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trackObject -> parentObject

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trackLinkIndex -> parentLinkIndex
add example debugDrawItems.py
This commit is contained in:
Erwin Coumans
2017-05-24 09:06:15 -07:00
parent 9f7d7fecd5
commit 5e2599863d
6 changed files with 44 additions and 28 deletions
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18
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1612,8 +1612,8 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle p
command->m_userDebugDrawArgs.m_lineWidth = lineWidth;
command->m_userDebugDrawArgs.m_lifeTime = lifeTime;
command->m_userDebugDrawArgs.m_trackingObjectUniqueId = -1;
command->m_userDebugDrawArgs.m_trackingLinkIndex = -1;
command->m_userDebugDrawArgs.m_parentObjectUniqueId = -1;
command->m_userDebugDrawArgs.m_parentLinkIndex = -1;
command->m_userDebugDrawArgs.m_optionFlags = 0;
return (b3SharedMemoryCommandHandle) command;
@@ -1649,8 +1649,8 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle p
command->m_userDebugDrawArgs.m_textSize = textSize;
command->m_userDebugDrawArgs.m_lifeTime = lifeTime;
command->m_userDebugDrawArgs.m_trackingObjectUniqueId = -1;
command->m_userDebugDrawArgs.m_trackingLinkIndex = -1;
command->m_userDebugDrawArgs.m_parentObjectUniqueId = -1;
command->m_userDebugDrawArgs.m_parentLinkIndex = -1;
command->m_userDebugDrawArgs.m_optionFlags = 0;
@@ -1682,15 +1682,15 @@ void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, do
}
void b3UserDebugItemSetTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex)
void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
command->m_updateFlags |= USER_DEBUG_HAS_TRACKING_OBJECT;
command->m_userDebugDrawArgs.m_trackingObjectUniqueId = objectUniqueId;
command->m_userDebugDrawArgs.m_trackingLinkIndex = linkIndex;
command->m_updateFlags |= USER_DEBUG_HAS_PARENT_OBJECT;
command->m_userDebugDrawArgs.m_parentObjectUniqueId = objectUniqueId;
command->m_userDebugDrawArgs.m_parentLinkIndex = linkIndex;
}
@@ -1714,7 +1714,7 @@ b3SharedMemoryCommandHandle b3InitUserDebugAddParameter(b3PhysicsClientHandle ph
command->m_userDebugDrawArgs.m_rangeMin = rangeMin;
command->m_userDebugDrawArgs.m_rangeMax = rangeMax;
command->m_userDebugDrawArgs.m_startValue = startValue;
command->m_userDebugDrawArgs.m_trackingObjectUniqueId = -1;
command->m_userDebugDrawArgs.m_parentObjectUniqueId = -1;
command->m_userDebugDrawArgs.m_optionFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -127,7 +127,7 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle p
void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags);
void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[4]);
void b3UserDebugItemSetTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
b3SharedMemoryCommandHandle b3InitUserDebugAddParameter(b3PhysicsClientHandle physClient, const char* txt, double rangeMin, double rangeMax, double startValue);
b3SharedMemoryCommandHandle b3InitUserDebugReadParameter(b3PhysicsClientHandle physClient, int debugItemUniqueId);

6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5820,12 +5820,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int trackingVisualShapeIndex = -1;
if (clientCmd.m_userDebugDrawArgs.m_trackingObjectUniqueId>=0)
if (clientCmd.m_userDebugDrawArgs.m_parentObjectUniqueId>=0)
{
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userDebugDrawArgs.m_trackingObjectUniqueId);
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userDebugDrawArgs.m_parentObjectUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
int linkIndex = clientCmd.m_userDebugDrawArgs.m_trackingLinkIndex;
int linkIndex = clientCmd.m_userDebugDrawArgs.m_parentLinkIndex;
if (linkIndex ==-1)
{
if (bodyHandle->m_multiBody->getBaseCollider())

6
examples/SharedMemory/SharedMemoryCommands.h
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@@ -627,7 +627,7 @@ enum EnumUserDebugDrawFlags
USER_DEBUG_READ_PARAMETER=128,
USER_DEBUG_HAS_OPTION_FLAGS=256,
USER_DEBUG_HAS_TEXT_ORIENTATION = 512,
USER_DEBUG_HAS_TRACKING_OBJECT=1024,
USER_DEBUG_HAS_PARENT_OBJECT=1024,
};
@@ -644,8 +644,8 @@ struct UserDebugDrawArgs
char m_text[MAX_FILENAME_LENGTH];
double m_textPositionXYZ[3];
double m_textOrientation[4];
int m_trackingObjectUniqueId;
int m_trackingLinkIndex;
int m_parentObjectUniqueId;
int m_parentLinkIndex;
double m_textColorRGB[3];
double m_textSize;
int m_optionFlags;