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store mass matrix in streaming part of shared memory (no support for unlimited mass matrix sizes at the moment)

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This commit is contained in:
erwincoumans
2017-10-05 08:23:10 -07:00
parent a2d6a2e822
commit f467f325f7
11 changed files with 129 additions and 25 deletions
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12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3417,8 +3417,11 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateMassMatrixCommandInit(b3Phy
}
B3_SHARED_API int b3GetStatusMassMatrix(b3SharedMemoryStatusHandle statusHandle, int* dofCount, double* massMatrix)
B3_SHARED_API int b3GetStatusMassMatrix(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int* dofCount, double* massMatrix)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_CALCULATED_MASS_MATRIX_COMPLETED);
if (status->m_type != CMD_CALCULATED_MASS_MATRIX_COMPLETED)
@@ -3430,12 +3433,7 @@ B3_SHARED_API int b3GetStatusMassMatrix(b3SharedMemoryStatusHandle statusHandle,
}
if (massMatrix)
{
int numElements = status->m_massMatrixResultArgs.m_dofCount * status->m_massMatrixResultArgs.m_dofCount;
for (int i = 0; i < numElements; i++)
{
massMatrix[i] = status->m_massMatrixResultArgs.m_massMatrix[i];
}
cl->getCachedMassMatrix(status->m_massMatrixResultArgs.m_dofCount, massMatrix);
}
return true;