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create premake/cmake file for Bullet/Extras/obj2sdf

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add missing 1.sdf for Bullet/data/kitchens/1.sdf
add support for getting keyboard events (pybullet.getKeyboardEvents and b3RobotSimulatorClientAPI::getKeyboardEvents)
This commit is contained in:
Erwin Coumans
2017-03-02 12:33:22 -08:00
parent 255b21a776
commit 34fc2fb589
29 changed files with 7317 additions and 40 deletions
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34
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -44,6 +44,7 @@ struct PhysicsClientSharedMemoryInternalData {
btAlignedObjectArray<b3OverlappingObject> m_cachedOverlappingObjects;
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
btAlignedObjectArray<b3RayHitInfo> m_raycastHits;
btAlignedObjectArray<int> m_bodyIdsRequestInfo;
@@ -773,6 +774,20 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break;
}
case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Request keyboard events completed");
}
m_data->m_cachedKeyboardEvents.resize(serverCmd.m_sendKeyboardEvents.m_numKeyboardEvents);
for (int i=0;i<serverCmd.m_sendKeyboardEvents.m_numKeyboardEvents;i++)
{
m_data->m_cachedKeyboardEvents[i] = serverCmd.m_sendKeyboardEvents.m_keyboardEvents[i];
}
break;
}
case CMD_REQUEST_AABB_OVERLAP_COMPLETED:
{
if (m_data->m_verboseOutput)
@@ -1110,7 +1125,17 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
bool PhysicsClientSharedMemory::canSubmitCommand() const {
return (m_data->m_isConnected && !m_data->m_waitingForServer);
if (m_data->m_isConnected && !m_data->m_waitingForServer)
{
if (m_data->m_testBlock1->m_magicId == SHARED_MEMORY_MAGIC_NUMBER)
{
return true;
} else
{
return false;
}
}
return false;
}
struct SharedMemoryCommand* PhysicsClientSharedMemory::getAvailableSharedMemoryCommand() {
@@ -1177,6 +1202,13 @@ void PhysicsClientSharedMemory::getCachedVREvents(struct b3VREventsData* vrEvent
&m_data->m_cachedVREvents[0] : 0;
}
void PhysicsClientSharedMemory::getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData)
{
keyboardEventsData->m_numKeyboardEvents = m_data->m_cachedKeyboardEvents.size();
keyboardEventsData->m_keyboardEvents = keyboardEventsData->m_numKeyboardEvents?
&m_data->m_cachedKeyboardEvents[0] : 0;
}
void PhysicsClientSharedMemory::getCachedRaycastHits(struct b3RaycastInformation* raycastHits)
{
raycastHits->m_numRayHits = m_data->m_raycastHits.size();