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add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF.

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This commit is contained in:
erwin coumans
2016-11-11 18:07:42 -08:00
parent b150edf76b
commit 7577c6d893
11 changed files with 512 additions and 17 deletions
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81
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -79,6 +79,87 @@ b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClie
return 0;
}
b3SharedMemoryCommandHandle b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
if (cl->canSubmitCommand())
{
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_LOAD_BULLET;
int len = strlen(fileName);
if (len < MAX_URDF_FILENAME_LENGTH)
{
strcpy(command->m_fileArguments.m_fileName, fileName);
}
else
{
command->m_fileArguments.m_fileName[0] = 0;
}
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
return 0;
}
b3SharedMemoryCommandHandle b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
if (cl->canSubmitCommand())
{
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_SAVE_BULLET;
int len = strlen(fileName);
if (len < MAX_URDF_FILENAME_LENGTH)
{
strcpy(command->m_fileArguments.m_fileName, fileName);
}
else
{
command->m_fileArguments.m_fileName[0] = 0;
}
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
return 0;
}
b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
if (cl->canSubmitCommand())
{
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_LOAD_MJCF;
int len = strlen(fileName);
if (len < MAX_URDF_FILENAME_LENGTH)
{
strcpy(command->m_fileArguments.m_fileName, fileName);
}
else
{
command->m_fileArguments.m_fileName[0] = 0;
}
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
return 0;
}
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;