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implement b3RobotSimulatorClientAPI_NoDirect::createVisualShape

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This commit is contained in:
Erwin Coumans
2020-02-04 20:58:15 -08:00
parent 6428ed5e5f
commit 401abd9ebc
2 changed files with 102 additions and 6 deletions
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68
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -464,7 +464,7 @@ bool b3RobotSimulatorClientAPI_NoDirect::getBasePositionAndOrientation(int bodyU
return true;
}
bool b3RobotSimulatorClientAPI_NoDirect::resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation)
bool b3RobotSimulatorClientAPI_NoDirect::resetBasePositionAndOrientation(int bodyUniqueId, const btVector3& basePosition, const btQuaternion& baseOrientation)
{
if (!isConnected())
{
@@ -1575,7 +1575,7 @@ bool b3RobotSimulatorClientAPI_NoDirect::removeUserDebugItem(int itemUniqueId)
return true;
}
int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char* text, double* textPosition, struct b3RobotSimulatorAddUserDebugTextArgs& args)
int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(const char* text, double* textPosition, struct b3RobotSimulatorAddUserDebugTextArgs& args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0)
@@ -1611,7 +1611,7 @@ int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char* text, double* tex
return -1;
}
int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char* text, btVector3& textPosition, struct b3RobotSimulatorAddUserDebugTextArgs& args)
int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(const char* text, btVector3& textPosition, struct b3RobotSimulatorAddUserDebugTextArgs& args)
{
double dposXYZ[3];
dposXYZ[0] = textPosition.x();
@@ -2168,6 +2168,68 @@ bool b3RobotSimulatorClientAPI_NoDirect::getAABB(int bodyUniqueId, int linkIndex
return status;
}
int b3RobotSimulatorClientAPI_NoDirect::createVisualShape(int shapeType, struct b3RobotSimulatorCreateVisualShapeArgs& args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0)
{
b3Warning("Not connected");
return false;
}
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int shapeIndex = -1;
command = b3CreateVisualShapeCommandInit(sm);
if (shapeType == GEOM_SPHERE && args.m_radius > 0)
{
shapeIndex = b3CreateVisualShapeAddSphere(command, args.m_radius);
}
if (shapeType == GEOM_BOX)
{
double halfExtents[3];
scalarToDouble3(args.m_halfExtents, halfExtents);
shapeIndex = b3CreateVisualShapeAddBox(command, halfExtents);
}
if (shapeType == GEOM_CAPSULE && args.m_radius > 0 && args.m_height >= 0)
{
shapeIndex = b3CreateVisualShapeAddCapsule(command, args.m_radius, args.m_height);
}
if (shapeType == GEOM_CYLINDER && args.m_radius > 0 && args.m_height >= 0)
{
shapeIndex = b3CreateVisualShapeAddCylinder(command, args.m_radius, args.m_height);
}
if (shapeType == GEOM_MESH && args.m_fileName)
{
double meshScale[3];
scalarToDouble3(args.m_meshScale, meshScale);
shapeIndex = b3CreateVisualShapeAddMesh(command, args.m_fileName, meshScale);
}
if (shapeType == GEOM_PLANE)
{
double planeConstant = 0;
double planeNormal[3];
scalarToDouble3(args.m_planeNormal, planeNormal);
shapeIndex = b3CreateVisualShapeAddPlane(command, planeNormal, planeConstant);
}
if (shapeIndex >= 0 && args.m_flags)
{
b3CreateVisualSetFlag(command, shapeIndex, args.m_flags);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CREATE_VISUAL_SHAPE_COMPLETED)
{
int uid = b3GetStatusVisualShapeUniqueId(statusHandle);
return uid;
}
return -1;
}
int b3RobotSimulatorClientAPI_NoDirect::createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs& args)
{
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;