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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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2
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -1325,7 +1325,7 @@ int BulletMJCFImporter::getRootLinkIndex() const
std::string BulletMJCFImporter::getBodyName() const std::string BulletMJCFImporter::getBodyName() const
{ {
return m_data->m_fileModelName; return m_data->m_fileModelName;
} }
bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const

2
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
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@@ -42,7 +42,7 @@ public:
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range) ///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const; virtual std::string getLinkName(int linkIndex) const;
virtual std::string getBodyName() const; virtual std::string getBodyName() const;
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise /// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const; virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -272,7 +272,7 @@ std::string BulletURDFImporter::getLinkName(int linkIndex) const
std::string BulletURDFImporter::getBodyName() const std::string BulletURDFImporter::getBodyName() const
{ {
return m_data->m_urdfParser.getModel().m_name; return m_data->m_urdfParser.getModel().m_name;
} }
std::string BulletURDFImporter::getJointName(int linkIndex) const std::string BulletURDFImporter::getJointName(int linkIndex) const

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -35,7 +35,7 @@ public:
virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const; virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
virtual std::string getBodyName() const; virtual std::string getBodyName() const;
virtual std::string getLinkName(int linkIndex) const; virtual std::string getLinkName(int linkIndex) const;

2
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -28,7 +28,7 @@ public:
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range) ///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const =0; virtual std::string getLinkName(int linkIndex) const =0;
virtual std::string getBodyName() const = 0; virtual std::string getBodyName() const = 0;
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise /// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;} virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}

8
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -20,7 +20,7 @@ struct BodyJointInfoCache
{ {
std::string m_baseName; std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo; btAlignedObjectArray<b3JointInfo> m_jointInfo;
std::string m_bodyName; std::string m_bodyName;
}; };
struct PhysicsClientSharedMemoryInternalData { struct PhysicsClientSharedMemoryInternalData {
@@ -107,7 +107,7 @@ bool PhysicsClientSharedMemory::getBodyInfo(int bodyUniqueId, struct b3BodyInfo&
{ {
BodyJointInfoCache* bodyJoints = *bodyJointsPtr; BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str(); 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; return true;
} }
@@ -308,7 +308,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache; BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints); 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++) for (int i = 0; i < bf.m_multiBodies.size(); i++)
{ {
@@ -421,7 +421,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
BodyJointInfoCache* bodyJoints = new BodyJointInfoCache; BodyJointInfoCache* bodyJoints = new BodyJointInfoCache;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints); 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++) { 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; std::string m_baseName;
btAlignedObjectArray<b3JointInfo> m_jointInfo; 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; BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2;
m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints); 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++) 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; BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
info.m_baseName = bodyJoints->m_baseName.c_str(); 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; return true;
} }

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

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

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -201,7 +201,7 @@ struct b3UserConstraint
struct b3BodyInfo struct b3BodyInfo
{ {
const char* m_baseName; 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
}; };

6
examples/pybullet/pybullet.c
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@@ -1716,7 +1716,7 @@ static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject*
{ {
PyObject* pyListJointInfo = PyTuple_New(2); PyObject* pyListJointInfo = PyTuple_New(2);
PyTuple_SetItem(pyListJointInfo, 0, PyString_FromString(info.m_baseName)); PyTuple_SetItem(pyListJointInfo, 0, PyString_FromString(info.m_baseName));
PyTuple_SetItem(pyListJointInfo, 1, PyString_FromString(info.m_bodyName)); PyTuple_SetItem(pyListJointInfo, 1, PyString_FromString(info.m_bodyName));
return pyListJointInfo; return pyListJointInfo;
} }
} }
@@ -5146,8 +5146,8 @@ static PyMethodDef SpamMethods[] = {
{"getJointState", (PyCFunction)pybullet_getJointState, METH_VARARGS | METH_KEYWORDS, {"getJointState", (PyCFunction)pybullet_getJointState, METH_VARARGS | METH_KEYWORDS,
"Get the state (position, velocity etc) for a joint on a body."}, "Get the state (position, velocity etc) for a joint on a body."},
{"getLinkState", (PyCFunction)pybullet_getLinkState, METH_VARARGS | METH_KEYWORDS, {"getLinkState", (PyCFunction)pybullet_getLinkState, METH_VARARGS | METH_KEYWORDS,
"Provides extra information such as the Cartesian world coordinates" "Provides extra information such as the Cartesian world coordinates"
" center of mass (COM) of the link, relative to the world reference" " center of mass (COM) of the link, relative to the world reference"
" frame."}, " frame."},