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add saveStateToMemory/restoreStateFromMemory/setAdditionalSearchPath/getAPIVersion to Bullet Robotics API.

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This commit is contained in:
erwincoumans
2018-06-09 13:54:22 -07:00
parent 0cec85626f
commit 7ac3e263ab
3 changed files with 85 additions and 2 deletions
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2
examples/OpenCL/rigidbody/GpuRigidBodyDemoInternalData.h
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@@ -17,7 +17,7 @@ struct GpuRigidBodyDemoInternalData
class b3GpuNarrowPhase* m_np; class b3GpuNarrowPhase* m_np;
class b3GpuBroadphaseInterface* m_bp; class b3GpuBroadphaseInterface* m_bp;
class b3DynamicBvhBroadphase* m_broadphaseDbvt; struct b3DynamicBvhBroadphase* m_broadphaseDbvt;
b3Vector3 m_pickPivotInA; b3Vector3 m_pickPivotInA;
b3Vector3 m_pickPivotInB; b3Vector3 m_pickPivotInB;

76
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -2013,6 +2013,65 @@ bool b3RobotSimulatorClientAPI_NoDirect::getCollisionShapeData(int bodyUniqueId,
return true; 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) bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo)
{ {
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle; b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
@@ -2036,3 +2095,20 @@ bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3
return true; 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);
}
}

9
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -582,8 +582,15 @@ public:
bool getCollisionShapeData(int bodyUniqueId, int linkIndex, b3CollisionShapeInformation &collisionShapeInfo); bool getCollisionShapeData(int bodyUniqueId, int linkIndex, b3CollisionShapeInformation &collisionShapeInfo);
bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo); 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);
}; };