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This commit is contained in:
yunfeibai
2017-03-29 15:37:33 -07:00
parent 66a8685816
commit f062847038
11 changed files with 22 additions and 22 deletions
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8
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -20,7 +20,7 @@ struct BodyJointInfoCache
{
std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName;
std::string m_bodyName;
};
struct PhysicsClientSharedMemoryInternalData {
@@ -107,7 +107,7 @@ bool PhysicsClientSharedMemory::getBodyInfo(int bodyUniqueId, struct b3BodyInfo&
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
return true;
}
@@ -308,7 +308,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
@@ -421,7 +421,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_multiBodies.size(); i++) {

6
examples/SharedMemory/PhysicsDirect.cpp
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@@ -17,7 +17,7 @@ struct BodyJointInfoCache2
{
std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName;
std::string m_bodyName;
};
@@ -606,7 +606,7 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta
BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints);
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
bodyJoints->m_bodyName = serverCmd.m_dataStreamArguments.m_bodyName;
for (int i = 0; i < bf.m_multiBodies.size(); i++)
{
@@ -933,7 +933,7 @@ bool PhysicsDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
info.m_bodyName = bodyJoints->m_bodyName.c_str();
return true;
}

10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -120,7 +120,7 @@ struct InteralBodyData
btMultiBody* m_multiBody;
btRigidBody* m_rigidBody;
int m_testData;
std::string m_bodyName;
std::string m_bodyName;
btTransform m_rootLocalInertialFrame;
btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
@@ -1608,8 +1608,8 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
btMultiBody* mb = creation.getBulletMultiBody();
btRigidBody* rb = creation.getRigidBody();
bodyHandle->m_bodyName = u2b.getBodyName();
bodyHandle->m_bodyName = u2b.getBodyName();
if (useMultiBody)
{
@@ -2653,8 +2653,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
}
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
hasStatus = true;
} else

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -103,7 +103,7 @@ struct BulletDataStreamArgs
{
char m_bulletFileName[MAX_FILENAME_LENGTH];
int m_bodyUniqueId;
char m_bodyName[MAX_FILENAME_LENGTH];
char m_bodyName[MAX_FILENAME_LENGTH];
};
struct SetJointFeedbackArgs

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -201,7 +201,7 @@ struct b3UserConstraint
struct b3BodyInfo
{
const char* m_baseName;
const char* m_bodyName; // for btRigidBody, it does not have a base, but can still have a body name from urdf
const char* m_bodyName; // for btRigidBody, it does not have a base, but can still have a body name from urdf
};