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

Merge pull request #1256 from erwincoumans/master

Browse Source 
revert API to be backward compatible, add b3CreateInProcessPhysicsSer…
This commit is contained in:
erwincoumans
2017-08-16 14:02:53 -07:00
committed by GitHub
parent b7579cbdda a66576f034
commit bc1a039d26
5 changed files with 35 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
View File

@@ -15,7 +15,7 @@ class BulletURDFImporter : public URDFImporterInterface
public:
BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling);
BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling=1);
virtual ~BulletURDFImporter();

8
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
View File

@@ -129,9 +129,9 @@ bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, i
int argc = 0;
char* argv[1] = {0};
#ifdef __APPLE__
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,1);
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
#else
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,1);
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
#endif
break;
}
@@ -140,9 +140,9 @@ bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, i
int argc = 0;
char* argv[1] = {0};
#ifdef __APPLE__
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,0);
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
#else
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,0);
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
#endif
break;
}

26
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
View File

@@ -83,14 +83,24 @@ public:
};
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[], int useInProcessMemory)
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[])
{
InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, useInProcessMemory);
InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 1);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
cl->connect();
return (b3PhysicsClientHandle ) cl;
}
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[])
{
InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 0);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
cl->connect();
return (b3PhysicsClientHandle ) cl;
}
class InProcessPhysicsClientSharedMemory : public PhysicsClientSharedMemory
{
btInProcessExampleBrowserInternalData* m_data;
@@ -123,10 +133,18 @@ public:
};
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[], int useInProcessMemory)
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[])
{
InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, useInProcessMemory);
InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 1);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
cl->connect();
return (b3PhysicsClientHandle ) cl;
}
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[])
{
InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 0);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
cl->connect();
return (b3PhysicsClientHandle ) cl;

6
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
View File

@@ -10,9 +10,11 @@ extern "C" {
///think more about naming. The b3ConnectPhysicsLoopback
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[], int useInProcessMemory);
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[]);
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[]);
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[], int useInProcessMemory);
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[]);
b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[]);
b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr);

8
examples/pybullet/pybullet.c
View File

@@ -355,9 +355,9 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
char* argv[2] = {"unused",options};
#ifdef __APPLE__
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,1);
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
#else
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,1);
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
#endif
break;
}
@@ -367,9 +367,9 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
char* argv[2] = {"unused",options};
#ifdef __APPLE__
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,0);
sm = b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(argc, argv);
#else
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,0);
sm = b3CreateInProcessPhysicsServerAndConnectSharedMemory(argc, argv);
#endif
break;
}