Method stepSimulation

examples/SharedMemory/PhysicsClientExample.cpp:790–1146

}

void PhysicsClientExample::stepSimulation(float deltaTime)
{
	if (m_options == eCLIENTEXAMPLE_SERVER)
	{
		for (int i = 0; i < 100; i++)
		{
			m_physicsServer.processClientCommands();
		}
	}

	if (m_prevSelectedBody != m_selectedBody)
	{
		createButtons();
		m_prevSelectedBody = m_selectedBody;
	}

	//while (!b3CanSubmitCommand(m_physicsClientHandle))
	{
		b3SharedMemoryStatusHandle status = b3ProcessServerStatus(m_physicsClientHandle);
		bool hasStatus = (status != 0);
		if (hasStatus)
		{
			int statusType = b3GetStatusType(status);
			if (statusType == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
			{
				//b3Printf("bla\n");
			}
			if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
			{
				//	static int counter=0;
				//	char msg[1024];
				//	sprintf(msg,"Camera image %d OK\n",counter++);
				b3CameraImageData imageData;
				b3GetCameraImageData(m_physicsClientHandle, &imageData);
				if (m_canvas)
				{
					//compute depth image range
					float minDepthValue = 1e20f;
					float maxDepthValue = -1e20f;

					for (int i = 0; i < camVisualizerWidth; i++)
					{
						for (int j = 0; j < camVisualizerHeight; j++)
						{
							int xIndex = int(float(i) * (float(imageData.m_pixelWidth) / float(camVisualizerWidth)));
							int yIndex = int(float(j) * (float(imageData.m_pixelHeight) / float(camVisualizerHeight)));
							btClamp(xIndex, 0, imageData.m_pixelWidth);
							btClamp(yIndex, 0, imageData.m_pixelHeight);

							if (m_canvasDepthIndex >= 0)
							{
								int depthPixelIndex = (xIndex + yIndex * imageData.m_pixelWidth);
								float depthValue = imageData.m_depthValues[depthPixelIndex];
								//todo: rescale the depthValue to [0..255]
								if (depthValue > -1e20)
								{
									maxDepthValue = btMax(maxDepthValue, depthValue);
									minDepthValue = btMin(minDepthValue, depthValue);