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add a few lines of documentation and some error checks in SharedMemory API

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This commit is contained in:
Erwin Coumans 2016-04-13 13:06:15 -07:00
parent f3c7f30684
commit 34e6eb4a18
2 changed files with 29 additions and 13 deletions
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26
examples/SharedMemory/PhysicsClientC_API.h
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@ -15,23 +15,29 @@ B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
extern "C" {
#endif
///make sure to start the server first, before connecting client to a physics server over shared memory or UDP
///b3ConnectSharedMemory will connect to a physics server over shared memory, so
///make sure to start the server first.
///and a way to spawn an OpenGL 3D GUI physics server and connect (b3CreateInProcessPhysicsServerAndConnect)
b3PhysicsClientHandle b3ConnectSharedMemory(int key);
///b3DisconnectSharedMemory will disconnect the client from the server and cleanup memory.
void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
///check if a command can be send
///There can only be 1 outstanding command. Check if a command can be send.
int b3CanSubmitCommand(b3PhysicsClientHandle physClient);
//blocking submit command and wait for status
///blocking submit command and wait for status
b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
///non-blocking submit command
///In general it is better to use b3SubmitClientCommandAndWaitStatus. b3SubmitClientCommand is a non-blocking submit
///command, which requires checking for the status manually, using b3ProcessServerStatus. Also, before sending the
///next command, make sure to check if you can send a command using 'b3CanSubmitCommand'.
int b3SubmitClientCommand(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
///non-blocking check status
b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClient);
/// Get the physics server return status type. See EnumSharedMemoryServerStatus in SharedMemoryPublic.h for error codes.
int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle);
int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle);
@ -45,12 +51,18 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
const double* actualStateQdot[],
const double* jointReactionForces[]);
///give a unique body index (after loading the body) return the number of joints.
int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
///given a body and link index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
void b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, struct b3JointInfo* info);
///Request debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h
b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode);
///Get the pointers to the debug line information, after b3InitRequestDebugLinesCommand returns
///status CMD_DEBUG_LINES_COMPLETED
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
@ -86,8 +98,8 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
///the creation of collision shapes and rigid bodies etc is likely going to change,
///but good to have a b3CreateBoxShapeCommandInit for now
//create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
//after that, you can optionally adjust the initial position, orientation and size
///create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
///after that, you can optionally adjust the initial position, orientation and size
b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient);
int b3CreateBoxCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ);
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);

16
test/SharedMemory/test.c
View File

@ -45,9 +45,11 @@ void testSharedMemory(b3PhysicsClientHandle sm)
{
{
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
ret = b3PhysicsParamSetGravity(command, gravx,gravy, gravz);
ret = b3PhysicsParamSetTimeStep(command, timeStep);
b3SubmitClientCommandAndWaitStatus(sm, command);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
}
@ -112,7 +114,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
ret = b3CreateSensorEnable6DofJointForceTorqueSensor(command, sensorJointIndexRight, 1);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
}
}
@ -123,6 +125,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
ret = b3CreateBoxCommandSetStartOrientation(command,0,0,0,1);
ret = b3CreateBoxCommandSetHalfExtents(command, 10,10,1);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RIGID_BODY_CREATION_COMPLETED);
}
@ -139,9 +142,8 @@ void testSharedMemory(b3PhysicsClientHandle sm)
b3GetStatusActualState(statusHandle,
0, &posVarCount, &dofCount,
0, 0, 0, 0);
ASSERT_EQ(posVarCount,15);
ASSERT_EQ(dofCount,14);
ASSERT_EQ(posVarCount,15);
ASSERT_EQ(dofCount,14);
}
}
@ -199,7 +201,9 @@ void testSharedMemory(b3PhysicsClientHandle sm)
{
b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
b3SharedMemoryStatusHandle statusHandle;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RESET_SIMULATION_COMPLETED);
}
}