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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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38
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3898,15 +3898,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
};
case CMD_RESET_DYNAMIC_INFO:
case CMD_RESET_DYNAMICS_INFO:
{
BT_PROFILE("CMD_RESET_DYNAMIC_INFO");
BT_PROFILE("CMD_RESET_DYNAMICS_INFO");
if (clientCmd.m_updateFlags & RESET_DYNAMIC_INFO_SET_MASS)
if (clientCmd.m_updateFlags & RESET_DYNAMICS_INFO_SET_MASS)
{
int bodyUniqueId = clientCmd.m_resetDynamicInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex;
double mass = clientCmd.m_resetDynamicInfoArgs.m_mass;
int bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex;
double mass = clientCmd.m_resetDynamicsInfoArgs.m_mass;
btAssert(bodyUniqueId >= 0);
btAssert(linkIndex >= -1);
@@ -3925,11 +3925,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
if (clientCmd.m_updateFlags & RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION)
if (clientCmd.m_updateFlags & RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION)
{
int bodyUniqueId = clientCmd.m_resetDynamicInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex;
double lateralFriction = clientCmd.m_resetDynamicInfoArgs.m_lateralFriction;
int bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex;
double lateralFriction = clientCmd.m_resetDynamicsInfoArgs.m_lateralFriction;
btAssert(bodyUniqueId >= 0);
btAssert(linkIndex >= -1);
@@ -3955,26 +3955,26 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
};
case CMD_GET_DYNAMIC_INFO:
case CMD_GET_DYNAMICS_INFO:
{
int bodyUniqueId = clientCmd.m_getDynamicInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_getDynamicInfoArgs.m_linkIndex;
int bodyUniqueId = clientCmd.m_getDynamicsInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_getDynamicsInfoArgs.m_linkIndex;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody)
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_GET_DYNAMIC_INFO_COMPLETED;
serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED;
btMultiBody* mb = body->m_multiBody;
if (linkIndex == -1)
{
serverCmd.m_dynamicInfo.m_mass = mb->getBaseMass();
serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction();
serverCmd.m_dynamicsInfo.m_mass = mb->getBaseMass();
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction();
}
else
{
serverCmd.m_dynamicInfo.m_mass = mb->getLinkMass(linkIndex);
serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
serverCmd.m_dynamicsInfo.m_mass = mb->getLinkMass(linkIndex);
serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
}
hasStatus = true;
}
@@ -3982,7 +3982,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
b3Warning("The dynamic info requested is not available");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_GET_DYNAMIC_INFO_FAILED;
serverCmd.m_type = CMD_GET_DYNAMICS_INFO_FAILED;
hasStatus = true;
}
break;