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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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31
examples/SharedMemory/PhysicsClientC_API.h
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@@ -22,9 +22,9 @@ int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command);
int b3GetNumPoweredJoints(b3PhysicsClientHandle physClient);
int b3GetNumJoints(b3PhysicsClientHandle physClient);
void b3GetPoweredJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct PoweredJointInfo* info);
void b3GetJointInfo(b3PhysicsClientHandle physClient, int linkIndex, struct b3JointInfo* info);
int b3InitPhysicsParamCommand(struct SharedMemoryCommand* command);
int b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz);
@@ -39,6 +39,33 @@ int b3LoadUrdfCommandSetStartOrientation(struct SharedMemoryCommand* command, do
int b3LoadUrdfCommandSetUseMultiBody(struct SharedMemoryCommand* command, int useMultiBody);
int b3LoadUrdfCommandSetUseFixedBase(struct SharedMemoryCommand* command, int useFixedBase);
///Set joint control variables such as desired position/angle, desired velocity,
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
int b3JointControlCommandInit(struct SharedMemoryCommand* command, int controlMode);
//Only use when controlMode is CONTROL_MODE_VELOCITY
int b3JointControlSetDesiredVelocity(struct SharedMemoryCommand* command, int dofIndex, double value);
int b3JointControlSetMaximumForce(struct SharedMemoryCommand* command, int dofIndex, double value);
///Only use if when controlMode is CONTROL_MODE_TORQUE,
int b3JointControlSetDesiredForceTorque(struct SharedMemoryCommand* command, int dofIndex, double value);
///the creation of collision shapes and rigid bodies etc is likely going to change,
///but good to have a b3CreateBoxShapeCommandInit for now
//create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
//after that, you can optionally adjust the initial position, orientation and size
int b3CreateBoxShapeCommandInit(struct SharedMemoryCommand* command);
int b3CreateBoxCommandSetStartPosition(struct SharedMemoryCommand* command, double startPosX,double startPosY,double startPosZ);
int b3CreateBoxCommandSetStartOrientation(struct SharedMemoryCommand* command, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
int b3CreateBoxCommandSetHalfExtents(struct SharedMemoryCommand* command, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
int b3CreateSensorCommandInit(struct SharedMemoryCommand* command);
int b3CreateSensorEnable6DofJointForceTorqueSensor(struct SharedMemoryCommand* command, int dofIndex, int enable);
int b3RequestActualStateCommandInit(struct SharedMemoryCommand* command);
#ifdef __cplusplus
}