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Allow to request the state of a rigid body (position, orientation, lin/ang velocity) through shared memory API

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PhysicsClientC_API: b3RequestActualStateCommandInit requires a body unique Id as second argument
This commit is contained in:
erwin coumans
2015-10-27 15:46:13 -07:00
parent 9cc2b1ec12
commit 2d5d89d999
7 changed files with 78 additions and 19 deletions
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4
test/SharedMemory/test.c
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@@ -121,7 +121,7 @@ int main(int argc, char* argv[])
{
int statusType;
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(sm);
b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(sm,bodyIndex);
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
@@ -157,7 +157,7 @@ int main(int argc, char* argv[])
}
{
b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm));
b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm,bodyIndex));
if (sensorJointIndexLeft>=0)
{