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getCollisionShapeData and getVisualShapeData were added to RobotSimulatorClinetAPI_NoGUI. b3RobotSimulatorJointMotorArrayArgs initialization bug fix.

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This commit is contained in:
donghokang
2018-05-29 16:23:17 +02:00
parent fc9a2f88ef
commit a3e4582bef
2 changed files with 69 additions and 3 deletions
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55
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
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@@ -1626,6 +1626,10 @@ bool b3RobotSimulatorClientAPI_NoGUI::setPhysicsEngineParameter(struct b3RobotSi
b3PhysicsParamSetDefaultFrictionERP(command,args.m_frictionERP);
}
if (args.m_restitutionVelocityThreshold >= 0) {
b3PhysicsParamSetSolverResidualThreshold(command, args.m_solverResidualThreshold);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
return true;
}
@@ -2060,4 +2064,53 @@ void b3RobotSimulatorClientAPI_NoGUI::setGuiHelper(struct GUIHelperInterface* gu
struct GUIHelperInterface* b3RobotSimulatorClientAPI_NoGUI::getGuiHelper()
{
return m_data->m_guiHelper;
}
}
bool b3RobotSimulatorClientAPI_NoGUI::getCollisionShapeData(int bodyUniqueId, int linkIndex,
b3CollisionShapeInformation &collisionShapeInfo)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
{
command = b3InitRequestCollisionShapeInformation(sm, bodyUniqueId, linkIndex);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
}
btAssert(statusType == CMD_COLLISION_SHAPE_INFO_COMPLETED);
if (statusType == CMD_COLLISION_SHAPE_INFO_COMPLETED) {
b3GetCollisionShapeInformation(sm, &collisionShapeInfo);
}
return true;
}
bool b3RobotSimulatorClientAPI_NoGUI::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0) {
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
{
commandHandle = b3InitRequestVisualShapeInformation(sm, bodyUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
btAssert(statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED);
if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED) {
b3GetVisualShapeInformation(sm, &visualShapeInfo);
}
return true;
}
}