extend wrapper

6 files changed, 98 insertions, 7 deletions

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index ae6015da4..f464c5b70 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1525,6 +1525,24 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClie
 	return 0;
 }
 
+B3_SHARED_API b3SharedMemoryCommandHandle b3GetTetraMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	if (cl)
+	{
+		struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+		b3Assert(command);
+		command->m_type = CMD_REQUEST_TETRA_MESH_DATA;
+		command->m_updateFlags = 0;
+		command->m_resetTetraMeshDataArgs.m_startingVertex = 0;
+		command->m_resetTetraMeshDataArgs.m_bodyUniqueId = bodyUniqueId;
+		return (b3SharedMemoryCommandHandle)command;
+	}
+	return 0;
+}
+
 B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle commandHandle, int shapeIndex)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index e73930b58..4313d24ec 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -533,6 +533,7 @@ extern "C"
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId);
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
+	B3_SHARED_API b3SharedMemoryCommandHandle b3GetTetraMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
 	B3_SHARED_API void b3GetMeshDataSimulationMesh(b3SharedMemoryCommandHandle commandHandle);
 	B3_SHARED_API void b3MeshDataSimulationMeshVelocity(b3SharedMemoryCommandHandle commandHandle);
 	B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle commandHandle, int shapeIndex);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 081b6e204..2f788bf2c 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5726,7 +5726,7 @@ bool PhysicsServerCommandProcessor::processRequestTetraMeshDataCommand(const str
 	serverStatusOut.m_numDataStreamBytes = 0;
 	int sizeInBytes = 0;
 
-	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_requestMeshDataArgs.m_bodyUniqueId);
+	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_resetTetraMeshDataArgs.m_bodyUniqueId);
 	if (bodyHandle)
 	{
 		int totalBytesPerTetra = sizeof(btVector3) * 4;
@@ -5741,16 +5741,16 @@ bool PhysicsServerCommandProcessor::processRequestTetraMeshDataCommand(const str
 			
 			int numTetra = psb->m_tetras.size();
 			int maxNumnumVertecies = bufferSizeInBytes / totalBytesPerTetra - 1;
-			int numVerticesRemaining = numTetra * 4 - clientCmd.m_requestMeshDataArgs.m_startingVertex;
+			int numVerticesRemaining = numTetra * 4 - clientCmd.m_resetTetraMeshDataArgs.m_startingVertex;
 			int verticesCopied = btMin(maxNumnumVertecies, numVerticesRemaining);
 			for (int i = 0; i < verticesCopied; i += 4)
 			{
 				const btSoftBody::Tetra& n = psb->m_tetras[i / 4];
 
-				verticesOut[i].setValue(n.m_n[0].m_x.x(), n.m_n[0].m_x.y(), n.m_n[0].m_x.z());
-				verticesOut[i+1].setValue(n.m_n[1].m_x.x(), n.m_n[1].m_x.y(), n.m_n[1].m_x.z());
-				verticesOut[i+2].setValue(n.m_n[2].m_x.x(), n.m_n[2].m_x.y(), n.m_n[2].m_x.z());
-				verticesOut[i+3].setValue(n.m_n[3].m_x.x(), n.m_n[3].m_x.y(), n.m_n[3].m_x.z());
+				verticesOut[i].setValue(n.m_n[0]->m_x.x(), n.m_n[0]->m_x.y(), n.m_n[0]->m_x.z());
+				verticesOut[i+1].setValue(n.m_n[1]->m_x.x(), n.m_n[1]->m_x.y(), n.m_n[1]->m_x.z());
+				verticesOut[i+2].setValue(n.m_n[2]->m_x.x(), n.m_n[2]->m_x.y(), n.m_n[2]->m_x.z());
+				verticesOut[i+3].setValue(n.m_n[3]->m_x.x(), n.m_n[3]->m_x.y(), n.m_n[3]->m_x.z());
 			}
 			sizeInBytes = verticesCopied * sizeof(btVector3);
 			serverStatusOut.m_type = CMD_REQUEST_TETRA_MESH_DATA_COMPLETED;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 341c93123..37fc35145 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -1144,6 +1144,13 @@ struct b3RequestMeshDataArgs
 	int m_flags;
 };
 
+struct b3RequestTetraMeshDataArgs
+{
+	int m_bodyUniqueId;
+	int m_startingVertex;
+	int m_flags;
+};
+
 struct b3ResetMeshDataArgs
 {
 	int m_bodyUniqueId;
@@ -1219,8 +1226,9 @@ struct SharedMemoryCommand
 		struct UserDataRequestArgs m_removeUserDataRequestArgs;
 		struct b3CollisionFilterArgs m_collisionFilterArgs;
 		struct b3RequestMeshDataArgs m_requestMeshDataArgs;
+		struct b3RequestTetraMeshDataArgs m_requestTetraMeshDataArgs;
 		struct b3ResetMeshDataArgs m_resetMeshDataArgs;
-
+		struct b3RequestTetraMeshDataArgs m_resetTetraMeshDataArgs;
 	};
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index c209d5bf4..9b7598e0b 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -486,6 +486,12 @@ struct b3MeshData
 	struct b3MeshVertex* m_vertices;
 };
 
+struct b3TetraMeshData
+{
+	int m_numVertices;
+	struct b3MeshVertex* m_vertices;
+};
+
 struct b3OpenGLVisualizerCameraInfo
 {
 	int m_width;
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index f78f464f9..4d62b5f8e 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -9190,6 +9190,64 @@ static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject*
 }
 
 
+static PyObject* pybullet_getTetraMeshData(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int bodyUniqueId = -1;
+	b3PhysicsClientHandle sm = 0;
+	b3SharedMemoryCommandHandle command;
+	b3SharedMemoryStatusHandle statusHandle;
+	struct b3MeshData meshData;
+	int statusType;
+	int flags = -1;
+
+	int physicsClientId = 0;
+	static char* kwlist[] = {"bodyUniqueId",  "flags", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|iiii", kwlist, &bodyUniqueId,  &flags , &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+	command = b3GetTetraMeshDataCommandInit(sm, bodyUniqueId);
+	if (flags >= 0)
+	{
+		b3GetMeshDataSetFlags(command, flags);
+	}
+
+	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+	statusType = b3GetStatusType(statusHandle);
+	if (statusType == CMD_REQUEST_TETRA_MESH_DATA_COMPLETED)
+	{
+		int i;
+		PyObject* pyVertexData;
+		PyObject* pyListMeshData = PyTuple_New(2);
+		b3GetMeshData(sm, &meshData);
+		PyTuple_SetItem(pyListMeshData, 0, PyInt_FromLong(meshData.m_numVertices));
+		pyVertexData = PyTuple_New(meshData.m_numVertices);
+		PyTuple_SetItem(pyListMeshData, 1, pyVertexData);
+
+		for (i = 0; i < meshData.m_numVertices; i++)
+		{
+			PyObject* pyListVertex = PyTuple_New(3);
+			PyTuple_SetItem(pyListVertex, 0, PyFloat_FromDouble(meshData.m_vertices[i].x));
+			PyTuple_SetItem(pyListVertex, 1, PyFloat_FromDouble(meshData.m_vertices[i].y));
+			PyTuple_SetItem(pyListVertex, 2, PyFloat_FromDouble(meshData.m_vertices[i].z));
+			PyTuple_SetItem(pyVertexData, i, pyListVertex);
+		}
+
+		return pyListMeshData;
+	}
+
+	PyErr_SetString(SpamError, "getMeshData failed");
+	return NULL;
+}
+
+
+
 static PyObject* pybullet_resetMeshData(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int bodyUniqueId = -1;