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Merge pull request #2608 from erwincoumans/master

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implement b3RobotSimulatorClientAPI_NoDirect::createVisualShape
This commit is contained in:
erwincoumans
2020-02-06 09:00:05 -08:00
committed by GitHub
parent 7d2a639fe1 d0f895fbbd
commit b809cdef5b
2 changed files with 102 additions and 6 deletions
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68
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
View File

@@ -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;

40
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
View File

@@ -492,6 +492,38 @@ struct b3RobotSimulatorCreateCollisionShapeArgs
}
};
struct b3RobotSimulatorCreateVisualShapeArgs
{
int m_shapeType;
double m_radius;
btVector3 m_halfExtents;
double m_height;
char* m_fileName;
btVector3 m_meshScale;
btVector3 m_planeNormal;
int m_flags;
b3RobotSimulatorCreateVisualShapeArgs()
: m_shapeType(-1),
m_radius(0.5),
m_height(1),
m_fileName(NULL),
m_flags(0)
{
m_halfExtents.m_floats[0] = 1;
m_halfExtents.m_floats[1] = 1;
m_halfExtents.m_floats[2] = 1;
m_meshScale.m_floats[0] = 1;
m_meshScale.m_floats[1] = 1;
m_meshScale.m_floats[2] = 1;
m_planeNormal.m_floats[0] = 0;
m_planeNormal.m_floats[1] = 0;
m_planeNormal.m_floats[2] = 1;
}
};
struct b3RobotSimulatorCreateMultiBodyArgs
{
double m_baseMass;
@@ -707,7 +739,7 @@ public:
bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo *bodyInfo);
bool getBasePositionAndOrientation(int bodyUniqueId, btVector3 &basePosition, btQuaternion &baseOrientation) const;
bool resetBasePositionAndOrientation(int bodyUniqueId, btVector3 &basePosition, btQuaternion &baseOrientation);
bool resetBasePositionAndOrientation(int bodyUniqueId, const btVector3 &basePosition, const btQuaternion &baseOrientation);
bool getBaseVelocity(int bodyUniqueId, btVector3 &baseLinearVelocity, btVector3 &baseAngularVelocity) const;
bool resetBaseVelocity(int bodyUniqueId, const btVector3 &linearVelocity, const btVector3 &angularVelocity) const;
@@ -792,9 +824,9 @@ public:
bool removeUserDebugItem(int itemUniqueId);
int addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugText(const char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugText(const char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
int addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
@@ -830,6 +862,8 @@ public:
bool getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax);
int createVisualShape(int shapeType, struct b3RobotSimulatorCreateVisualShapeArgs& args);
int createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args);
int createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args);