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exposed a few more methods in the C++ b3RobotSimulatorClientAPI (_NoDirect base class)

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This commit is contained in:
erwincoumans
2018-06-09 19:40:12 -07:00
parent 7ac3e263ab
commit 3eebcd40ca
4 changed files with 246 additions and 52 deletions
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118
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -224,6 +224,63 @@ bool b3RobotSimulatorClientAPI_NoDirect::loadMJCF(const std::string& fileName, b
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::savePythonWorld(const std::string& fileName)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command;
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (fileName.length()==0)
{
return false;
}
command = b3SaveWorldCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SAVE_WORLD_COMPLETED)
{
return false;
}
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::saveBullet(const std::string& fileName)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command;
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (fileName.length()==0)
{
return false;
}
command = b3SaveBulletCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_BULLET_SAVING_COMPLETED)
{
return false;
}
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
{
if (!isConnected())
@@ -534,6 +591,19 @@ void b3RobotSimulatorClientAPI_NoDirect::removeConstraint(int constraintId)
b3GetStatusType(statusHandle);
}
bool b3RobotSimulatorClientAPI_NoDirect::getConstraintInfo(int constraintUniqueId, struct b3UserConstraint& constraintInfo)
{
if (!isConnected())
{
b3Warning("Not connected");
return false;
}
if (b3GetUserConstraintInfo(m_data->m_physicsClientHandle, constraintUniqueId, &constraintInfo))
{
return true;
}
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state)
{
@@ -1478,8 +1548,34 @@ bool b3RobotSimulatorClientAPI_NoDirect::setJointMotorControlArray(int bodyUniqu
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::getPhysicsEngineParameters(struct b3RobotSimulatorSetPhysicsEngineParameters &args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
bool b3RobotSimulatorClientAPI_NoDirect::setPhysicsEngineParameter(struct b3RobotSimulatorSetPhysicsEngineParameters &args)
{
b3SharedMemoryCommandHandle command = b3InitRequestPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
int statusType;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED)
{
return false;
}
b3GetStatusPhysicsSimulationParameters(statusHandle,&args);
}
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::setPhysicsEngineParameter(const struct b3RobotSimulatorSetPhysicsEngineParameters &args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
@@ -1497,12 +1593,12 @@ bool b3RobotSimulatorClientAPI_NoDirect::setPhysicsEngineParameter(struct b3Robo
b3PhysicsParamSetCollisionFilterMode(command, args.m_collisionFilterMode);
}
if (args.m_numSubSteps >= 0) {
b3PhysicsParamSetNumSubSteps(command, args.m_numSubSteps);
if (args.m_numSimulationSubSteps >= 0) {
b3PhysicsParamSetNumSubSteps(command, args.m_numSimulationSubSteps);
}
if (args.m_fixedTimeStep >= 0) {
b3PhysicsParamSetTimeStep(command, args.m_fixedTimeStep);
if (args.m_deltaTime >= 0) {
b3PhysicsParamSetTimeStep(command, args.m_deltaTime);
}
if (args.m_useSplitImpulse >= 0) {
@@ -1517,10 +1613,6 @@ bool b3RobotSimulatorClientAPI_NoDirect::setPhysicsEngineParameter(struct b3Robo
b3PhysicsParamSetContactBreakingThreshold(command, args.m_contactBreakingThreshold);
}
if (args.m_maxNumCmdPer1ms >= -1) {
b3PhysicsParamSetMaxNumCommandsPer1ms(command, args.m_maxNumCmdPer1ms);
}
if (args.m_restitutionVelocityThreshold>=0) {
b3PhysicsParamSetRestitutionVelocityThreshold(command, args.m_restitutionVelocityThreshold);
}
@@ -1529,12 +1621,12 @@ bool b3RobotSimulatorClientAPI_NoDirect::setPhysicsEngineParameter(struct b3Robo
b3PhysicsParamSetEnableFileCaching(command, args.m_enableFileCaching);
}
if (args.m_erp>=0) {
b3PhysicsParamSetDefaultNonContactERP(command,args.m_erp);
if (args.m_defaultNonContactERP>=0) {
b3PhysicsParamSetDefaultNonContactERP(command,args.m_defaultNonContactERP);
}
if (args.m_contactERP>=0) {
b3PhysicsParamSetDefaultContactERP(command,args.m_contactERP);
if (args.m_defaultContactERP>=0) {
b3PhysicsParamSetDefaultContactERP(command,args.m_defaultContactERP);
}
if (args.m_frictionERP >=0) {