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This commit is contained in:
erwincoumans
2018-09-03 23:13:15 -07:00
parent 23e84ca9b6
commit 9e2f6c7935
21 changed files with 22906 additions and 780 deletions
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116
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -495,11 +495,18 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3Physic
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
return b3InitPhysicsParamCommand2((b3SharedMemoryCommandHandle) command);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand2(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -778,13 +785,21 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3Phy
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_RESET_SIMULATION;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
return b3InitResetSimulationCommand2((b3SharedMemoryCommandHandle)command);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
command->m_type = CMD_RESET_SIMULATION;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode)
{
@@ -798,15 +813,22 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2( b3PhysicsC
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
return b3JointControlCommandInit2Internal((b3SharedMemoryCommandHandle)command, bodyUniqueId, controlMode);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3JointControlCommandInit2Internal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int controlMode)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_SEND_DESIRED_STATE;
command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = bodyUniqueId;
command->m_updateFlags = 0;
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[i] = 0;
}
return (b3SharedMemoryCommandHandle) command;
for (int i = 0; i<MAX_DEGREE_OF_FREEDOM; i++)
{
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[i] = 0;
}
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value)
@@ -2055,7 +2077,7 @@ B3_SHARED_API int b3GetStatusActualState2(b3SharedMemoryStatusHandle statusHandl
{
*linkWorldVelocities = args.m_linkWorldVelocities;
}
return 1;
}
B3_SHARED_API int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
@@ -2634,23 +2656,29 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3Ph
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_USER_CONSTRAINT;
return b3InitCreateUserConstraintCommand2((b3SharedMemoryCommandHandle)command, parentBodyUniqueId, parentJointIndex, childBodyUniqueId, childJointIndex, info);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand2(b3SharedMemoryCommandHandle commandHandle, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_USER_CONSTRAINT;
command->m_updateFlags = USER_CONSTRAINT_ADD_CONSTRAINT;
command->m_userConstraintArguments.m_parentBodyIndex = parentBodyUniqueId;
command->m_userConstraintArguments.m_parentJointIndex = parentJointIndex;
command->m_userConstraintArguments.m_childBodyIndex = childBodyUniqueId;
command->m_userConstraintArguments.m_childJointIndex = childJointIndex;
for (int i = 0; i < 7; ++i) {
command->m_userConstraintArguments.m_parentFrame[i] = info->m_parentFrame[i];
command->m_userConstraintArguments.m_childFrame[i] = info->m_childFrame[i];
}
for (int i = 0; i < 3; ++i) {
command->m_userConstraintArguments.m_jointAxis[i] = info->m_jointAxis[i];
}
command->m_userConstraintArguments.m_jointType = info->m_jointType;
return (b3SharedMemoryCommandHandle)command;
command->m_userConstraintArguments.m_parentBodyIndex = parentBodyUniqueId;
command->m_userConstraintArguments.m_parentJointIndex = parentJointIndex;
command->m_userConstraintArguments.m_childBodyIndex = childBodyUniqueId;
command->m_userConstraintArguments.m_childJointIndex = childJointIndex;
for (int i = 0; i < 7; ++i) {
command->m_userConstraintArguments.m_parentFrame[i] = info->m_parentFrame[i];
command->m_userConstraintArguments.m_childFrame[i] = info->m_childFrame[i];
}
for (int i = 0; i < 3; ++i) {
command->m_userConstraintArguments.m_jointAxis[i] = info->m_jointAxis[i];
}
command->m_userConstraintArguments.m_jointType = info->m_jointType;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
@@ -3392,10 +3420,16 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClie
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_CAMERA_IMAGE_DATA;
return b3InitRequestCameraImage2((b3SharedMemoryCommandHandle)command);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage2(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_REQUEST_CAMERA_IMAGE_DATA;
command->m_requestPixelDataArguments.m_startPixelIndex = 0;
command->m_updateFlags = 0;//REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL;
return (b3SharedMemoryCommandHandle) command;
command->m_updateFlags = 0;//REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer)
@@ -4559,7 +4593,13 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit(b3P
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
return b3RequestKeyboardEventsCommandInit2((b3SharedMemoryCommandHandle)command);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit2(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_REQUEST_KEYBOARD_EVENTS_DATA;
command->m_updateFlags = 0;
@@ -4836,10 +4876,16 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3Phys
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CONFIGURE_OPENGL_VISUALIZER;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
return b3InitConfigureOpenGLVisualizer2((b3SharedMemoryCommandHandle)command);
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer2(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
command->m_type = CMD_CONFIGURE_OPENGL_VISUALIZER;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled)