From 7ac3e263ab6cb9141b4e4a1e84c0925b8180bafa Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Sat, 9 Jun 2018 13:54:22 -0700
Subject: [PATCH] add
 saveStateToMemory/restoreStateFromMemory/setAdditionalSearchPath/getAPIVersion
 to Bullet Robotics API.

---
 .../rigidbody/GpuRigidBodyDemoInternalData.h  |  2 +-
 .../b3RobotSimulatorClientAPI_NoDirect.cpp    | 76 +++++++++++++++++++
 .../b3RobotSimulatorClientAPI_NoDirect.h      |  9 ++-
 3 files changed, 85 insertions(+), 2 deletions(-)

diff --git a/examples/OpenCL/rigidbody/GpuRigidBodyDemoInternalData.h b/examples/OpenCL/rigidbody/GpuRigidBodyDemoInternalData.h
index 8c7b5f5bb..770fb017a 100644
--- a/examples/OpenCL/rigidbody/GpuRigidBodyDemoInternalData.h
+++ b/examples/OpenCL/rigidbody/GpuRigidBodyDemoInternalData.h
@@ -17,7 +17,7 @@ struct	GpuRigidBodyDemoInternalData
 
 	class b3GpuNarrowPhase* m_np;
 	class b3GpuBroadphaseInterface* m_bp;
-	class b3DynamicBvhBroadphase* m_broadphaseDbvt;
+	struct b3DynamicBvhBroadphase* m_broadphaseDbvt;
 
 	b3Vector3 m_pickPivotInA;
 	b3Vector3 m_pickPivotInB;
diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
index 3d9e4be22..52ee8faf9 100644
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
@@ -2013,6 +2013,65 @@ bool b3RobotSimulatorClientAPI_NoDirect::getCollisionShapeData(int bodyUniqueId,
 	return true;
 }
 
+int b3RobotSimulatorClientAPI_NoDirect::saveStateToMemory()
+{
+	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
+	if (sm == 0) {
+		b3Warning("Not connected");
+		return false;
+	}
+
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	b3SharedMemoryCommandHandle command;
+	
+	int stateId = -1;
+
+	if (sm == 0)
+	{
+		return -1;
+	}
+
+	command = b3SaveStateCommandInit(sm);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+	statusType = b3GetStatusType(statusHandle);
+
+	if (statusType != CMD_SAVE_STATE_COMPLETED)
+	{
+		return -1;
+	}
+
+	stateId = b3GetStatusGetStateId(statusHandle);
+	return stateId;
+}
+
+void b3RobotSimulatorClientAPI_NoDirect::restoreStateFromMemory(int stateId)
+{
+	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
+	if (sm == 0) {
+		b3Warning("Not connected");
+		return;
+	}
+
+	int statusType;
+	b3SharedMemoryCommandHandle command;
+	b3SharedMemoryStatusHandle statusHandle;
+	int physicsClientId = 0;
+	
+	command = b3LoadStateCommandInit(sm);
+	if (stateId >= 0)
+	{
+		b3LoadStateSetStateId(command, stateId);
+	}
+//	if (fileName)
+//	{
+//		b3LoadStateSetFileName(command, fileName);
+//	}
+
+	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+	statusType = b3GetStatusType(statusHandle);
+}
+
 bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
@@ -2036,3 +2095,20 @@ bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3
 		return true;
 	}
 }
+
+void b3RobotSimulatorClientAPI_NoDirect::setAdditionalSearchPath(std::string path)
+{
+	int physicsClientId = 0;
+	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
+	if (sm == 0) {
+		b3Warning("Not connected");
+		return;
+	}
+	if (path.length())
+	{
+		b3SharedMemoryCommandHandle commandHandle;
+		b3SharedMemoryStatusHandle statusHandle;
+		commandHandle = b3SetAdditionalSearchPath(sm, path.c_str());
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+	}
+}
diff --git a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
index 0e80d3df6..3714d17f2 100644
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
@@ -582,8 +582,15 @@ public:
 	bool getCollisionShapeData(int bodyUniqueId, int linkIndex, b3CollisionShapeInformation &collisionShapeInfo);
 
 	bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo);
-	
 
+	int saveStateToMemory();
+	void restoreStateFromMemory(int stateId);
+
+	int getAPIVersion() const
+	{
+		return SHARED_MEMORY_MAGIC_NUMBER;
+	}
+	void setAdditionalSearchPath(std::string path);
 };