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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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20
examples/SharedMemory/SharedMemoryCommands.h
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@@ -432,9 +432,7 @@ struct SendActualStateArgs
int m_numDegreeOfFreedomU;
double m_rootLocalInertialFrame[7];
double m_rootWorldAABBMin[3];
double m_rootWorldAABBMax[3];
//actual state is only written by the server, read-only access by client is expected
double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];
@@ -447,10 +445,24 @@ struct SendActualStateArgs
double m_linkState[7*MAX_NUM_LINKS];
double m_linkWorldVelocities[6*MAX_NUM_LINKS];//linear velocity and angular velocity in world space (x/y/z each).
double m_linkLocalInertialFrames[7*MAX_NUM_LINKS];
};
struct b3SendCollisionInfoArgs
{
int m_numLinks;
double m_rootWorldAABBMin[3];
double m_rootWorldAABBMax[3];
double m_linkWorldAABBsMin[3*MAX_NUM_LINKS];
double m_linkWorldAABBsMax[3*MAX_NUM_LINKS];
};
struct b3RequestCollisionInfoArgs
{
int m_bodyUniqueId;
};
enum EnumSensorTypes
{
SENSOR_FORCE_TORQUE=1,
@@ -918,6 +930,7 @@ struct SharedMemoryCommand
struct b3CreateCollisionShapeArgs m_createCollisionShapeArgs;
struct b3CreateVisualShapeArgs m_createVisualShapeArgs;
struct b3CreateMultiBodyArgs m_createMultiBodyArgs;
struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs;
};
};
@@ -987,6 +1000,7 @@ struct SharedMemoryStatus
struct b3CreateCollisionShapeResultArgs m_createCollisionShapeResultArgs;
struct b3CreateVisualShapeResultArgs m_createVisualShapeResultArgs;
struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
};
};