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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2017-03-29 15:06:15 -07:00
parent 64573c38e4 30c1923b00
commit 66a8685816
77 changed files with 2213 additions and 1218 deletions
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44
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -238,6 +238,19 @@ int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
return -1;
}
int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_LOAD_URDF);
if (command && (command->m_type == CMD_LOAD_URDF))
{
command->m_updateFlags |= URDF_ARGS_HAS_CUSTOM_URDF_FLAGS;
command->m_urdfArguments.m_urdfFlags = flags;
}
return 0;
}
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -547,10 +560,24 @@ b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandl
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_ACTUAL_STATE;
command->m_updateFlags = 0;
command->m_requestActualStateInformationCommandArgument.m_bodyUniqueId = bodyUniqueId;
return (b3SharedMemoryCommandHandle) command;
}
int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle commandHandle, int computeLinkVelocity)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
btAssert(command->m_type == CMD_REQUEST_ACTUAL_STATE);
if (computeLinkVelocity && command->m_type == CMD_REQUEST_ACTUAL_STATE)
{
command->m_updateFlags |= ACTUAL_STATE_COMPUTE_LINKVELOCITY;
}
return 0;
}
int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, b3JointSensorState *state)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
@@ -604,6 +631,8 @@ int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle
{
state->m_worldPosition[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + i];
state->m_localInertialPosition[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[7 * linkIndex + i];
state->m_worldLinearVelocity[i] = status->m_sendActualStateArgs.m_linkWorldVelocities[6*linkIndex+i];
state->m_worldAngularVelocity[i] = status->m_sendActualStateArgs.m_linkWorldVelocities[6*linkIndex+i+3];
}
for (int i = 0; i < 4; ++i)
{
@@ -1085,6 +1114,7 @@ int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
{
B3_PROFILE("b3SubmitClientCommandAndWaitStatus");
b3Clock clock;
double startTime = clock.getTimeInSeconds();
@@ -1098,11 +1128,17 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan
double timeOutInSeconds = cl->getTimeOut();
b3SubmitClientCommand(physClient, commandHandle);
while (cl->isConnected() && (statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
statusHandle = b3ProcessServerStatus(physClient);
B3_PROFILE("b3SubmitClientCommand");
b3SubmitClientCommand(physClient, commandHandle);
}
{
B3_PROFILE("b3ProcessServerStatus");
while (cl->isConnected() && (statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
clock.usleep(0);
statusHandle = b3ProcessServerStatus(physClient);
}
}
return (b3SharedMemoryStatusHandle)statusHandle;
}