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Change dynamic to dynamics in dynamics info.

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This commit is contained in:
yunfeibai
2017-05-09 10:31:28 -07:00
parent 92de4ecd31
commit 98654a0cb4
9 changed files with 93 additions and 94 deletions
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48
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1214,65 +1214,65 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
return cl->getJointInfo(bodyIndex, jointIndex, *info);
}
b3SharedMemoryCommandHandle b3GetDynamicInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_GET_DYNAMIC_INFO;
command->m_getDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_getDynamicInfoArgs.m_linkIndex = linkIndex;
command->m_type = CMD_GET_DYNAMICS_INFO;
command->m_getDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_getDynamicsInfoArgs.m_linkIndex = linkIndex;
return (b3SharedMemoryCommandHandle) command;
}
int b3GetDynamicInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicInfo* info)
int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicsInfo* info)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
const b3DynamicInfo &dynamicInfo = status->m_dynamicInfo;
btAssert(status->m_type == CMD_GET_DYNAMIC_INFO);
if (status->m_type != CMD_GET_DYNAMIC_INFO_COMPLETED)
const b3DynamicsInfo &dynamicsInfo = status->m_dynamicsInfo;
btAssert(status->m_type == CMD_GET_DYNAMICS_INFO);
if (status->m_type != CMD_GET_DYNAMICS_INFO_COMPLETED)
return false;
info->m_mass = dynamicInfo.m_mass;
info->m_lateralFrictionCoeff = dynamicInfo.m_lateralFrictionCoeff;
info->m_mass = dynamicsInfo.m_mass;
info->m_lateralFrictionCoeff = dynamicsInfo.m_lateralFrictionCoeff;
return true;
}
b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient)
b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_RESET_DYNAMIC_INFO;
command->m_type = CMD_RESET_DYNAMICS_INFO;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass)
int b3ResetDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO);
b3Assert(command->m_type == CMD_RESET_DYNAMICS_INFO);
b3Assert(mass > 0);
command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicInfoArgs.m_mass = mass;
command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_MASS;
command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicsInfoArgs.m_mass = mass;
command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_MASS;
return 0;
}
int b3ResetDynamicInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
int b3ResetDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO);
command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicInfoArgs.m_lateralFriction = lateralFriction;
command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION;
b3Assert(command->m_type == CMD_RESET_DYNAMICS_INFO);
command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicsInfoArgs.m_lateralFriction = lateralFriction;
command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION;
return 0;
}