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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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18
examples/SharedMemory/SharedMemoryCommands.h
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@@ -130,11 +130,14 @@ struct InitPoseArgs
struct RequestDebugLinesArgs
{
int m_debugMode;
int m_startingLineIndex;
};
struct SendDebugLinesArgs
{
int m_startingLineIndex;
int m_numDebugLines;
int m_numRemainingDebugLines;
};
@@ -198,6 +201,8 @@ struct SendActualStateArgs
int m_numDegreeOfFreedomQ;
int m_numDegreeOfFreedomU;
double m_rootLocalInertialFrame[7];
//actual state is only written by the server, read-only access by client is expected
double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];
@@ -207,12 +212,25 @@ struct SendActualStateArgs
};
enum EnumSensorTypes
{
SENSOR_FORCE_TORQUE=1,
SENSOR_IMU=1,
};
struct CreateSensorArgs
{
int m_bodyUniqueId;
int m_numJointSensorChanges;
int m_sensorType[MAX_DEGREE_OF_FREEDOM];
///todo: clean up the duplication, make sure no-one else is using those members directly (use C-API header instead)
int m_jointIndex[MAX_DEGREE_OF_FREEDOM];
int m_enableJointForceSensor[MAX_DEGREE_OF_FREEDOM];
int m_linkIndex[MAX_DEGREE_OF_FREEDOM];
int m_enableSensor[MAX_DEGREE_OF_FREEDOM];
};
typedef struct SharedMemoryCommand SharedMemoryCommand_t;