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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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17
examples/SharedMemory/SharedMemoryCommands.h
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@@ -151,6 +151,21 @@ struct RequestContactDataArgs
int m_objectBIndexFilter;
};
struct RequestVisualShapeDataArgs
{
int m_bodyUniqueId;
int m_startingVisualShapeIndex;
};
struct SendVisualShapeDataArgs
{
int m_bodyUniqueId;
int m_startingVisualShapeIndex;
int m_numVisualShapesCopied;
int m_numRemainingVisualShapes;
};
struct SendDebugLinesArgs
{
@@ -461,6 +476,7 @@ struct SharedMemoryCommand
struct CalculateJacobianArgs m_calculateJacobianArguments;
struct CreateJointArgs m_createJointArguments;
struct RequestContactDataArgs m_requestContactPointArguments;
struct RequestVisualShapeDataArgs m_requestVisualShapeDataArguments;
struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments;
};
};
@@ -496,6 +512,7 @@ struct SharedMemoryStatus
struct CalculateJacobianResultArgs m_jacobianResultArgs;
struct SendContactDataArgs m_sendContactPointArgs;
struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs;
struct SendVisualShapeDataArgs m_sendVisualShapeArgs;
};
};