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expose timeout in pybullet/shared memory API

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add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
This commit is contained in:
Erwin Coumans
2017-02-24 15:34:11 -08:00
parent bb11884f89
commit a4f1e34899
34 changed files with 1654 additions and 62 deletions
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27
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1040,13 +1040,17 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan
{
b3Clock clock;
double startTime = clock.getTimeInSeconds();
double timeOutInSeconds = 10;
b3SharedMemoryStatusHandle statusHandle = 0;
b3Assert(commandHandle);
b3Assert(physClient);
if (physClient && commandHandle)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
double timeOutInSeconds = cl->getTimeOut();
b3SubmitClientCommand(physClient, commandHandle);
while ((statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
@@ -2604,3 +2608,24 @@ void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle comman
}
}
void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
if (cl)
{
cl->setTimeOut(timeOutInSeconds);
}
}
double b3GetTimeOut(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
if (cl)
{
return cl->getTimeOut();
}
return -1;
}