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expose multibody link world transform in the shared memory API

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This commit is contained in:
Erwin Coumans
2016-04-23 17:29:46 -07:00
parent 16cbc191bd
commit f99d1c45aa
5 changed files with 40 additions and 1 deletions
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19
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -222,6 +222,25 @@ void b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandl
}
}
void b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, b3LinkState *state)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
b3Assert(status);
int bodyIndex = status->m_sendActualStateArgs.m_bodyUniqueId;
b3Assert(bodyIndex>=0);
if (bodyIndex>=0)
{
for (int i = 0; i < 7; ++i)
{
state->m_worldPosition[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + i];
}
for (int i = 0; i < 4; ++i)
{
state->m_worldOrientation[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + 3 + i];
}
}
}
b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;