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Use "change" instead of "reset" for changing dynamics info.

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This commit is contained in:
yunfeibai
2017-05-09 10:44:33 -07:00
parent 98654a0cb4
commit a587d4fec4
8 changed files with 45 additions and 45 deletions
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28
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1240,39 +1240,39 @@ int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3Dynamics
return true;
}
b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient)
b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_RESET_DYNAMICS_INFO;
command->m_type = CMD_CHANGE_DYNAMICS_INFO;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3ResetDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass)
int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_RESET_DYNAMICS_INFO);
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
b3Assert(mass > 0);
command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicsInfoArgs.m_mass = mass;
command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_MASS;
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_changeDynamicsInfoArgs.m_mass = mass;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_MASS;
return 0;
}
int b3ResetDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_RESET_DYNAMICS_INFO);
command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicsInfoArgs.m_lateralFriction = lateralFriction;
command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_changeDynamicsInfoArgs.m_lateralFriction = lateralFriction;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION;
return 0;
}