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allow auxilary link to be used for gear btMultiBodyGearConstraint.

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This commit is contained in:
Erwin Coumans
2017-06-23 20:24:04 -07:00
parent 8e9f5ef3f3
commit 65e22ba3e9
11 changed files with 74 additions and 28 deletions
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14
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1949,6 +1949,20 @@ int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHa
return 0;
}
int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_CONSTRAINT);
b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
command->m_updateFlags |=USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK;
command->m_userConstraintArguments.m_gearAuxLink = gearAuxLink;
return 0;
}
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -107,7 +107,7 @@ int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHan
int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio);
int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink);
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6450,6 +6450,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
userConstraintPtr->m_mbConstraint->setGearRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
{
userConstraintPtr->m_mbConstraint->setGearAuxLink(clientCmd.m_userConstraintArguments.m_gearAuxLink);
}
}
if (userConstraintPtr->m_rbConstraint)

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -645,6 +645,8 @@ enum EnumUserConstraintFlags
USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
USER_CONSTRAINT_REQUEST_INFO=64,
USER_CONSTRAINT_CHANGE_GEAR_RATIO=128,
USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK=256,
};
enum EnumBodyChangeFlags

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -235,6 +235,7 @@ struct b3UserConstraint
double m_maxAppliedForce;
int m_userConstraintUniqueId;
double m_gearRatio;
int m_gearAuxLink;
};