///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_CAMERA_IMAGE_DATA;
command->m_requestPixelDataArguments.m_startPixelIndex = 0;
command->m_updateFlags = 0;//REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_INIT_POSE;
command->m_updateFlags =0;
command->m_initPoseArgs.m_bodyUniqueId = bodyIndex;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_DEBUG_LINES;
command->m_requestDebugLinesArguments.m_debugMode = debugMode;
command->m_requestDebugLinesArguments.m_startingLineIndex = 0;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int controlMode)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_SEND_DESIRED_STATE;
command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = 0;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_RESET_SIMULATION;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_APPLY_EXTERNAL_FORCE;
command->m_updateFlags = 0;
command->m_externalForceArguments.m_numForcesAndTorques = 0;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CREATE_SENSOR;
command->m_updateFlags = 0;
command->m_createSensorArguments.m_numJointSensorChanges = 0;
command->m_createSensorArguments.m_bodyUniqueId = 0;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3JointControlCommandInit2( b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_SEND_DESIRED_STATE;
command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = bodyUniqueId;
command->m_updateFlags = 0;
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[i] = 0;
}
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ)
{
PhysicsClient *cl = (PhysicsClient *)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand *command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_PICK_BODY;
command->m_pickBodyArguments.m_rayFromWorld[0] = rayFromWorldX;
command->m_pickBodyArguments.m_rayFromWorld[1] = rayFromWorldY;
command->m_pickBodyArguments.m_rayFromWorld[2] = rayFromWorldZ;
command->m_pickBodyArguments.m_rayToWorld[0] = rayToWorldX;
command->m_pickBodyArguments.m_rayToWorld[1] = rayToWorldY;
command->m_pickBodyArguments.m_rayToWorld[2] = rayToWorldZ;
return (b3SharedMemoryCommandHandle)command;
}
b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_INIT_POSE;
command->m_updateFlags =0;
command->m_initPoseArgs.m_bodyUniqueId = bodyIndex;
//a bit slow, initialing the full range to zero...
for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
{
command->m_initPoseArgs.m_hasInitialStateQ[i] = 0;
}
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_LOAD_SDF;
int len = strlen(sdfFileName);
if (len<MAX_SDF_FILENAME_LENGTH)
{
strcpy(command->m_sdfArguments.m_sdfFileName,sdfFileName);
} else
{
command->m_sdfArguments.m_sdfFileName[0] = 0;
}
command->m_updateFlags = SDF_ARGS_FILE_NAME;
return (b3SharedMemoryCommandHandle) command;
}
int b3CanSubmitCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
return (int)cl->canSubmitCommand();
}
