extending wrapper

12 files changed, 90 insertions, 9 deletions

diff --git a/examples/SharedMemory/PhysicsClient.h b/examples/SharedMemory/PhysicsClient.h
index 33c139ef1..8fc863f27 100644
--- a/examples/SharedMemory/PhysicsClient.h
+++ b/examples/SharedMemory/PhysicsClient.h
@@ -67,6 +67,8 @@ public:
 
 	virtual void getCachedMeshData(struct b3MeshData* meshData) = 0;
 
+	virtual void getCachedTetraMeshData(struct b3TetraMeshData* meshData) = 0;
+
 	virtual void getCachedVREvents(struct b3VREventsData* vrEventsData) = 0;
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData) = 0;
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index f464c5b70..71bdd5c54 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1567,6 +1567,18 @@ B3_SHARED_API void b3GetMeshDataSetFlags(b3SharedMemoryCommandHandle commandHand
 	}
 }
 
+B3_SHARED_API void b3GetTetraMeshDataSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_REQUEST_TETRA_MESH_DATA);
+	if (command->m_type == CMD_REQUEST_TETRA_MESH_DATA)
+	{
+		command->m_updateFlags = B3_TETRA_MESH_DATA_FLAGS;
+		command->m_requestMeshDataArgs.m_flags = flags;
+	}
+}
+
 B3_SHARED_API void b3GetMeshDataSimulationMesh(b3SharedMemoryCommandHandle commandHandle)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
@@ -1592,6 +1604,15 @@ B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3Mesh
 	}
 }
 
+B3_SHARED_API void b3GetTetraMeshData(b3PhysicsClientHandle physClient, struct b3TetraMeshData* meshData)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	if (cl)
+	{
+		cl->getCachedTetraMeshData(meshData);
+	}
+}
+
 B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius)
 {
 	return b3CreateCollisionShapeAddSphere(commandHandle, radius);
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 4313d24ec..563272942 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -538,8 +538,10 @@ extern "C"
 	B3_SHARED_API void b3MeshDataSimulationMeshVelocity(b3SharedMemoryCommandHandle commandHandle);
 	B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle commandHandle, int shapeIndex);
 	B3_SHARED_API void b3GetMeshDataSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
+	B3_SHARED_API void b3GetTetraMeshDataSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
 	
 	B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData);
+	B3_SHARED_API void b3GetTetraMeshData(b3PhysicsClientHandle physClient, struct b3TetraMeshData* meshData);
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3ResetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int num_vertices, const double* vertices);
 
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 3512fe3ef..1d8d966a7 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -54,6 +54,7 @@ struct PhysicsClientSharedMemoryInternalData
 	btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
 
 	b3MeshData m_cachedMeshData;
+	b3TetraMeshData m_cachedTetraMeshData;
 	btAlignedObjectArray<b3MeshVertex> m_cachedVertexPositions;
 
 	btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
@@ -1074,6 +1075,24 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
 				b3Warning("Request mesh data failed");
 				break;
 			}
+			case CMD_REQUEST_TETRA_MESH_DATA_COMPLETED:
+			{
+				m_data->m_cachedVertexPositions.resize(serverCmd.m_sendMeshDataArgs.m_startingVertex + serverCmd.m_sendMeshDataArgs.m_numVerticesCopied);
+				btVector3* verticesReceived = (btVector3*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
+				for (int i = 0; i < serverCmd.m_sendMeshDataArgs.m_numVerticesCopied; i++)
+				{
+					m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].x = verticesReceived[i].x();
+					m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].y = verticesReceived[i].y();
+					m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].z = verticesReceived[i].z();
+					m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].w = verticesReceived[i].w();
+				}
+				break;
+			}
+			case CMD_REQUEST_TETRA_MESH_DATA_FAILED:
+			{
+				b3Warning("Request tetra mesh data failed");
+				break;
+			}
 			case CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED:
 			{
 				break;
@@ -2088,6 +2107,15 @@ void PhysicsClientSharedMemory::getCachedMeshData(struct b3MeshData* meshData)
 	*meshData = m_data->m_cachedMeshData;
 }
 
+void PhysicsClientSharedMemory::getCachedTetraMeshData(struct b3TetraMeshData* meshData)
+{
+	m_data->m_cachedTetraMeshData.m_numVertices = m_data->m_cachedVertexPositions.size();
+	
+	m_data->m_cachedTetraMeshData.m_vertices = m_data->m_cachedTetraMeshData.m_numVertices ? &m_data->m_cachedVertexPositions[0] : 0;
+	
+	*meshData = m_data->m_cachedTetraMeshData;
+}
+
 const float* PhysicsClientSharedMemory::getDebugLinesFrom() const
 {
 	if (m_data->m_debugLinesFrom.size())
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.h b/examples/SharedMemory/PhysicsClientSharedMemory.h
index f1a67c525..cf9113c6d 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.h
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.h
@@ -80,6 +80,8 @@ public:
 
 	virtual void getCachedMeshData(struct b3MeshData* meshData);
 
+	virtual void getCachedTetraMeshData(struct b3TetraMeshData* meshData);
+
 	virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index a8aa72a60..f12057ae0 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -67,6 +67,7 @@ struct PhysicsDirectInternalData
 	btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
 
 	b3MeshData m_cachedMeshData;
+	b3TetraMeshData m_cachedTetraMeshData;
 	btAlignedObjectArray<b3MeshVertex> m_cachedVertexPositions;
 
 	btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
@@ -99,6 +100,7 @@ struct PhysicsDirectInternalData
 		  m_timeOutInSeconds(1e30)
 	{
 		memset(&m_cachedMeshData.m_numVertices, 0, sizeof(b3MeshData));
+		memset(&m_cachedTetraMeshData.m_numVertices, 0, sizeof(b3TetraMeshData));
 		memset(&m_command, 0, sizeof(m_command));
 		memset(&m_serverStatus, 0, sizeof(m_serverStatus));
 		memset(m_bulletStreamDataServerToClient, 0, sizeof(m_bulletStreamDataServerToClient));
@@ -1691,6 +1693,16 @@ void PhysicsDirect::getCachedMeshData(struct b3MeshData* meshData)
 	*meshData = m_data->m_cachedMeshData;
 }
 
+void PhysicsDirect::getCachedTetraMeshData(struct b3TetraMeshData* meshData)
+{
+	m_data->m_cachedTetraMeshData.m_numVertices = m_data->m_cachedVertexPositions.size();
+
+	m_data->m_cachedTetraMeshData.m_vertices = m_data->m_cachedTetraMeshData.m_numVertices ? &m_data->m_cachedVertexPositions[0] : 0;
+
+	*meshData = m_data->m_cachedTetraMeshData;
+}
+
+
 void PhysicsDirect::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
 {
 	contactPointData->m_numContactPoints = m_data->m_cachedContactPoints.size();
diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h
index 0d33f8119..441b58e74 100644
--- a/examples/SharedMemory/PhysicsDirect.h
+++ b/examples/SharedMemory/PhysicsDirect.h
@@ -106,6 +106,8 @@ public:
 
 	virtual void getCachedMeshData(struct b3MeshData* meshData);
 
+	virtual void getCachedTetraMeshData(struct b3TetraMeshData* meshData);
+
 	virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
diff --git a/examples/SharedMemory/PhysicsLoopBack.cpp b/examples/SharedMemory/PhysicsLoopBack.cpp
index 58e4d59c7..427da31e8 100644
--- a/examples/SharedMemory/PhysicsLoopBack.cpp
+++ b/examples/SharedMemory/PhysicsLoopBack.cpp
@@ -183,6 +183,11 @@ void PhysicsLoopBack::getCachedMeshData(struct b3MeshData* meshData)
 	return m_data->m_physicsClient->getCachedMeshData(meshData);
 }
 
+void PhysicsLoopBack::getCachedTetraMeshData(struct b3TetraMeshData* meshData)
+{
+	return m_data->m_physicsClient->getCachedTetraMeshData(meshData);
+}
+
 void PhysicsLoopBack::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
 {
 	return m_data->m_physicsClient->getCachedContactPointInformation(contactPointData);
diff --git a/examples/SharedMemory/PhysicsLoopBack.h b/examples/SharedMemory/PhysicsLoopBack.h
index 4626aac81..2b6eb87f2 100644
--- a/examples/SharedMemory/PhysicsLoopBack.h
+++ b/examples/SharedMemory/PhysicsLoopBack.h
@@ -78,6 +78,8 @@ public:
 
 	virtual void getCachedMeshData(struct b3MeshData* meshData);
 
+	virtual void getCachedTetraMeshData(struct b3TetraMeshData* meshData);
+
 	virtual void getCachedVREvents(struct b3VREventsData* vrEventsData);
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 2f788bf2c..202ed6c9b 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5721,8 +5721,8 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
 bool PhysicsServerCommandProcessor::processRequestTetraMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	bool hasStatus = true;
-	BT_PROFILE("CMD_REQUEST_MESH_DATA");
-	serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_FAILED;
+	BT_PROFILE("CMD_REQUEST_TETRA_MESH_DATA");
+	serverStatusOut.m_type = CMD_REQUEST_TETRA_MESH_DATA_FAILED;
 	serverStatusOut.m_numDataStreamBytes = 0;
 	int sizeInBytes = 0;
 
@@ -5733,8 +5733,6 @@ bool PhysicsServerCommandProcessor::processRequestTetraMeshDataCommand(const str
 		btVector3* verticesOut = (btVector3*)bufferServerToClient;
 		const btCollisionShape* colShape = 0;
 
-#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
-
 		if (bodyHandle->m_softBody)
 		{
 			btSoftBody* psb = bodyHandle->m_softBody;
@@ -5758,7 +5756,6 @@ bool PhysicsServerCommandProcessor::processRequestTetraMeshDataCommand(const str
 			serverStatusOut.m_sendMeshDataArgs.m_startingVertex = clientCmd.m_requestMeshDataArgs.m_startingVertex;
 			serverStatusOut.m_sendMeshDataArgs.m_numVerticesRemaining = numVerticesRemaining - verticesCopied;
 		}
-#endif  //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 	}
 
 	serverStatusOut.m_numDataStreamBytes = sizeInBytes;
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 9b7598e0b..4e3f6d3f3 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -486,6 +486,11 @@ struct b3MeshData
 	struct b3MeshVertex* m_vertices;
 };
 
+enum eTetraMeshDataEnum
+{
+	B3_TETRA_MESH_DATA_FLAGS=2,
+};
+
 struct b3TetraMeshData
 {
 	int m_numVertices;
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 4d62b5f8e..242ed98dd 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -9196,7 +9196,7 @@ static PyObject* pybullet_getTetraMeshData(PyObject* self, PyObject* args, PyObj
 	b3PhysicsClientHandle sm = 0;
 	b3SharedMemoryCommandHandle command;
 	b3SharedMemoryStatusHandle statusHandle;
-	struct b3MeshData meshData;
+	struct b3TetraMeshData meshData;
 	int statusType;
 	int flags = -1;
 
@@ -9215,7 +9215,7 @@ static PyObject* pybullet_getTetraMeshData(PyObject* self, PyObject* args, PyObj
 	command = b3GetTetraMeshDataCommandInit(sm, bodyUniqueId);
 	if (flags >= 0)
 	{
-		b3GetMeshDataSetFlags(command, flags);
+		b3GetTetraMeshDataSetFlags(command, flags);
 	}
 
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -9225,7 +9225,7 @@ static PyObject* pybullet_getTetraMeshData(PyObject* self, PyObject* args, PyObj
 		int i;
 		PyObject* pyVertexData;
 		PyObject* pyListMeshData = PyTuple_New(2);
-		b3GetMeshData(sm, &meshData);
+		b3GetTetraMeshData(sm, &meshData);
 		PyTuple_SetItem(pyListMeshData, 0, PyInt_FromLong(meshData.m_numVertices));
 		pyVertexData = PyTuple_New(meshData.m_numVertices);
 		PyTuple_SetItem(pyListMeshData, 1, pyVertexData);
@@ -9242,7 +9242,7 @@ static PyObject* pybullet_getTetraMeshData(PyObject* self, PyObject* args, PyObj
 		return pyListMeshData;
 	}
 
-	PyErr_SetString(SpamError, "getMeshData failed");
+	PyErr_SetString(SpamError, "getTetraMeshData failed");
 	return NULL;
 }
 
@@ -12702,6 +12702,9 @@ static PyMethodDef SpamMethods[] = {
 	{"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
 	 "Get mesh data. Returns vertices etc from the mesh."},
 
+	{"getTetraMeshData", (PyCFunction)pybullet_getTetraMeshData, METH_VARARGS | METH_KEYWORDS,
+	 "Get mesh data. Returns tetra from the mesh."},
+
 	{"resetMeshData", (PyCFunction)pybullet_resetMeshData, METH_VARARGS | METH_KEYWORDS,
 	 "Reset mesh data. Only implemented for deformable bodies."},