Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Fix pybullet Windows build errors: C99 requires variables to be defined at the start of the function.

Browse Source 
Improve CMake Windows support to build PyBullet (BUILD_PYBULLET)
Implement b3LoadSdfCommandInit in shared memory API
Implement pybullet SDF loading binding, in loadSDF API
TODO for SDF support is provide way to query object/link/joint information.
This commit is contained in:
erwincoumans
2016-06-13 10:11:28 -07:00
parent ce9ae430f7
commit 6523df336e
10 changed files with 377 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -519,6 +519,33 @@ int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle)
return CMD_INVALID_STATUS;
}
int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity)
{
int numBodies = 0;
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
b3Assert(status);
if (status)
{
switch (status->m_type)
{
case CMD_SDF_LOADING_COMPLETED:
{
int i,maxBodies;
numBodies = status->m_sdfLoadedArgs.m_numBodies;
maxBodies = btMin(bodyIndicesCapacity, numBodies);
for (i=0;i<maxBodies;i++)
{
bodyIndicesOut[i] = status->m_sdfLoadedArgs.m_bodyUniqueIds[i];
}
break;
}
}
}
return numBodies;
}
int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
@@ -558,6 +585,10 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
const double* jointReactionForces[]) {
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
const SendActualStateArgs &args = status->m_sendActualStateArgs;
btAssert(status->m_type == CMD_URDF_LOADING_COMPLETED);
if (status->m_type != CMD_URDF_LOADING_COMPLETED)
return false;
if (bodyUniqueId) {
*bodyUniqueId = args.m_bodyUniqueId;
}