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minor refactoring

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2015-07-23 11:51:25 -07:00
parent 0fe6d343bc
commit 3fe9138e8c
11 changed files with 64 additions and 96 deletions
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9
examples/SharedMemory/PhysicsServer.cpp
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@@ -17,6 +17,7 @@
#include "LinearMath/btSerializer.h"
#include "Bullet3Common/b3Logging.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryBlock.h"
struct UrdfLinkNameMapUtil
{
@@ -31,7 +32,7 @@ struct UrdfLinkNameMapUtil
struct PhysicsServerInternalData
{
SharedMemoryInterface* m_sharedMemory;
SharedMemoryExampleData* m_testBlock1;
SharedMemoryBlock* m_testBlock1;
bool m_isConnected;
btScalar m_physicsDeltaTime;
//btAlignedObjectArray<btJointFeedback*> m_jointFeedbacks;
@@ -84,14 +85,14 @@ bool PhysicsServerSharedMemory::connectSharedMemory(bool allowSharedMemoryInitia
bool allowCreation = true;
m_data->m_testBlock1 = (SharedMemoryExampleData*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE,allowCreation);
m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE,allowCreation);
if (m_data->m_testBlock1)
{
if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
{
if (allowSharedMemoryInitialization)
{
InitSharedMemoryExampleData(m_data->m_testBlock1);
InitSharedMemoryBlock(m_data->m_testBlock1);
b3Printf("Created and initialized shared memory block");
m_data->m_isConnected = true;
} else
@@ -212,7 +213,7 @@ bool PhysicsServerSharedMemory::loadUrdf(const char* fileName, const btVector3&
tr.setIdentity();
tr.setOrigin(pos);
tr.setRotation(orn);
int rootLinkIndex = u2b.getRootLinkIndex();
//int rootLinkIndex = u2b.getRootLinkIndex();
// printf("urdf root link index = %d\n",rootLinkIndex);
MyMultiBodyCreator creation(m_data->m_guiHelper);