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update pybullet quickstart quide PDF

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hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
This commit is contained in:
Erwin Coumans
2016-12-31 14:43:15 -08:00
parent 63d3374c00
commit c940f0ec47
18 changed files with 288 additions and 138 deletions
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23
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -318,6 +318,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
}
break;
}
case CMD_MJCF_LOADING_COMPLETED:
{
if (m_data->m_verboseOutput) {
b3Printf("Server loading the MJCF OK\n");
}
break;
}
case CMD_SDF_LOADING_COMPLETED: {
if (m_data->m_verboseOutput) {
@@ -402,6 +410,13 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break;
}
case CMD_MJCF_LOADING_FAILED:
{
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the MJCF...\n");
}
break;
}
case CMD_SDF_LOADING_FAILED: {
if (m_data->m_verboseOutput) {
b3Printf("Server failed loading the SDF...\n");
@@ -778,11 +793,6 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Save .bullet failed");
break;
}
case CMD_MJCF_LOADING_FAILED:
{
b3Warning("Load .mjcf failed");
break;
}
case CMD_USER_DEBUG_DRAW_COMPLETED:
{
break;
@@ -819,7 +829,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
m_data->m_waitingForServer = true;
}
if (serverCmd.m_type == CMD_SDF_LOADING_COMPLETED)
if ((serverCmd.m_type == CMD_SDF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_MJCF_LOADING_COMPLETED))
{
int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
if (numBodies>0)