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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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14
test/SharedMemory/test.c
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@@ -54,13 +54,21 @@ int main(int argc, char* argv[])
timeout = MAX_TIMEOUT;
while ((timeout-- > 0) && b3ProcessServerStatus(sm, &status)==0) {}
b3Printf("timeout = %d\n",timeout);
int imuLinkIndex = -1;
numJoints = b3GetNumJoints(sm);
for (i=0;i<numJoints;i++)
{
struct b3JointInfo jointInfo;
b3GetJointInfo(sm,i,&jointInfo);
printf("jointInfo[%d].m_jointName=%s\n",i,jointInfo.m_jointName);
//pick the IMU link index based on torso name
if (strstr(jointInfo.m_linkName,"base_link"))
{
imuLinkIndex = i;
}
//pick the joint index based on joint name
if (strstr(jointInfo.m_jointName,"base_to_left_leg"))
{
@@ -76,6 +84,12 @@ int main(int argc, char* argv[])
if ((sensorJointIndexLeft>=0) || (sensorJointIndexRight>=0))
{
ret = b3CreateSensorCommandInit(&command);
if (imuLinkIndex>=0)
{
ret = b3CreateSensorEnableIMUForLink(&command, imuLinkIndex, 1);
}
if (sensorJointIndexLeft>=0)
{
ret = b3CreateSensorEnable6DofJointForceTorqueSensor(&command, sensorJointIndexLeft, 1);