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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
erwincoumans
2018-06-16 06:06:18 -07:00
parent fbbd675ed6 5b3e43d4d8
commit bb8cbcdaae
14 changed files with 226 additions and 81 deletions
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18
examples/SharedMemory/SharedMemoryCommands.h
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@@ -23,12 +23,6 @@
typedef unsigned long long int smUint64_t;
#endif
#ifdef __APPLE__
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (512*1024)
#else
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (8*1024*1024)
#endif
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 128
#define MAX_NUM_SENSORS 256
@@ -38,6 +32,7 @@
#define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM
#define MAX_USER_DATA_KEY_LENGTH MAX_URDF_FILENAME_LENGTH
struct TmpFloat3
{
float m_x;
@@ -281,15 +276,19 @@ enum EnumRequestContactDataUpdateFlags
struct RequestRaycastIntersections
{
// The number of threads that Bullet may use to perform the ray casts.
// 0: Let Bullet decide
// 1: Use a single thread (i.e. no multi-threading)
// 2 or more: Number of threads to use.
int m_numThreads;
int m_numRays;
double m_rayFromPositions[MAX_RAY_INTERSECTION_BATCH_SIZE][3];
double m_rayToPositions[MAX_RAY_INTERSECTION_BATCH_SIZE][3];
// Actual ray data stored in m_bulletStreamDataServerToClientRefactor.
};
struct SendRaycastHits
{
int m_numRaycastHits;
b3RayHitInfo m_rayHits[MAX_RAY_INTERSECTION_BATCH_SIZE];
// Actual ray data stored in m_bulletStreamDataServerToClientRefactor.
};
struct RequestContactDataArgs
@@ -1012,6 +1011,7 @@ struct SharedMemoryCommand
int m_type;
smUint64_t m_timeStamp;
int m_sequenceNumber;
struct PhysicsClient *m_client;
//m_updateFlags is a bit fields to tell which parameters need updating
//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;