diff options
Diffstat (limited to 'examples/SharedMemory/PhysicsClientC_API.cpp')
| -rw-r--r-- | examples/SharedMemory/PhysicsClientC_API.cpp | 38 |
1 files changed, 38 insertions, 0 deletions
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index ec697cdbf..ae6015da4 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -4192,6 +4192,44 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3Physics return (b3SharedMemoryCommandHandle)command; } +B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddPoints3D(b3PhysicsClientHandle physClient, const double positionsXYZ[/*3n*/], const double colorsRGB[/*3n*/], const double pointSize, const double lifeTime, const int pointNum) +{ + PhysicsClient* cl = (PhysicsClient*)physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_USER_DEBUG_DRAW; + command->m_updateFlags = USER_DEBUG_HAS_POINTS; + + command->m_userDebugDrawArgs.m_debugPointNum = pointNum; + command->m_userDebugDrawArgs.m_pointSize = pointSize; + command->m_userDebugDrawArgs.m_lifeTime = lifeTime; + command->m_userDebugDrawArgs.m_parentObjectUniqueId = -1; + command->m_userDebugDrawArgs.m_parentLinkIndex = -1; + command->m_userDebugDrawArgs.m_optionFlags = 0; + + int totalUploadSizeInBytes = pointNum * sizeof(double) * 3 * 2; + char* data = new char[totalUploadSizeInBytes]; + double* pointPositionsUpload = (double*) data; + double* pointColorsUpload = (double*)(data + pointNum * sizeof(double) * 3); + for (int i = 0; i < pointNum; i++) + { + pointPositionsUpload[i * 3 + 0] = positionsXYZ[i * 3 + 0]; + pointPositionsUpload[i * 3 + 1] = positionsXYZ[i * 3 + 1]; + pointPositionsUpload[i * 3 + 2] = positionsXYZ[i * 3 + 2]; + } + for (int i = 0; i < pointNum; i++) + { + pointColorsUpload[i * 3 + 0] = colorsRGB[i * 3 + 0]; + pointColorsUpload[i * 3 + 1] = colorsRGB[i * 3 + 1]; + pointColorsUpload[i * 3 + 2] = colorsRGB[i * 3 + 2]; + } + cl->uploadBulletFileToSharedMemory(data, totalUploadSizeInBytes); + delete[] data; + + return (b3SharedMemoryCommandHandle)command; +} B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, const double positionXYZ[3], const double colorRGB[3], double textSize, double lifeTime) { |