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add const qualifiers to all double* inputs in PhysicsClientC_API

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This commit is contained in:
Wenlong Lu
2018-09-26 17:24:40 -07:00
parent 3c0e57e025
commit 2681f5cd9f
2 changed files with 57 additions and 57 deletions
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58
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1061,7 +1061,7 @@ B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle comma
return b3CreateCollisionShapeAddSphere(commandHandle, radius);
}
B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, double halfExtents[3])
B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -1085,7 +1085,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle comma
return -1;
}
B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle, double halfExtents[/*3*/])
B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[/*3*/])
{
return b3CreateCollisionShapeAddBox(commandHandle, halfExtents);
}
@@ -1145,7 +1145,7 @@ B3_SHARED_API int b3CreateVisualShapeAddCylinder(b3SharedMemoryCommandHandle com
return b3CreateCollisionShapeAddCylinder(commandHandle, radius, height);
}
B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[3], double planeConstant)
B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[3], double planeConstant)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -1169,11 +1169,11 @@ B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle com
}
return -1;
}
B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[/*3*/], double planeConstant)
B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant)
{
return b3CreateCollisionShapeAddPlane(commandHandle, planeNormal, planeConstant);
}
B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, double meshScale[3])
B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -1199,7 +1199,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle comm
return -1;
}
B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, double meshScale[/*3*/])
B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/])
{
return b3CreateCollisionShapeAddMesh(commandHandle, fileName, meshScale);
}
@@ -1222,7 +1222,7 @@ B3_SHARED_API void b3CreateVisualSetFlag(b3SharedMemoryCommandHandle commandHand
b3CreateCollisionSetFlag(commandHandle, shapeIndex, flags);
}
B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double childPosition[3], double childOrientation[4])
B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[3], const double childOrientation[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -1243,12 +1243,12 @@ B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommand
}
}
B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/])
B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[/*3*/], const double childOrientation[/*4*/])
{
b3CreateCollisionShapeSetChildTransform(commandHandle, shapeIndex, childPosition, childOrientation);
}
B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double rgbaColor[/*4*/])
B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double rgbaColor[/*4*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -1266,7 +1266,7 @@ B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle c
}
}
B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double specularColor[/*3*/])
B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double specularColor[/*3*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -1343,7 +1343,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3Physics
return 0;
}
B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4], double baseInertialFramePosition[3], double baseInertialFrameOrientation[4])
B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, const double basePosition[3], const double baseOrientation[4], const double baseInertialFramePosition[3], const double baseInertialFrameOrientation[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -1398,13 +1398,13 @@ B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandl
B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex,
double linkVisualShapeIndex,
double linkPosition[3],
double linkOrientation[4],
double linkInertialFramePosition[3],
double linkInertialFrameOrientation[4],
const double linkPosition[3],
const double linkOrientation[4],
const double linkInertialFramePosition[3],
const double linkInertialFrameOrientation[4],
int linkParentIndex,
int linkJointType,
double linkJointAxis[3])
const double linkJointAxis[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -1641,7 +1641,7 @@ B3_SHARED_API int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHan
return 0;
}
B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[3])
B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, const double linVel[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -1658,7 +1658,7 @@ B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommand
return 0;
}
B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[3])
B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, const double angVel[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -2438,7 +2438,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle comman
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[])
B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double localInertiaDiagonal[])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
@@ -2616,7 +2616,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3Ph
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[])
B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildPivot[])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -2631,7 +2631,7 @@ B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHan
command->m_userConstraintArguments.m_childFrame[2] = jointChildPivot[2];
return 0;
}
B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[])
B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildFrameOrn[])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -3094,7 +3094,7 @@ B3_SHARED_API void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3De
}
/// Add/remove user-specific debug lines and debug text messages
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime)
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, const double fromXYZ[3], const double toXYZ[3], const double colorRGB[3], const double lineWidth, const double lifeTime)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
@@ -3125,7 +3125,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3Physics
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime)
B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, const double positionXYZ[3], const double colorRGB[3], double textSize, double lifeTime)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
@@ -3173,7 +3173,7 @@ B3_SHARED_API void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle com
command->m_updateFlags |= USER_DEBUG_HAS_OPTION_FLAGS;
}
B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[4])
B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, const double orientation[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -3307,7 +3307,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsCli
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3])
B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, const double objectColorRGB[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -4017,7 +4017,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClien
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4])
B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, const double rgbaColor[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -4033,7 +4033,7 @@ B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle comm
}
}
B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3])
B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, const double specularColor[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -4526,7 +4526,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3Physic
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[3])
B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, const double rootPos[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@@ -4538,7 +4538,7 @@ B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandH
return 0;
}
B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4])
B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, const double rootOrn[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);