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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2016-11-29 14:17:38 -08:00
parent 0cb2b21b5f 5e52760fbd
commit e8ff969a6f
25 changed files with 931 additions and 264 deletions
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109
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -672,6 +672,40 @@ int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHan
return 0;
}
int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |= INIT_POSE_HAS_BASE_LINEAR_VELOCITY;
command->m_initPoseArgs.m_hasInitialStateQdot[0] = 1;
command->m_initPoseArgs.m_hasInitialStateQdot[1] = 1;
command->m_initPoseArgs.m_hasInitialStateQdot[2] = 1;
command->m_initPoseArgs.m_initialStateQdot[0] = linVel[0];
command->m_initPoseArgs.m_initialStateQdot[1] = linVel[1];
command->m_initPoseArgs.m_initialStateQdot[2] = linVel[2];
return 0;
}
int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_INIT_POSE);
command->m_updateFlags |= INIT_POSE_HAS_BASE_ANGULAR_VELOCITY;
command->m_initPoseArgs.m_hasInitialStateQdot[3] = 1;
command->m_initPoseArgs.m_hasInitialStateQdot[4] = 1;
command->m_initPoseArgs.m_hasInitialStateQdot[5] = 1;
command->m_initPoseArgs.m_initialStateQdot[3] = angVel[0];
command->m_initPoseArgs.m_initialStateQdot[4] = angVel[1];
command->m_initPoseArgs.m_initialStateQdot[5] = angVel[2];
return 0;
}
int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -686,6 +720,8 @@ int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHand
return 0;
}
int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1195,6 +1231,46 @@ int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle)
return status->m_userDebugDrawArgs.m_debugItemUniqueId;
}
b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_USER_DEBUG_DRAW;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
command->m_updateFlags |= USER_DEBUG_SET_CUSTOM_OBJECT_COLOR;
command->m_userDebugDrawArgs.m_objectUniqueId = objectUniqueId;
command->m_userDebugDrawArgs.m_linkIndex = linkIndex;
command->m_userDebugDrawArgs.m_objectDebugColorRGB[0] = objectColorRGB[0];
command->m_userDebugDrawArgs.m_objectDebugColorRGB[1] = objectColorRGB[1];
command->m_userDebugDrawArgs.m_objectDebugColorRGB[2] = objectColorRGB[2];
}
void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
command->m_updateFlags |= USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR;
command->m_userDebugDrawArgs.m_objectUniqueId = objectUniqueId;
command->m_userDebugDrawArgs.m_linkIndex = linkIndex;
}
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient)
@@ -1533,6 +1609,8 @@ b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClient
command->m_requestContactPointArguments.m_startingContactPointIndex = 0;
command->m_requestContactPointArguments.m_objectAIndexFilter = -1;
command->m_requestContactPointArguments.m_objectBIndexFilter = -1;
command->m_requestContactPointArguments.m_linkIndexAIndexFilter = -2;
command->m_requestContactPointArguments.m_linkIndexBIndexFilter = -2;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
@@ -1545,6 +1623,37 @@ void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int body
command->m_requestContactPointArguments.m_objectAIndexFilter = bodyUniqueIdA;
}
void b3SetContactFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER;
command->m_requestContactPointArguments.m_linkIndexAIndexFilter= linkIndexA;
}
void b3SetContactFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER;
command->m_requestContactPointArguments.m_linkIndexBIndexFilter = linkIndexB;
}
void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA)
{
b3SetContactFilterLinkA(commandHandle, linkIndexA);
}
void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB)
{
b3SetContactFilterLinkB(commandHandle, linkIndexB);
}
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;