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Allow batches of debug lines. The PhysicsClientExample rendering is still slow (one line at a time, instead of batches)

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Prepare for IMU sensor in Shared Memory Server
This commit is contained in:
erwin coumans
2015-09-03 14:18:22 -07:00
parent 5a0ca58436
commit f75df90d82
9 changed files with 203 additions and 61 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -193,6 +193,7 @@ int b3CreateSensorEnable6DofJointForceTorqueSensor(struct SharedMemoryCommand* c
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_SENSOR);
int curIndex = command->m_createSensorArguments.m_numJointSensorChanges;
command->m_createSensorArguments.m_sensorType[curIndex] = SENSOR_FORCE_TORQUE;
command->m_createSensorArguments.m_jointIndex[curIndex] = jointIndex;
command->m_createSensorArguments.m_enableJointForceSensor[curIndex] = enable;
@@ -200,6 +201,18 @@ int b3CreateSensorEnable6DofJointForceTorqueSensor(struct SharedMemoryCommand* c
return 0;
}
int b3CreateSensorEnableIMUForLink(struct SharedMemoryCommand* command, int linkIndex, int enable)
{
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_SENSOR);
int curIndex = command->m_createSensorArguments.m_numJointSensorChanges;
command->m_createSensorArguments.m_sensorType[curIndex] = SENSOR_IMU;
command->m_createSensorArguments.m_linkIndex[curIndex] = linkIndex;
command->m_createSensorArguments.m_enableSensor[curIndex] = enable;
command->m_createSensorArguments.m_numJointSensorChanges++;
return 0;
}
b3PhysicsClientHandle b3ConnectSharedMemory()
{