Merge pull request #4012 from RanTig/master

Adds a request body info command for the physics direct command. 

4 files changed, 40 insertions, 16 deletions

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 5b070713a..75f48e39d 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -3997,6 +3997,19 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsCli
 	return (b3SharedMemoryCommandHandle)command;
 }
 
+B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestBodyInfoCommand(b3PhysicsClientHandle physClient, int bodyUniqueId)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+
+	command->m_type = CMD_REQUEST_BODY_INFO;
+	command->m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	return (b3SharedMemoryCommandHandle)command;
+}
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncUserDataCommand(b3PhysicsClientHandle physClient)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index b6ec6d63b..c14feb82f 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -106,6 +106,9 @@ extern "C"
 	///If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc.
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsClientHandle physClient);
 
+	// Sync the body info of a single body. Useful when a new body has been added by a different client (e,g, when detecting through a body added notification).
+	B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestBodyInfoCommand(b3PhysicsClientHandle physClient, int bodyUniqueId);
+
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveBodyCommand(b3PhysicsClientHandle physClient, int bodyUniqueId);
 
 	///return the total number of bodies in the simulation
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index ef72e7e19..a8aa72a60 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -1008,21 +1008,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 
 				m_data->m_tmpInfoRequestCommand.m_type = CMD_REQUEST_BODY_INFO;
 				m_data->m_tmpInfoRequestCommand.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyUniqueId;
-
-				bool hasStatus = m_data->m_commandProcessor->processCommand(m_data->m_tmpInfoRequestCommand, m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
-
-				b3Clock clock;
-				double startTime = clock.getTimeInSeconds();
-				double timeOutInSeconds = m_data->m_timeOutInSeconds;
-				while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
-				{
-					hasStatus = m_data->m_commandProcessor->receiveStatus(m_data->m_tmpInfoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
-				}
-
-				if (hasStatus)
-				{
-					processBodyJointInfo(bodyUniqueId, m_data->m_tmpInfoStatus);
-				}
+				processRequestBodyInfo(m_data->m_tmpInfoRequestCommand, m_data->m_tmpInfoStatus);
 			}
 			break;
 		}
@@ -1405,6 +1391,22 @@ bool PhysicsDirect::processCustomCommand(const struct SharedMemoryCommand& orgCo
 	return m_data->m_hasStatus;
 }
 
+bool PhysicsDirect::processRequestBodyInfo(const struct SharedMemoryCommand& command, SharedMemoryStatus& status) {
+	bool hasStatus = m_data->m_commandProcessor->processCommand(command, status, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
+	b3Clock clock;
+	double startTime = clock.getTimeInSeconds();
+	double timeOutInSeconds = m_data->m_timeOutInSeconds;
+	while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
+	{
+		hasStatus = m_data->m_commandProcessor->receiveStatus(status, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
+	}
+	if (hasStatus) {
+		processBodyJointInfo(command.m_sdfRequestInfoArgs.m_bodyUniqueId, status);
+	}
+	m_data->m_hasStatus = hasStatus;
+	return m_data->m_hasStatus;
+}
+
 bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command)
 {
 	if (command.m_type == CMD_CUSTOM_COMMAND)
@@ -1434,10 +1436,14 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman
 		return processOverlappingObjects(command);
 	}
 
-  if (command.m_type == CMD_REQUEST_MESH_DATA)
+	if (command.m_type == CMD_REQUEST_MESH_DATA)
 	{
 		return processMeshData(command);
 	}
+	if (command.m_type == CMD_REQUEST_BODY_INFO)
+	{
+		return processRequestBodyInfo(command, m_data->m_serverStatus);
+	}
 
 	bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 	m_data->m_hasStatus = hasStatus;
diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h
index 2e09a95d2..0d33f8119 100644
--- a/examples/SharedMemory/PhysicsDirect.h
+++ b/examples/SharedMemory/PhysicsDirect.h
@@ -28,6 +28,8 @@ protected:
 
 	void processAddUserData(const struct SharedMemoryStatus& serverCmd);
 
+	bool processRequestBodyInfo(const struct SharedMemoryCommand& command, SharedMemoryStatus& status);
+
 	bool processCustomCommand(const struct SharedMemoryCommand& orgCommand);
 
 	void postProcessStatus(const struct SharedMemoryStatus& serverCmd);