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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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19
test/SharedMemory/test.c
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@@ -35,6 +35,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
int sensorJointIndexLeft=-1;
int sensorJointIndexRight=-1;
const char* urdfFileName = "r2d2.urdf";
const char* sdfFileName = "kuka_iiwa/model.sdf";
double gravx=0, gravy=0, gravz=-9.8;
double timeStep = 1./60.;
double startPosX, startPosY,startPosZ;
@@ -52,7 +53,23 @@ void testSharedMemory(b3PhysicsClientHandle sm)
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
}
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int bodyIndicesOut[10];//MAX_SDF_BODIES = 10
int numJoints, numBodies;
b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(sm, sdfFileName);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
ASSERT_EQ(statusType, CMD_SDF_LOADING_COMPLETED);
numBodies = b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, 10);
ASSERT_EQ(numBodies,1);
numJoints = b3GetNumJoints(sm,bodyIndicesOut[0]);
printf("numJoints: %d\n", numJoints);
//ASSERT_EQ(numBodies ==1);
}
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;