgs;
btAssert(status->m_type == CMD_REQUEST_COLLISION_INFO_COMPLETED);
if (status->m_type != CMD_REQUEST_COLLISION_INFO_COMPLETED)
return 0;
if (linkIndex==-1)
@@ -1330,13 +1343,13 @@ int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, doub
if (linkIndex >= 0 && linkIndex < args.m_numLinks)
{
aabbMin[0] = args.m_linkWorldAABBsMin[0];
aabbMin[1] = args.m_linkWorldAABBsMin[1];
aabbMin[2] = args.m_linkWorldAABBsMin[2];
aabbMin[0] = args.m_linkWorldAABBsMin[linkIndex*3+0];
aabbMin[1] = args.m_linkWorldAABBsMin[linkIndex*3+1];
aabbMin[2] = args.m_linkWorldAABBsMin[linkIndex*3+2];
aabbMax[0] = args.m_linkWorldAABBsMax[0];
aabbMax[1] = args.m_linkWorldAABBsMax[1];
aabbMax[2] = args.m_linkWorldAABBsMax[2];
aabbMax[0] = args.m_linkWorldAABBsMax[linkIndex*3+0];
aabbMax[1] = args.m_linkWorldAABBsMax[linkIndex*3+1];
aabbMax[2] = args.m_linkWorldAABBsMax[linkIndex*3+2];
return 1;
}