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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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25
examples/SharedMemory/SharedMemoryCommands.h
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@@ -33,6 +33,7 @@
#define MAX_SDF_FILENAME_LENGTH 1024
#define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
#define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM
#define MAX_SDF_BODIES 1024
struct TmpFloat3
{
@@ -298,6 +299,28 @@ struct CreateBoxShapeArgs
double m_colorRGBA[4];
};
struct SdfLoadedArgs
{
int m_numBodies;
int m_bodyUniqueIds[MAX_SDF_BODIES];
///@todo(erwincoumans) load cameras, lights etc
//int m_numCameras;
//int m_numLights;
};
struct SdfRequestInfoArgs
{
int m_infoIndex;
};
enum EnumSdfRequestInfoFlags
{
SDF_REQUEST_INFO_BODY=1,
//SDF_REQUEST_INFO_CAMERA=2,
};
struct SharedMemoryCommand
{
int m_type;
@@ -312,6 +335,7 @@ struct SharedMemoryCommand
{
struct UrdfArgs m_urdfArguments;
struct SdfArgs m_sdfArguments;
struct SdfRequestInfoArgs m_sdfRequestInfoArgs;
struct InitPoseArgs m_initPoseArgs;
struct SendPhysicsSimulationParameters m_physSimParamArgs;
struct BulletDataStreamArgs m_dataStreamArguments;
@@ -340,6 +364,7 @@ struct SharedMemoryStatus
union
{
struct BulletDataStreamArgs m_dataStreamArguments;
struct SdfLoadedArgs m_sdfLoadedArgs;
struct SendActualStateArgs m_sendActualStateArgs;
struct SendDebugLinesArgs m_sendDebugLinesArgs;
struct SendPixelDataArgs m_sendPixelDataArguments;