Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API

Browse Source 
b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
This commit is contained in:
erwin coumans
2016-10-18 22:05:28 -07:00
parent d1ab6c144b
commit f97cb7002d
22 changed files with 490 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -1213,6 +1213,33 @@ void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3Con
}
//request visual shape information
b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_REQUEST_VISUAL_SHAPE_INFO;
command->m_requestVisualShapeDataArguments.m_bodyUniqueId = bodyUniqueIdA;
command->m_requestVisualShapeDataArguments.m_startingVisualShapeIndex = 0;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
if (cl)
{
cl->getCachedVisualShapeInformation(visualShapeInfo);
}
}
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;