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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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32
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3955,6 +3955,38 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
};
case CMD_GET_DYNAMIC_INFO:
{
int bodyUniqueId = clientCmd.m_getDynamicInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_getDynamicInfoArgs.m_linkIndex;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody)
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_GET_DYNAMIC_INFO_COMPLETED;
btMultiBody* mb = body->m_multiBody;
if (linkIndex == -1)
{
serverCmd.m_dynamicInfo.m_mass = mb->getBaseMass();
serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction();
}
else
{
serverCmd.m_dynamicInfo.m_mass = mb->getLinkMass(linkIndex);
serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
}
hasStatus = true;
}
else
{
b3Warning("The dynamic info requested is not available");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_GET_DYNAMIC_INFO_FAILED;
hasStatus = true;
}
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS");