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improvements to the shared memory physics API:

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support picking in C API etc.
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=
2015-09-24 22:42:22 -07:00
parent 066ff5f2e9
commit e05825f639
8 changed files with 140 additions and 16 deletions
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54
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -139,11 +139,11 @@ b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle phy
return (b3SharedMemoryCommandHandle) command;
}
int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value)
int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateQ[dofIndex] = value;
command->m_sendDesiredStateCommandArgument.m_desiredStateQ[qIndex] = value;
return 0;
}
@@ -200,6 +200,19 @@ b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandl
return (b3SharedMemoryCommandHandle) command;
}
void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, b3JointSensorState *state)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
b3Assert(status);
b3JointInfo info;
b3GetJointInfo(physClient, jointIndex, &info);
state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex];
state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex];
for (int ii(0); ii < 6; ++ii) {
state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
}
}
b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
@@ -379,7 +392,43 @@ void b3GetJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct b3Jo
cl->getJointInfo(linkIndex,*info);
}
int b3PickBody(struct SharedMemoryCommand *command,
double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ)
{
b3Assert(command);
b3Assert(command->m_type == CMD_PICK_BODY);
command->m_pickBodyArguments.m_rayFromWorld[0] = rayFromWorldX;
command->m_pickBodyArguments.m_rayFromWorld[1] = rayFromWorldY;
command->m_pickBodyArguments.m_rayFromWorld[2] = rayFromWorldZ;
command->m_pickBodyArguments.m_rayToWorld[0] = rayToWorldX;
command->m_pickBodyArguments.m_rayToWorld[1] = rayToWorldY;
command->m_pickBodyArguments.m_rayToWorld[2] = rayToWorldZ;
return 0;
}
int b3MovePickedBody(struct SharedMemoryCommand *command,
double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ)
{
b3Assert(command);
b3Assert(command->m_type == CMD_MOVE_PICKED_BODY);
command->m_pickBodyArguments.m_rayFromWorld[0] = rayFromWorldX;
command->m_pickBodyArguments.m_rayFromWorld[1] = rayFromWorldY;
command->m_pickBodyArguments.m_rayFromWorld[2] = rayFromWorldZ;
command->m_pickBodyArguments.m_rayToWorld[0] = rayToWorldX;
command->m_pickBodyArguments.m_rayToWorld[1] = rayToWorldY;
command->m_pickBodyArguments.m_rayToWorld[2] = rayToWorldZ;
return 0;
}
int b3RemovePickingConstraint(b3SharedMemoryCommandHandle commandHandle)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REMOVE_PICKING_CONSTRAINT_BODY);
return 0;
}
b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode)
{
@@ -409,4 +458,3 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l
}
}