diff options
| author | mbennice <mbennice@google.com> | 2019-05-07 11:18:11 -0700 |
|---|---|---|
| committer | mbennice <mbennice@google.com> | 2019-05-07 11:18:11 -0700 |
| commit | 1d2a1c093d406a0f2ba61d66824829dfbddaa607 (patch) | |
| tree | 80e9a25b55a8378b5fa396ef1a2eff36e1b92b82 | |
| parent | cf16c5c51fc1387b131a605ff18ae98200d7644a (diff) | |
| download | bullet3-1d2a1c093d406a0f2ba61d66824829dfbddaa607.tar.gz | |
Update GRPC conversion of SDF and State Update
| -rw-r--r-- | examples/SharedMemory/grpc/ConvertGRPCBullet.cpp | 21 |
1 files changed, 20 insertions, 1 deletions
diff --git a/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp b/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp index f23ce858f..2596a3465 100644 --- a/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp +++ b/examples/SharedMemory/grpc/ConvertGRPCBullet.cpp @@ -1413,6 +1413,22 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se break; } + case CMD_SDF_LOADING_COMPLETED: + { + converted = true; + const ::pybullet_grpc::SdfLoadedStatus* stat = &grpcReply.sdfstatus(); + int numBodies = stat->bodyuniqueids_size(); + if (numBodies > MAX_SDF_BODIES) + { + printf("SDF exceeds body capacity: %d > %d", numBodies, MAX_SDF_BODIES); + } + serverStatus.m_sdfLoadedArgs.m_numBodies = numBodies; + for (int i = 0; i < numBodies; i++) + { + serverStatus.m_sdfLoadedArgs.m_bodyUniqueIds[i] = stat->bodyuniqueids(i); + } + break; + } case CMD_DESIRED_STATE_RECEIVED_COMPLETED: { converted = true; @@ -1681,7 +1697,10 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer case CMD_ACTUAL_STATE_UPDATE_COMPLETED: { converted = true; - b3SharedMemoryStatusHandle statusHandle = (b3SharedMemoryStatusHandle)&serverStatus; + SharedMemoryStatus* status = (SharedMemoryStatus*)&serverStatus; + status->m_sendActualStateArgs.m_stateDetails = (SendActualStateSharedMemoryStorage*)bufferServerToClient; + b3SharedMemoryStatusHandle statusHandle = (b3SharedMemoryStatusHandle)status; + int bodyUniqueId; int numLinks; |