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Quick first prototype/test to integrate pybullet into Unity,

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see readme.txt for details.
This commit is contained in:
erwincoumans
2017-09-20 23:18:18 -07:00
parent ae8f12e8ba
commit 6a7efac4c3
10 changed files with 3324 additions and 76 deletions
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20
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -53,7 +53,7 @@ b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClientHandle physCli
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
@@ -212,7 +212,7 @@ int b3LoadBunnySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, dou
return 0;
}
int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
B3_SHARED_API int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@@ -223,7 +223,7 @@ int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle,
return 0;
}
int b3LoadUrdfCommandSetGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling)
B3_SHARED_API int b3LoadUrdfCommandSetGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@@ -259,7 +259,7 @@ int b3LoadSdfCommandSetUseGlobalScaling(b3SharedMemoryCommandHandle commandHandl
int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase)
B3_SHARED_API int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@@ -273,7 +273,7 @@ int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
return -1;
}
int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
B3_SHARED_API int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@@ -286,7 +286,7 @@ int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int fla
return 0;
}
int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
B3_SHARED_API int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@@ -305,7 +305,7 @@ int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle,
return -1;
}
int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
B3_SHARED_API int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
@@ -495,7 +495,7 @@ int b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle commandHandl
}
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
@@ -507,7 +507,7 @@ b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle ph
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
@@ -1631,7 +1631,7 @@ int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory
#include "../Utils/b3Clock.h"
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
B3_SHARED_API b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
{
B3_PROFILE("b3SubmitClientCommandAndWaitStatus");
b3Clock clock;