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Merge pull request #1715 from eastskykang/b3RobotAPI

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added functions to b3RobotSimulatorClientAPI_NoGUI
This commit is contained in:
erwincoumans
2018-05-30 14:08:27 +10:00
committed by GitHub
parent 851459dbfe 325ccad258
commit afa5ab25a6
2 changed files with 70 additions and 3 deletions
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56
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
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@@ -1270,6 +1270,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getDynamicsInfo(int bodyUniqueId, int link
status_handle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, cmd_handle);
status_type = b3GetStatusType(status_handle);
if (status_type == CMD_GET_DYNAMICS_INFO_COMPLETED) {
b3GetDynamicsInfo(status_handle, dynamicsInfo);
return true;
} else {
b3Warning("getDynamicsInfo did not complete");
@@ -1626,6 +1627,10 @@ bool b3RobotSimulatorClientAPI_NoGUI::setPhysicsEngineParameter(struct b3RobotSi
b3PhysicsParamSetDefaultFrictionERP(command,args.m_frictionERP);
}
if (args.m_solverResidualThreshold >= 0) {
b3PhysicsParamSetSolverResidualThreshold(command, args.m_solverResidualThreshold);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
return true;
}
@@ -2060,4 +2065,53 @@ 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;
}
}

17
examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
View File

@@ -152,7 +152,14 @@ struct b3RobotSimulatorJointMotorArrayArgs
double *m_forces;
b3RobotSimulatorJointMotorArrayArgs(int controlMode, int numControlledDofs)
: m_controlMode(controlMode), m_numControlledDofs(numControlledDofs)
: m_controlMode(controlMode),
m_numControlledDofs(numControlledDofs),
m_jointIndices(NULL),
m_targetPositions(NULL),
m_kps(NULL),
m_targetVelocities(NULL),
m_kds(NULL),
m_forces(NULL)
{
}
};
@@ -204,6 +211,7 @@ struct b3RobotSimulatorSetPhysicsEngineParameters
double m_erp;
double m_contactERP;
double m_frictionERP;
double m_solverResidualThreshold;
b3RobotSimulatorSetPhysicsEngineParameters()
: m_fixedTimeStep(-1),
@@ -218,7 +226,8 @@ struct b3RobotSimulatorSetPhysicsEngineParameters
m_restitutionVelocityThreshold(-1),
m_erp(-1),
m_contactERP(-1),
m_frictionERP(-1)
m_frictionERP(-1),
m_solverResidualThreshold(-1)
{}
};
@@ -566,6 +575,10 @@ public:
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
virtual struct GUIHelperInterface* getGuiHelper();
bool getCollisionShapeData(int bodyUniqueId, int linkIndex, b3CollisionShapeInformation &collisionShapeInfo);
bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo);
};