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Add API to get dynamic info.

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This commit is contained in:
yunfeibai
2017-05-07 22:21:38 -07:00
parent e363e12ea4
commit 5fe4c6bb5b
7 changed files with 83 additions and 6 deletions
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25
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1214,9 +1214,30 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
return cl->getJointInfo(bodyIndex, jointIndex, *info);
}
int b3GetDynamicInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, struct b3DynamicInfo* info)
b3SharedMemoryCommandHandle b3GetDynamicInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
{
return 0;
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_GET_DYNAMIC_INFO;
command->m_getDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_getDynamicInfoArgs.m_linkIndex = linkIndex;
return (b3SharedMemoryCommandHandle) command;
}
int b3GetDynamicInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicInfo* info)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
const b3DynamicInfo &dynamicInfo = status->m_dynamicInfo;
btAssert(status->m_type == CMD_GET_DYNAMIC_INFO);
if (status->m_type != CMD_GET_DYNAMIC_INFO_COMPLETED)
return false;
info->m_mass = dynamicInfo.m_mass;
info->m_lateralFrictionCoeff = dynamicInfo.m_lateralFrictionCoeff;
return true;
}
b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient)