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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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26
examples/SharedMemory/RobotControlExample.cpp
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@@ -10,6 +10,7 @@
#include "PhysicsClient.h"
#include "SharedMemoryCommon.h"
#include "../Utils/b3Clock.h"
#include "PhysicsClientC_API.h"
//const char* blaatnaam = "basename";
@@ -100,11 +101,20 @@ void MyCallback2(int buttonId, bool buttonState, void* userPtr)
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
command.m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
command.m_physSimParamArgs.m_gravityAcceleration[0] = 0;
command.m_physSimParamArgs.m_gravityAcceleration[1] = 0;
command.m_physSimParamArgs.m_gravityAcceleration[2] = -10;
command.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
//#ifdef USE_C_API
b3InitPhysicsParamCommand(&command);
b3PhysicsParamSetGravity(&command, 0,0,-10);
// #else
//
// command.m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
// command.m_physSimParamArgs.m_gravityAcceleration[0] = 0;
// command.m_physSimParamArgs.m_gravityAcceleration[1] = 0;
// command.m_physSimParamArgs.m_gravityAcceleration[2] = -10;
// command.m_physSimParamArgs.m_updateFlags = SIM_PARAM_UPDATE_GRAVITY;
// #endif // USE_C_API
cl->enqueueCommand(command);
break;
@@ -286,7 +296,7 @@ void RobotControlExample::stepSimulation(float deltaTime)
if (m_physicsClient.isConnected())
{
ServerStatus status;
SharedMemoryStatus status;
bool hasStatus = m_physicsClient.processServerStatus(status);
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
@@ -294,12 +304,12 @@ void RobotControlExample::stepSimulation(float deltaTime)
{
PoweredJointInfo info;
m_physicsClient.getPoweredJointInfo(i,info);
b3Printf("1-DOF PoweredJoint %s at q-index %d and u-index %d\n",info.m_jointName.c_str(),info.m_qIndex,info.m_uIndex);
b3Printf("1-DOF PoweredJoint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
if (m_numMotors<MAX_NUM_MOTORS)
{
char motorName[1024];
sprintf(motorName,"%s q'", info.m_jointName.c_str());
sprintf(motorName,"%s q'", info.m_jointName);
MyMotorInfo* motorInfo = &m_motorTargetVelocities[m_numMotors];
motorInfo->m_velTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;