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

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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
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38
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -40,7 +40,7 @@ struct PhysicsClientSharedMemoryInternalData {
SharedMemoryStatus m_lastServerStatus;
int m_counter;
bool m_serverLoadUrdfOK;
bool m_isConnected;
bool m_waitingForServer;
bool m_hasLastServerStatus;
@@ -54,7 +54,6 @@ struct PhysicsClientSharedMemoryInternalData {
m_counter(0),
m_cachedCameraPixelsWidth(0),
m_cachedCameraPixelsHeight(0),
m_serverLoadUrdfOK(false),
m_isConnected(false),
m_waitingForServer(false),
m_hasLastServerStatus(false),
@@ -204,8 +203,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
break;
}
case CMD_SDF_LOADING_COMPLETED: {
if (m_data->m_verboseOutput) {
b3Printf("Server loading the SDF OK\n");
}
break;
}
case CMD_URDF_LOADING_COMPLETED: {
m_data->m_serverLoadUrdfOK = true;
if (m_data->m_verboseOutput) {
b3Printf("Server loading the URDF OK\n");
}
@@ -265,7 +271,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the URDF...\n");
}
m_data->m_serverLoadUrdfOK = false;
break;
}
case CMD_SDF_LOADING_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the SDF...\n");
}
break;
}
@@ -490,6 +504,22 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
m_data->m_waitingForServer = true;
}
/*if (serverCmd.m_type == CMD_SDF_LOADING_COMPLETED)
{
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
if (numBodies>0)
{
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
//now transfer the information of the individual objects etc.
command.m_type = CMD_REQUEST_SDF_INFO;
command.m_updateFlags = SDF_REQUEST_INFO_BODY;
command.m_sdfRequestInfoArgs.m_infoIndex = 0;
submitClientCommand(command);
return 0;
}
}
*/
if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED)
{
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];