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

Get body name from getBodyInfo.

Browse Source
This commit is contained in:
yunfeibai
2017-03-29 14:56:05 -07:00
parent 0a552c3ba1
commit de3f91b64e
6 changed files with 13 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -20,6 +20,7 @@ struct BodyJointInfoCache
{ {
std::string m_baseName; std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo; btAlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName;
}; };
struct PhysicsClientSharedMemoryInternalData { struct PhysicsClientSharedMemoryInternalData {
@@ -106,6 +107,7 @@ bool PhysicsClientSharedMemory::getBodyInfo(int bodyUniqueId, struct b3BodyInfo&
{ {
BodyJointInfoCache* bodyJoints = *bodyJointsPtr; BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str(); info.m_baseName = bodyJoints->m_baseName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
return true; return true;
} }
@@ -306,6 +308,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache; BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints); m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_multiBodies.size(); i++) for (int i = 0; i < bf.m_multiBodies.size(); i++)
{ {
@@ -405,6 +408,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache; BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints); m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_multiBodies.size(); i++) { for (int i = 0; i < bf.m_multiBodies.size(); i++) {

3
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -17,6 +17,7 @@ struct BodyJointInfoCache2
{ {
std::string m_baseName; std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo; btAlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName;
}; };
@@ -605,6 +606,7 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2; BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints); m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_multiBodies.size(); i++) for (int i = 0; i < bf.m_multiBodies.size(); i++)
{ {
@@ -931,6 +933,7 @@ bool PhysicsDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
{ {
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr; BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str(); info.m_baseName = bodyJoints->m_baseName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
return true; return true;
} }

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -2629,6 +2629,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize(); serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
} }
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
hasStatus = true; hasStatus = true;
} else } else

1
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -101,6 +101,7 @@ struct BulletDataStreamArgs
{ {
char m_bulletFileName[MAX_FILENAME_LENGTH]; char m_bulletFileName[MAX_FILENAME_LENGTH];
int m_bodyUniqueId; int m_bodyUniqueId;
char m_bodyName[MAX_FILENAME_LENGTH];
}; };
struct SetJointFeedbackArgs struct SetJointFeedbackArgs

2
examples/pybullet/kuka_with_cube.py
View File

@@ -50,7 +50,7 @@ trailDuration = 15
logId = p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,"LOG0001.txt",[0,1,2]) logId = p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,"LOG0001.txt",[0,1,2])
for i in xrange(5): for i in xrange(5):
print "Body %d's name is %s." % (i, p.getBodyName(i)[0]) print "Body %d's name is %s." % (i, p.getBodyInfo(i)[1])
while 1: while 1:
if (useRealTimeSimulation): if (useRealTimeSimulation):

3
examples/pybullet/pybullet.c
View File

@@ -1711,8 +1711,9 @@ static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject*
struct b3BodyInfo info; struct b3BodyInfo info;
if (b3GetBodyInfo(sm, bodyUniqueId, &info)) if (b3GetBodyInfo(sm, bodyUniqueId, &info))
{ {
PyObject* pyListJointInfo = PyTuple_New(1); PyObject* pyListJointInfo = PyTuple_New(2);
PyTuple_SetItem(pyListJointInfo, 0, PyString_FromString(info.m_baseName)); PyTuple_SetItem(pyListJointInfo, 0, PyString_FromString(info.m_baseName));
PyTuple_SetItem(pyListJointInfo, 1, PyString_FromString(info.m_bodyName));
return pyListJointInfo; return pyListJointInfo;
} }
} }