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add removeState in C++ API, see also Issue https://github.com/bulletphysics/bullet3/issues/2935

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This commit is contained in:
Erwin Coumans
2020-07-17 15:04:54 -07:00
parent c9ca9cb6c6
commit 1de2269b6e
3 changed files with 28 additions and 0 deletions
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6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2038,6 +2038,12 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
if (m_data->m_threadPool)
delete m_data->m_threadPool;
for (int i = 0; i < m_data->m_savedStates.size(); i++)
{
delete m_data->m_savedStates[i].m_bulletFile;
delete m_data->m_savedStates[i].m_serializer;
}
delete m_data;
}

21
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -2546,6 +2546,27 @@ void b3RobotSimulatorClientAPI_NoDirect::restoreStateFromMemory(int stateId)
statusType = b3GetStatusType(statusHandle);
}
void b3RobotSimulatorClientAPI_NoDirect::removeState(int stateUniqueId)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0)
{
b3Warning("Not connected");
return;
}
if (stateUniqueId >= 0)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(sm))
{
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitRemoveStateCommand(sm, stateUniqueId));
statusType = b3GetStatusType(statusHandle);
}
}
}
bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation& visualShapeInfo)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;

1
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -889,6 +889,7 @@ public:
int saveStateToMemory();
void restoreStateFromMemory(int stateId);
void removeState(int stateUniqueId);
int getAPIVersion() const
{