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Physics SharedMemory:

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Add flags BOX_SHAPE_HAS_MASS and  BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE to CMD_CREATE_RIGID_BODY
(which maps to CMD_CREATE_BOX_COLLISION_SHAPE for backward compatibility for now)
Need to add way to receive world transform
This commit is contained in:
erwin coumans
2015-10-27 14:55:46 -07:00
parent 57f50f1778
commit 9cc2b1ec12
6 changed files with 154 additions and 22 deletions
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53
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -246,6 +246,45 @@ int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle
return 0;
}
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_HALF_EXTENTS;
command->m_createBoxShapeArguments.m_halfExtentsX = halfExtentsX;
command->m_createBoxShapeArguments.m_halfExtentsY = halfExtentsY;
command->m_createBoxShapeArguments.m_halfExtentsZ = halfExtentsZ;
return 0;
}
int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle commandHandle, double mass)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_MASS;
command->m_createBoxShapeArguments.m_mass = mass;
return 0;
}
int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandHandle, int collisionShapeType)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE;
command->m_createBoxShapeArguments.m_collisionShapeType = collisionShapeType;
return 0;
}
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -328,20 +367,6 @@ int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3Shar
}
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_HALF_EXTENTS;
command->m_createBoxShapeArguments.m_halfExtentsX = halfExtentsX;
command->m_createBoxShapeArguments.m_halfExtentsY = halfExtentsY;
command->m_createBoxShapeArguments.m_halfExtentsZ = halfExtentsZ;
return 0;
}
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient)