diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 7ec282897..a7eb18097 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1680,20 +1680,20 @@ B3_SHARED_API int b3GetNumUserConstraints(b3PhysicsClientHandle physClient) return cl->getNumUserConstraints(); } -B3_SHARED_API int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniqueId, struct b3UserConstraint* infoPtr) +B3_SHARED_API int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniqueId, struct b3UserConstraint* info) { PhysicsClient* cl = (PhysicsClient* ) physClient; b3UserConstraint constraintInfo1; b3Assert(physClient); - b3Assert(infoPtr); + b3Assert(info); b3Assert(constraintUniqueId>=0); - if (infoPtr==0) + if (info==0) return 0; if (cl->getUserConstraintInfo(constraintUniqueId, constraintInfo1)) { - *infoPtr = constraintInfo1; + *info = constraintInfo1; return 1; } return 0; @@ -2049,7 +2049,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3P return (b3SharedMemoryCommandHandle)command; } -B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double pivotInB[3]) +B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); @@ -2059,12 +2059,12 @@ B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHan command->m_updateFlags |= USER_CONSTRAINT_CHANGE_PIVOT_IN_B; - command->m_userConstraintArguments.m_childFrame[0] = pivotInB[0]; - command->m_userConstraintArguments.m_childFrame[1] = pivotInB[1]; - command->m_userConstraintArguments.m_childFrame[2] = pivotInB[2]; + command->m_userConstraintArguments.m_childFrame[0] = jointChildPivot[0]; + command->m_userConstraintArguments.m_childFrame[1] = jointChildPivot[1]; + command->m_userConstraintArguments.m_childFrame[2] = jointChildPivot[2]; return 0; } -B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double frameOrnInB[4]) +B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); @@ -2073,10 +2073,10 @@ B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHan command->m_updateFlags |= USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B; - command->m_userConstraintArguments.m_childFrame[3] = frameOrnInB[0]; - command->m_userConstraintArguments.m_childFrame[4] = frameOrnInB[1]; - command->m_userConstraintArguments.m_childFrame[5] = frameOrnInB[2]; - command->m_userConstraintArguments.m_childFrame[6] = frameOrnInB[3]; + command->m_userConstraintArguments.m_childFrame[3] = jointChildFrameOrn[0]; + command->m_userConstraintArguments.m_childFrame[4] = jointChildFrameOrn[1]; + command->m_userConstraintArguments.m_childFrame[5] = jointChildFrameOrn[2]; + command->m_userConstraintArguments.m_childFrame[6] = jointChildFrameOrn[3]; return 0; } diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 3aa31e3d8..4b686cec0 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -104,7 +104,7 @@ B3_SHARED_API int b3GetBodyUniqueId(b3PhysicsClientHandle physClient, int serial B3_SHARED_API int b3GetBodyInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, struct b3BodyInfo* info); ///give a unique body index (after loading the body) return the number of joints. -B3_SHARED_API int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex); +B3_SHARED_API int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyId); ///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h B3_SHARED_API int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info); @@ -187,8 +187,8 @@ B3_SHARED_API int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle ///request an image from a simulated camera, using a software renderer. B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient); -B3_SHARED_API void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[/*16*/], float projectionMatrix[/*16*/]); -B3_SHARED_API void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height ); +B3_SHARED_API void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[/*16*/], float projectionMatrix[/*16*/]); +B3_SHARED_API void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle commandHandle, int width, int height ); B3_SHARED_API void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[/*3*/]); B3_SHARED_API void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[/*3*/]); B3_SHARED_API void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance); @@ -210,13 +210,13 @@ B3_SHARED_API void b3ComputeProjectionMatrixFOV(float fov, float aspect, float n /* obsolete, please use b3ComputeViewProjectionMatrices */ -B3_SHARED_API void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[/*3*/], const float cameraTargetPosition[/*3*/], const float cameraUp[/*3*/]); +B3_SHARED_API void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, const float cameraPosition[/*3*/], const float cameraTargetPosition[/*3*/], const float cameraUp[/*3*/]); /* obsolete, please use b3ComputeViewProjectionMatrices */ B3_SHARED_API void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[/*3*/], float distance, float yaw, float pitch, float roll, int upAxis); /* obsolete, please use b3ComputeViewProjectionMatrices */ -B3_SHARED_API void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal); +B3_SHARED_API void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle commandHandle, float left, float right, float bottom, float top, float nearVal, float farVal); /* obsolete, please use b3ComputeViewProjectionMatrices */ -B3_SHARED_API void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle command, float fov, float aspect, float nearVal, float farVal); +B3_SHARED_API void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle commandHandle, float fov, float aspect, float nearVal, float farVal); ///request an contact point information @@ -225,7 +225,7 @@ B3_SHARED_API void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHa B3_SHARED_API void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB); B3_SHARED_API void b3SetContactFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA); B3_SHARED_API void b3SetContactFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB); -B3_SHARED_API void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo); +B3_SHARED_API void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData); ///compute the closest points between two bodies B3_SHARED_API b3SharedMemoryCommandHandle b3InitClosestDistanceQuery(b3PhysicsClientHandle physClient); @@ -465,8 +465,8 @@ B3_SHARED_API void b3GetRaycastInformation(b3PhysicsClientHandle physClient, str /// Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates. B3_SHARED_API b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient); -B3_SHARED_API void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[/*3*/], const double position[/*3*/], int flags); -B3_SHARED_API void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[/*3*/], int flags); +B3_SHARED_API void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[/*3*/], const double position[/*3*/], int flag); +B3_SHARED_API void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[/*3*/], int flag); ///experiments of robots interacting with non-rigid objects (such as btSoftBody) B3_SHARED_API b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient); @@ -505,7 +505,7 @@ B3_SHARED_API int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle B3_SHARED_API int b3StateLoggingSetLogFlags(b3SharedMemoryCommandHandle commandHandle, int logFlags); B3_SHARED_API int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle); -B3_SHARED_API int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId); +B3_SHARED_API int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUid); B3_SHARED_API b3SharedMemoryCommandHandle b3ProfileTimingCommandInit(b3PhysicsClientHandle physClient, const char* name); diff --git a/examples/SharedMemory/b3PluginManager.cpp b/examples/SharedMemory/b3PluginManager.cpp index a11063b43..7f6052349 100644 --- a/examples/SharedMemory/b3PluginManager.cpp +++ b/examples/SharedMemory/b3PluginManager.cpp @@ -2,7 +2,7 @@ #include "b3PluginManager.h" #include "Bullet3Common/b3HashMap.h" #include "Bullet3Common/b3ResizablePool.h" -#include "SharedMemoryPublic.h" +#include "PhysicsClientC_API.h" #include "PhysicsDirect.h" #include "plugins/b3PluginContext.h" diff --git a/examples/SharedMemory/b3PluginManager.h b/examples/SharedMemory/b3PluginManager.h index dd02b9630..6d4fa7ef1 100644 --- a/examples/SharedMemory/b3PluginManager.h +++ b/examples/SharedMemory/b3PluginManager.h @@ -16,7 +16,7 @@ class b3PluginManager void unloadPlugin(int pluginUniqueId); int executePluginCommand(int pluginUniqueId, const struct b3PluginArguments* arguments); void tickPlugins(double timeStep, bool isPreTick); - int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE m_executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc); + int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc); };