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Merge branch 'master' into master

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This commit is contained in:
YunfeiBai
2018-01-08 18:13:03 -08:00
committed by GitHub
parent 0e0d3da2b5 6a74f63604
commit de3b8bf3c9
41 changed files with 2968 additions and 1413 deletions
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35
examples/SharedMemory/SharedMemoryPublic.h
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@@ -5,7 +5,8 @@
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201801010
#define SHARED_MEMORY_MAGIC_NUMBER 201801080
//#define SHARED_MEMORY_MAGIC_NUMBER 201801010
//#define SHARED_MEMORY_MAGIC_NUMBER 201710180
//#define SHARED_MEMORY_MAGIC_NUMBER 201710050
//#define SHARED_MEMORY_MAGIC_NUMBER 201708270
@@ -80,6 +81,7 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS,
CMD_SAVE_STATE,
CMD_RESTORE_STATE,
CMD_REQUEST_COLLISION_SHAPE_INFO,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -185,6 +187,8 @@ enum EnumSharedMemoryServerStatus
CMD_SAVE_STATE_COMPLETED,
CMD_RESTORE_STATE_FAILED,
CMD_RESTORE_STATE_COMPLETED,
CMD_COLLISION_SHAPE_INFO_COMPLETED,
CMD_COLLISION_SHAPE_INFO_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
@@ -217,10 +221,6 @@ enum JointType {
eGearType=6
};
enum b3RequestDynamicsInfoFlags
{
eDYNAMICS_INFO_REPORT_INERTIA=1,
};
enum b3JointInfoFlags
{
@@ -247,6 +247,7 @@ struct b3JointInfo
double m_parentFrame[7]; // position and orientation (quaternion)
double m_childFrame[7]; // ^^^
double m_jointAxis[3]; // joint axis in parent local frame
int m_parentIndex;
};
@@ -278,7 +279,14 @@ struct b3DynamicsInfo
{
double m_mass;
double m_localInertialDiagonal[3];
double m_localInertialFrame[7];
double m_lateralFrictionCoeff;
double m_rollingFrictionCoeff;
double m_spinningFrictionCoeff;
double m_restitution;
double m_contactStiffness;
double m_contactDamping;
};
// copied from btMultiBodyLink.h
@@ -531,6 +539,23 @@ struct b3VisualShapeInformation
struct b3VisualShapeData* m_visualShapeData;
};
struct b3CollisionShapeData
{
int m_objectUniqueId;
int m_linkIndex;
int m_collisionGeometryType;//GEOM_BOX, GEOM_SPHERE etc
double m_dimensions[3];//meaning depends on m_visualGeometryType GEOM_BOX: extents, GEOM_SPHERE: radius, GEOM_CAPSULE+GEOM_CYLINDER:length, radius, GEOM_MESH: mesh scale
double m_localCollisionFrame[7];//pos[3], orn[4]
char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN];
};
struct b3CollisionShapeInformation
{
int m_numCollisionShapes;
struct b3CollisionShapeData* m_collisionShapeData;
};
enum eLinkStateFlags
{
ACTUAL_STATE_COMPUTE_LINKVELOCITY=1,