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more work on physics client c-api over shared memory

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2015-09-17 09:37:44 -07:00
parent 003a42478b
commit 23bdd0ed36
3 changed files with 61 additions and 52 deletions
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17
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -322,6 +322,9 @@ b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClien
}
int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
@@ -347,6 +350,20 @@ int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory
return (int)cl->submitClientCommand(*command);
}
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
{
int timeout = 1024*1024*1024;
b3SharedMemoryStatusHandle statusHandle=0;
b3SubmitClientCommand(physClient,commandHandle);
while ((statusHandle==0) && (timeout-- > 0))
{
statusHandle =b3ProcessServerStatus(physClient);
}
return (b3SharedMemoryStatusHandle) statusHandle;
}
int b3GetNumJoints(b3PhysicsClientHandle physClient)

16
examples/SharedMemory/PhysicsClientC_API.h
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@@ -15,18 +15,26 @@ B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
extern "C" {
#endif
///make sure to start the server first!
///make sure to start the server first, before connecting client to physics server
b3PhysicsClientHandle b3ConnectSharedMemory(int key);
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient);
int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
///check if a command can be send
int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
//blocking submit command and wait for status
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
///non-blocking submit command
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
///non-blocking check status
b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient);
int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
int b3GetNumJoints(b3PhysicsClientHandle physClient);
void b3GetJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct b3JointInfo* info);