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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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20
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -194,7 +194,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
case CMD_LOAD_URDF:
{
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "r2d2.urdf");//kuka_lwr/kuka.urdf");
b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_lwr/kuka.urdf");
//setting the initial position, orientation and other arguments are optional
double startPosX = 0;
@@ -214,6 +214,19 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_CREATE_RIGID_BODY:
{
b3SharedMemoryCommandHandle commandHandle = b3CreateBoxShapeCommandInit(m_physicsClientHandle);
b3CreateBoxCommandSetStartPosition(commandHandle,0,0,0);
b3CreateBoxCommandSetMass(commandHandle,1);
b3CreateBoxCommandSetCollisionShapeType(commandHandle,COLLISION_SHAPE_TYPE_CYLINDER_Y);
double radius = 0.2;
double halfHeight = 0.5;
b3CreateBoxCommandSetHalfExtents(commandHandle,radius,halfHeight,radius);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
b3SharedMemoryCommandHandle commandHandle = b3RequestActualStateCommandInit(m_physicsClientHandle);
@@ -360,6 +373,7 @@ void PhysicsClientExample::createButtons()
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
createButton("Initialize Pose",CMD_INIT_POSE, isTrigger);
@@ -515,8 +529,8 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
enqueueCommand(CMD_SEND_DESIRED_STATE);
enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
enqueueCommand(CMD_REQUEST_DEBUG_LINES);
enqueueCommand(CMD_REQUEST_ACTUAL_STATE);
//enqueueCommand(CMD_REQUEST_DEBUG_LINES);
//enqueueCommand(CMD_REQUEST_ACTUAL_STATE);
}
}
}