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Add API to get user constraint id.

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This commit is contained in:
yunfeibai
2017-05-03 18:25:25 -07:00
parent 4da2c076a7
commit c7e9a31898
11 changed files with 73 additions and 3 deletions
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2
examples/SharedMemory/PhysicsClient.h
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@@ -37,6 +37,8 @@ public:
virtual int getNumUserConstraints() const = 0;
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const = 0;
virtual int getUserConstraintId(int serialIndex) const = 0;
virtual void setSharedMemoryKey(int key) = 0;

7
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1179,6 +1179,13 @@ int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniq
return 0;
}
/// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
int b3GetUserConstraintId(b3PhysicsClientHandle physClient, int serialIndex)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
return cl->getUserConstraintId(serialIndex);
}
/// return the body unique id, given the index in range [0 , b3GetNumBodies() )
int b3GetBodyUniqueId(b3PhysicsClientHandle physClient, int serialIndex)
{

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -96,6 +96,8 @@ b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHa
int b3GetNumUserConstraints(b3PhysicsClientHandle physClient);
int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniqueId, struct b3UserConstraint* info);
/// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
int b3GetUserConstraintId(b3PhysicsClientHandle physClient, int serialIndex);
///Request physics debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h

9
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -163,6 +163,15 @@ int PhysicsClientSharedMemory::getUserConstraintInfo(int constraintUniqueId, str
return 0;
}
int PhysicsClientSharedMemory::getUserConstraintId(int serialIndex) const
{
if ((serialIndex >= 0) && (serialIndex < getNumUserConstraints()))
{
return m_data->m_userConstraintInfoMap.getKeyAtIndex(serialIndex).getUid1();
}
return -1;
}
PhysicsClientSharedMemory::PhysicsClientSharedMemory()
{

2
examples/SharedMemory/PhysicsClientSharedMemory.h
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@@ -47,6 +47,8 @@ public:
virtual int getNumUserConstraints() const;
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
virtual int getUserConstraintId(int serialIndex) const;
virtual void setSharedMemoryKey(int key);

9
examples/SharedMemory/PhysicsDirect.cpp
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@@ -925,7 +925,14 @@ int PhysicsDirect::getUserConstraintInfo(int constraintUniqueId, struct b3UserCo
return 0;
}
int PhysicsDirect::getUserConstraintId(int serialIndex) const
{
if ((serialIndex >= 0) && (serialIndex < getNumUserConstraints()))
{
return m_data->m_userConstraintInfoMap.getKeyAtIndex(serialIndex).getUid1();
}
return -1;
}
int PhysicsDirect::getBodyUniqueId(int serialIndex) const
{

2
examples/SharedMemory/PhysicsDirect.h
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@@ -66,6 +66,8 @@ public:
virtual int getNumUserConstraints() const;
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
virtual int getUserConstraintId(int serialIndex) const;
///todo: move this out of the
virtual void setSharedMemoryKey(int key);

5
examples/SharedMemory/PhysicsLoopBack.cpp
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@@ -108,6 +108,11 @@ int PhysicsLoopBack::getUserConstraintInfo(int constraintUniqueId, struct b3User
return m_data->m_physicsClient->getUserConstraintInfo( constraintUniqueId, info);
}
int PhysicsLoopBack::getUserConstraintId(int serialIndex) const
{
return m_data->m_physicsClient->getUserConstraintId(serialIndex);
}
///todo: move this out of the interface
void PhysicsLoopBack::setSharedMemoryKey(int key)
{

2
examples/SharedMemory/PhysicsLoopBack.h
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@@ -51,6 +51,8 @@ public:
virtual int getNumUserConstraints() const;
virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint&info) const;
virtual int getUserConstraintId(int serialIndex) const;
///todo: move this out of the
virtual void setSharedMemoryKey(int key);