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further work on shared memory API

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fix dependency of BulletDynamics to Bullet3Common (b3Printf)
This commit is contained in:
=
2015-08-02 14:00:43 -07:00
parent 19c5be5646
commit eb6663ed4b
15 changed files with 492 additions and 112 deletions
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145
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -80,6 +80,117 @@ int b3InitStepSimulationCommand(struct SharedMemoryCommand* command)
}
int b3JointControlCommandInit(struct SharedMemoryCommand* command, int controlMode)
{
b3Assert(command);
command->m_type = CMD_SEND_DESIRED_STATE;
command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
command->m_updateFlags = 0;
return 0;
}
int b3JointControlSetDesiredVelocity(struct SharedMemoryCommand* command, int dofIndex, double value)
{
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex] = 1;
return 0;
}
int b3JointControlSetMaximumForce(struct SharedMemoryCommand* command, int dofIndex, double value)
{
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
return 0;
}
int b3JointControlSetDesiredForceTorque(struct SharedMemoryCommand* command, int dofIndex, double value)
{
b3Assert(command);
command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value;
return 0;
}
int b3RequestActualStateCommandInit(struct SharedMemoryCommand* command)
{
b3Assert(command);
command->m_type =CMD_REQUEST_ACTUAL_STATE;
return 0;
}
int b3CreateBoxShapeCommandInit(struct SharedMemoryCommand* command)
{
b3Assert(command);
command->m_type = CMD_CREATE_BOX_COLLISION_SHAPE;
command->m_updateFlags =0;
return 0;
}
int b3CreateBoxCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ)
{
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_INITIAL_POSITION;
command->m_createBoxShapeArguments.m_initialPosition[0] = startPosX;
command->m_createBoxShapeArguments.m_initialPosition[1] = startPosY;
command->m_createBoxShapeArguments.m_initialPosition[2] = startPosZ;
return 0;
}
int b3CreateBoxCommandSetStartOrientation(struct SharedMemoryCommand* command, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
{
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_INITIAL_ORIENTATION;
command->m_createBoxShapeArguments.m_initialOrientation[0] = startOrnX;
command->m_createBoxShapeArguments.m_initialOrientation[1] = startOrnY;
command->m_createBoxShapeArguments.m_initialOrientation[2] = startOrnZ;
command->m_createBoxShapeArguments.m_initialOrientation[3] = startOrnW;
return 0;
}
int b3CreateBoxCommandSetHalfExtents(struct SharedMemoryCommand* command, double halfExtentsX,double halfExtentsY,double halfExtentsZ)
{
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_HALF_EXTENTS;
command->m_createBoxShapeArguments.m_halfExtentsX = halfExtentsX;
command->m_createBoxShapeArguments.m_halfExtentsY = halfExtentsY;
command->m_createBoxShapeArguments.m_halfExtentsZ = halfExtentsZ;
return 0;
}
int b3CreateSensorCommandInit(struct SharedMemoryCommand* command)
{
b3Assert(command);
command->m_type = CMD_CREATE_SENSOR;
command->m_updateFlags = 0;
command->m_createSensorArguments.m_numJointSensorChanges = 0;
return 0;
}
int b3CreateSensorEnable6DofJointForceTorqueSensor(struct SharedMemoryCommand* command, int jointIndex, int enable)
{
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_SENSOR);
int curIndex = command->m_createSensorArguments.m_numJointSensorChanges;
command->m_createSensorArguments.m_jointIndex[curIndex] = jointIndex;
command->m_createSensorArguments.m_enableJointForceSensor[curIndex] = enable;
command->m_createSensorArguments.m_numJointSensorChanges++;
return 0;
}
b3PhysicsClientHandle b3ConnectSharedMemory( int allowSharedMemoryInitialization)
{
PhysicsClientSharedMemory* cl = new PhysicsClientSharedMemory();
@@ -111,41 +222,19 @@ int b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryC
return (int)cl->submitClientCommand(*command);
}
int b3GetNumJoints(b3PhysicsClientHandle physClient)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
return cl->getNumPoweredJoints();
return cl->getNumJoints();
}
void b3GetPoweredJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct PoweredJointInfo* info)
void b3GetJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct b3JointInfo* info)
{
PhysicsClientSharedMemory* cl = (PhysicsClientSharedMemory* ) physClient;
cl->getPoweredJointInfo(linkIndex,*info);
cl->getJointInfo(linkIndex,*info);
}
#if 0
#include "SharedMemoryBlock.h"
#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
B3_DECLARE_HANDLE(b3PhysicsClientHandle);
b3PhysicsClientHandle b3ConnectSharedMemory(int memKey, int allowSharedMemoryInitialization);
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
int b3ProcessServerStatus(b3PhysicsClientHandle physClient, struct SharedMemoryStatus* status);
int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command);
int b3GetNumPoweredJoints(b3PhysicsClientHandle physClient);
void b3GetPoweredJointInfo(int linkIndex, struct PoweredJointInfo* info);
int b3InitPhysicsParamCommand(struct SharedMemoryCommand* command);
int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz);
#endif