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

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and it can restart without shutting down/restarting physics server
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This commit is contained in:
Erwin Coumans (Google)
2015-08-27 17:51:31 -07:00
parent 2e7949bb3e
commit 3d130d9d66
3 changed files with 19 additions and 0 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -80,6 +80,16 @@ int b3InitStepSimulationCommand(struct SharedMemoryCommand* command)
} }
int b3InitResetSimulationCommand(struct SharedMemoryCommand* command)
{
b3Assert(command);
command->m_type = CMD_RESET_SIMULATION;
command->m_updateFlags = 0;
return 0;
}
int b3JointControlCommandInit(struct SharedMemoryCommand* command, int controlMode) int b3JointControlCommandInit(struct SharedMemoryCommand* command, int controlMode)
{ {

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -33,6 +33,8 @@ int b3PhysicsParamSetTimeStep(struct SharedMemoryCommand* command, double timeSt
int b3InitStepSimulationCommand(struct SharedMemoryCommand* command); int b3InitStepSimulationCommand(struct SharedMemoryCommand* command);
int b3InitResetSimulationCommand(struct SharedMemoryCommand* command);
int b3LoadUrdfCommandInit(struct SharedMemoryCommand* command, const char* urdfFileName); int b3LoadUrdfCommandInit(struct SharedMemoryCommand* command, const char* urdfFileName);
///all those commands are optional, except for the *Init ///all those commands are optional, except for the *Init
int b3LoadUrdfCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ); int b3LoadUrdfCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ);

7
test/SharedMemory/test.c
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@@ -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+1],
status.m_sendActualStateArgs.m_jointReactionForces[6*sensorJointIndexRight+2]); 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); b3DisconnectSharedMemory(sm);
} }