Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

more work towards removeBody for C-API/pybullet, work-in-progress.

Browse Source
This commit is contained in:
Erwin Coumans
2017-05-03 21:53:29 -07:00
parent 152e3da3e4
commit a86f584824
13 changed files with 278 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -724,6 +724,20 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
m_data->m_userConstraintInfoMap.remove(cid);
break;
}
case CMD_REMOVE_BODY_FAILED:
{
b3Warning("Remove body failed\n");
break;
}
case CMD_REMOVE_BODY_COMPLETED:
{
for (int i=0;i<serverCmd.m_removeObjectArgs.m_numBodies;i++)
{
int bodyUniqueId = serverCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
removeCachedBody(bodyUniqueId);
}
break;
}
case CMD_CHANGE_USER_CONSTRAINT_COMPLETED:
{
int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
@@ -909,6 +923,28 @@ int PhysicsDirect::getNumBodies() const
return m_data->m_bodyJointMap.size();
}
void PhysicsDirect::removeCachedBody(int bodyUniqueId)
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
if (bodyJoints->m_jointInfo[j].m_jointName)
{
free(bodyJoints->m_jointInfo[j].m_jointName);
}
if (bodyJoints->m_jointInfo[j].m_linkName)
{
free(bodyJoints->m_jointInfo[j].m_linkName);
}
}
delete (*bodyJointsPtr);
m_data->m_bodyJointMap.remove(bodyUniqueId);
}
}
int PhysicsDirect::getNumUserConstraints() const
{
return m_data->m_userConstraintInfoMap.size();