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add a few lines of documentation and some error checks in SharedMemory API

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This commit is contained in:
Erwin Coumans
2016-04-13 13:06:15 -07:00
parent f3c7f30684
commit 34e6eb4a18
2 changed files with 29 additions and 13 deletions
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16
test/SharedMemory/test.c
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@@ -45,9 +45,11 @@ void testSharedMemory(b3PhysicsClientHandle sm)
{
{
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
ret = b3PhysicsParamSetGravity(command, gravx,gravy, gravz);
ret = b3PhysicsParamSetTimeStep(command, timeStep);
b3SubmitClientCommandAndWaitStatus(sm, command);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
}
@@ -112,7 +114,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
ret = b3CreateSensorEnable6DofJointForceTorqueSensor(command, sensorJointIndexRight, 1);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
}
}
@@ -123,6 +125,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
ret = b3CreateBoxCommandSetStartOrientation(command,0,0,0,1);
ret = b3CreateBoxCommandSetHalfExtents(command, 10,10,1);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RIGID_BODY_CREATION_COMPLETED);
}
@@ -139,9 +142,8 @@ void testSharedMemory(b3PhysicsClientHandle sm)
b3GetStatusActualState(statusHandle,
0, &posVarCount, &dofCount,
0, 0, 0, 0);
ASSERT_EQ(posVarCount,15);
ASSERT_EQ(dofCount,14);
ASSERT_EQ(posVarCount,15);
ASSERT_EQ(dofCount,14);
}
}
@@ -199,7 +201,9 @@ void testSharedMemory(b3PhysicsClientHandle sm)
{
b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RESET_SIMULATION_COMPLETED);
}
}