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work-in-progress send object/joint information after loading SDF file

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This commit is contained in:
Erwin Coumans
2016-06-14 18:41:19 -07:00
parent 566ed87c93
commit 456c844a6b
8 changed files with 169 additions and 46 deletions
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28
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -237,7 +237,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
case CMD_LOAD_SDF:
{
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.sdf");
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
@@ -656,6 +656,32 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
if (statusType == CMD_SDF_LOADING_COMPLETED)
{
int bodyIndicesOut[1024];
int bodyCapacity = 1024;
int numBodies = b3GetStatusBodyIndices(status, bodyIndicesOut, bodyCapacity);
if (numBodies > bodyCapacity)
{
b3Warning("loadSDF number of bodies (%d) exceeds the internal body capacity (%d)",numBodies, bodyCapacity);
} else
{
/*
for (int i=0;i<numBodies;i++)
{
int bodyUniqueId = bodyIndicesOut[i];
int numJoints = b3GetNumJoints(m_physicsClientHandle,bodyUniqueId);
b3Printf("numJoints = %d", numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo info;
b3GetJointInfo(m_physicsClientHandle,bodyUniqueId,i,&info);
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
}
*/
}
//int numJoints = b3GetNumJoints(m_physicsClientHandle,bodyIndex);
//int bodyIndex = b3GetStatusBodyIndex(status);
/*if (bodyIndex>=0)
{