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

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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
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31
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2917,7 +2917,36 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_REQUEST_VISUAL_SHAPE_INFO:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED;
//retrieve the visual shape information for a specific body
int totalNumVisualShapes = m_data->m_visualConverter.getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient;
int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
int shapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
m_data->m_visualConverter.getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId,
shapeIndex,
visualShapeStoragePtr);
//m_visualConverter
serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain-1;
serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1;
serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId;
serverCmd.m_type =CMD_VISUAL_SHAPE_INFO_COMPLETED;
hasStatus = true;
break;
}
default:
{
b3Error("Unknown command encountered");