public static PhysicsClient CreatePhysicsClientSharedMemory()
{
PhysicsClient pc = new PhysicsClient();
pc._native = NativeMethods.b3ConnectSharedMemory(NativeConstants.SHARED_MEMORY_KEY);
return(pc);
}
public static PhysicsClient CreatePhysicsClientDirect()
{
PhysicsClient pc = new PhysicsClient();
pc._native = NativeMethods.b3ConnectPhysicsDirect();
return(pc);
}
// Use this for initialization
void Start()
{
Debug.Log("start begin");
Debug.Log("bb");
bodies = new List <Robot1>();
pybullet = PhysicsClient.CreatePhysicsClientSharedMemory();
if (!pybullet.CanSubmitCommand())
{
pybullet = PhysicsClient.CreatePhysicsClientDirect();
}
pybullet.SetGravity(Physics.gravity);
Robot1 cube = CreateRobot("quadruped/minitaur", new Vector3(0, 15, 0), Quaternion.Euler(35, 0, 0));
//Robot1 plane = CreateRobot("plane", Vector3.zero, Quaternion.Euler(-90, 0, 0));
bodies.Add(cube);
//bodies.Add(plane);
}
public CommandStatus SubmitClientCommandAndWaitStatus(PhysicsClient command)
{
IntPtr cmd = NativeMethods.b3SubmitClientCommandAndWaitStatus(_native, command._native);
return(new CommandStatus(cmd));
}