reset simulation in test/SharedMemory/test for proper cleanup,

and it can restart without shutting down/restarting physics server w
2015-08-27 17:51:31 -07:00
parent 2e7949bb3e
commit 3d130d9d66
3 changed files with 19 additions and 0 deletions
--- a/test/SharedMemory/test.c
+++ b/test/SharedMemory/test.c
@@ -148,8 +148,15 @@ int main(int argc, char* argv[])
                     status.m_sendActualStateArgs.m_jointReactionForces[6*sensorJointIndexRight+1],
                     status.m_sendActualStateArgs.m_jointReactionForces[6*sensorJointIndexRight+2]);
        }
+
+	 ret = b3InitResetSimulationCommand(&command);
+            ret = b3SubmitClientCommand(sm, &command);
+            timeout = MAX_TIMEOUT;
+            while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0)    {}
        
        
 	}
+
+
 	b3DisconnectSharedMemory(sm);
 }