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Further fix for integration test.

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This commit is contained in:
yunfeibai
2016-08-24 12:44:24 -07:00
parent ecbf94abaa
commit 3b25489d89
4 changed files with 7 additions and 7 deletions
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2
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -596,7 +596,7 @@ bool b3RobotSimAPI::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo*
return (b3GetJointInfo(m_data->m_physicsClient,bodyUniqueId, jointIndex,jointInfo)!=0); return (b3GetJointInfo(m_data->m_physicsClient,bodyUniqueId, jointIndex,jointInfo)!=0);
} }
void b3RobotSimAPI::createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const struct b3JointInfo& jointInfo) void b3RobotSimAPI::createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
{ {
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
b3Assert(b3CanSubmitCommand(m_data->m_physicsClient)); b3Assert(b3CanSubmitCommand(m_data->m_physicsClient));

2
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -88,7 +88,7 @@ public:
bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo); bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
void createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const struct b3JointInfo& jointInfo); void createJoint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3JointMotorArgs& args); void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3JointMotorArgs& args);

8
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -730,7 +730,7 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
return cl->getJointInfo(bodyIndex, jointIndex, *info); return cl->getJointInfo(bodyIndex, jointIndex, *info);
} }
b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const struct b3JointInfo& info) b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
{ {
PhysicsClient* cl = (PhysicsClient* ) physClient; PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl); b3Assert(cl);
@@ -744,11 +744,11 @@ b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int
command->m_createJointArguments.m_childBodyIndex = childBodyIndex; command->m_createJointArguments.m_childBodyIndex = childBodyIndex;
command->m_createJointArguments.m_childJointIndex = childJointIndex; command->m_createJointArguments.m_childJointIndex = childJointIndex;
for (int i = 0; i < 7; ++i) { for (int i = 0; i < 7; ++i) {
command->m_createJointArguments.m_parentFrame[i] = info.m_parentFrame[i]; command->m_createJointArguments.m_parentFrame[i] = info->m_parentFrame[i];
command->m_createJointArguments.m_childFrame[i] = info.m_childFrame[i]; command->m_createJointArguments.m_childFrame[i] = info->m_childFrame[i];
} }
for (int i = 0; i < 3; ++i) { for (int i = 0; i < 3; ++i) {
command->m_createJointArguments.m_jointAxis[i] = info.m_jointAxis[i]; command->m_createJointArguments.m_jointAxis[i] = info->m_jointAxis[i];
} }
return (b3SharedMemoryCommandHandle)command; return (b3SharedMemoryCommandHandle)command;
} }

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -59,7 +59,7 @@ int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h ///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info); int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, const struct b3JointInfo& info); b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
///Request debug lines for debug visualization. The flags in debugMode are the same as used in Bullet ///Request debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h ///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h