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

Rename body index to body unique id.

Browse Source
This commit is contained in:
yunfeibai
2017-04-04 10:38:25 -07:00
parent 1e91e78469
commit b168f53ed9
6 changed files with 35 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -2685,28 +2685,28 @@ int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle commandHandle, int l
return 0;
}
int b3StateLoggingSetBodyIndexA(b3SharedMemoryCommandHandle commandHandle, int bodyIndexA)
int b3StateLoggingSetBodyAUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyAUniqueId)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_INDEX_A;
command->m_stateLoggingArguments.m_bodyIndexA = bodyIndexA;
command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A;
command->m_stateLoggingArguments.m_bodyUniqueIdA = bodyAUniqueId;
}
return 0;
}
int b3StateLoggingSetBodyIndexB(b3SharedMemoryCommandHandle commandHandle, int bodyIndexB)
int b3StateLoggingSetBodyBUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyBUniqueId)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_INDEX_B;
command->m_stateLoggingArguments.m_bodyIndexB = bodyIndexB;
command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B;
command->m_stateLoggingArguments.m_bodyUniqueIdB = bodyBUniqueId;
}
return 0;
}

4
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -365,8 +365,8 @@ int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle commandHa
int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle commandHandle, int maxLogDof);
int b3StateLoggingSetLinkIndexA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA);
int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
int b3StateLoggingSetBodyIndexA(b3SharedMemoryCommandHandle commandHandle, int bodyIndexA);
int b3StateLoggingSetBodyIndexB(b3SharedMemoryCommandHandle commandHandle, int bodyIndexB);
int b3StateLoggingSetBodyAUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyAUniqueId);
int b3StateLoggingSetBodyBUniqueId(b3SharedMemoryCommandHandle commandHandle, int bodyBUniqueId);
int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle);
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId);

28
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -962,8 +962,8 @@ struct ContactPointsStateLogger : public InternalStateLogger
bool m_filterLinkB;
int m_linkIndexA;
int m_linkIndexB;
int m_bodyIndexA;
int m_bodyIndexB;
int m_bodyUniqueIdA;
int m_bodyUniqueIdB;
ContactPointsStateLogger(int loggingUniqueId, const std::string& fileName, btMultiBodyDynamicsWorld* dynamicsWorld)
:m_loggingTimeStamp(0),
@@ -974,8 +974,8 @@ struct ContactPointsStateLogger : public InternalStateLogger
m_filterLinkB(false),
m_linkIndexA(-2),
m_linkIndexB(-2),
m_bodyIndexA(-1),
m_bodyIndexB(-1)
m_bodyUniqueIdA(-1),
m_bodyUniqueIdB(-1)
{
m_loggingUniqueId = loggingUniqueId;
m_loggingType = STATE_LOGGING_CONTACT_POINTS;
@@ -1062,18 +1062,18 @@ struct ContactPointsStateLogger : public InternalStateLogger
btAssert(bodyA || mblA);
//apply the filter, if the user provides it
if (m_bodyIndexA >= 0)
if (m_bodyUniqueIdA >= 0)
{
if ((m_bodyIndexA != objectIndexA) &&
(m_bodyIndexA != objectIndexB))
if ((m_bodyUniqueIdA != objectIndexA) &&
(m_bodyUniqueIdA != objectIndexB))
continue;
}
//apply the second object filter, if the user provides it
if (m_bodyIndexB >= 0)
if (m_bodyUniqueIdB >= 0)
{
if ((m_bodyIndexB != objectIndexA) &&
(m_bodyIndexB != objectIndexB))
if ((m_bodyUniqueIdB != objectIndexA) &&
(m_bodyUniqueIdB != objectIndexB))
continue;
}
@@ -2290,13 +2290,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
logger->m_filterLinkB = true;
logger->m_linkIndexB = clientCmd.m_stateLoggingArguments.m_linkIndexB;
}
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_INDEX_A) && clientCmd.m_stateLoggingArguments.m_bodyIndexA > -1)
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A) && clientCmd.m_stateLoggingArguments.m_bodyUniqueIdA > -1)
{
logger->m_bodyIndexA = clientCmd.m_stateLoggingArguments.m_bodyIndexA;
logger->m_bodyUniqueIdA = clientCmd.m_stateLoggingArguments.m_bodyUniqueIdA;
}
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_INDEX_B) && clientCmd.m_stateLoggingArguments.m_bodyIndexB > -1)
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B) && clientCmd.m_stateLoggingArguments.m_bodyUniqueIdB > -1)
{
logger->m_bodyIndexB = clientCmd.m_stateLoggingArguments.m_bodyIndexB;
logger->m_bodyUniqueIdB = clientCmd.m_stateLoggingArguments.m_bodyUniqueIdB;
}
m_data->m_stateLoggers.push_back(logger);
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;

8
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -631,8 +631,8 @@ enum eStateLoggingEnums
STATE_LOGGING_MAX_LOG_DOF=8,
STATE_LOGGING_FILTER_LINK_INDEX_A=16,
STATE_LOGGING_FILTER_LINK_INDEX_B=32,
STATE_LOGGING_FILTER_BODY_INDEX_A=64,
STATE_LOGGING_FILTER_BODY_INDEX_B=128,
STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A=64,
STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B=128,
};
struct VRCameraState
@@ -654,8 +654,8 @@ struct StateLoggingRequest
int m_maxLogDof;
int m_linkIndexA; // only if STATE_LOGGING_FILTER_LINK_INDEX_A flag is set
int m_linkIndexB; // only if STATE_LOGGING_FILTER_LINK_INDEX_B flag is set
int m_bodyIndexA;
int m_bodyIndexB;
int m_bodyUniqueIdA; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A flag is set
int m_bodyUniqueIdB; // only if STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B flag is set
};
struct StateLoggingResultArgs

2
examples/pybullet/examples/kuka_with_cube.py
View File

@@ -48,7 +48,7 @@ p.setRealTimeSimulation(useRealTimeSimulation)
trailDuration = 15
logId1 = p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,"LOG0001.txt",[0,1,2])
logId2 = p.startStateLogging(p.STATE_LOGGING_CONTACT_POINTS,"LOG0002.txt",bodyIndexA=1)
logId2 = p.startStateLogging(p.STATE_LOGGING_CONTACT_POINTS,"LOG0002.txt",bodyUniqueIdA=2)
for i in xrange(5):
print "Body %d's name is %s." % (i, p.getBodyInfo(i)[1])

16
examples/pybullet/pybullet.c
View File

@@ -2678,16 +2678,16 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
char* fileName = 0;
PyObject* objectUniqueIdsObj = 0;
int maxLogDof = -1;
int bodyIndexA = -1;
int bodyIndexB = -1;
int bodyUniqueIdA = -1;
int bodyUniqueIdB = -1;
int linkIndexA = -2;
int linkIndexB = -2;
static char* kwlist[] = {"loggingType", "fileName", "objectUniqueIds", "maxLogDof", "bodyIndexA", "bodyIndexB", "linkIndexA", "linkIndexB", "physicsClientId", NULL};
static char* kwlist[] = {"loggingType", "fileName", "objectUniqueIds", "maxLogDof", "bodyUniqueIdA", "bodyUniqueIdB", "linkIndexA", "linkIndexB", "physicsClientId", NULL};
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oiiiiii", kwlist,
&loggingType, &fileName, &objectUniqueIdsObj, &maxLogDof, &bodyIndexA, &bodyIndexB, &linkIndexA, &linkIndexB, &physicsClientId))
&loggingType, &fileName, &objectUniqueIdsObj, &maxLogDof, &bodyUniqueIdA, &bodyUniqueIdB, &linkIndexA, &linkIndexB, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -2723,13 +2723,13 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
b3StateLoggingSetMaxLogDof(commandHandle, maxLogDof);
}
if (bodyIndexA > -1)
if (bodyUniqueIdA > -1)
{
b3StateLoggingSetLinkIndexA(commandHandle, bodyIndexA);
b3StateLoggingSetBodyAUniqueId(commandHandle, bodyUniqueIdA);
}
if (bodyIndexB > -1)
if (bodyUniqueIdB > -1)
{
b3StateLoggingSetBodyIndexB(commandHandle, bodyIndexB);
b3StateLoggingSetBodyBUniqueId(commandHandle, bodyUniqueIdB);
}
if (linkIndexA > -2)
{