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further work on shared memory API

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fix dependency of BulletDynamics to Bullet3Common (b3Printf)
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=
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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46
examples/SharedMemory/RobotControlExample.cpp
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@@ -167,8 +167,13 @@ void MyCallback2(int buttonId, bool buttonState, void* userPtr)
for (int i=0;i<cl->m_numMotors;i++)
{
btScalar targetVel = cl->m_motorTargetVelocities[i].m_velTarget;
int uIndex = cl->m_motorTargetVelocities[i].m_uIndex;
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[uIndex] = targetVel;
if (targetVel>1)
{
printf("testme");
}
command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[uIndex] = targetVel;
}
break;
@@ -300,26 +305,29 @@ void RobotControlExample::stepSimulation(float deltaTime)
bool hasStatus = m_physicsClient.processServerStatus(status);
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
for (int i=0;i<m_physicsClient.getNumPoweredJoints();i++)
for (int i=0;i<m_physicsClient.getNumJoints();i++)
{
PoweredJointInfo info;
m_physicsClient.getPoweredJointInfo(i,info);
b3Printf("1-DOF PoweredJoint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
b3JointInfo info;
m_physicsClient.getJointInfo(i,info);
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
if (m_numMotors<MAX_NUM_MOTORS)
{
char motorName[1024];
sprintf(motorName,"%s q'", info.m_jointName);
MyMotorInfo* motorInfo = &m_motorTargetVelocities[m_numMotors];
motorInfo->m_velTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
m_numMotors++;
}
if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
{
if (m_numMotors<MAX_NUM_MOTORS)
{
char motorName[1024];
sprintf(motorName,"%s q'", info.m_jointName);
MyMotorInfo* motorInfo = &m_motorTargetVelocities[m_numMotors];
motorInfo->m_velTarget = 0.f;
motorInfo->m_uIndex = info.m_uIndex;
SliderParams slider(motorName,&motorInfo->m_velTarget);
slider.m_minVal=-4;
slider.m_maxVal=4;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
m_numMotors++;
}
}
}
}