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pybullet getClosestPoints

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This commit is contained in:
erwincoumans
2016-11-09 21:01:04 -08:00
parent 2bb53b311d
commit 0d47d61007
15 changed files with 1373 additions and 139 deletions
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66
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1274,7 +1274,66 @@ void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int body
command->m_requestContactPointArguments.m_objectBIndexFilter = bodyUniqueIdB;
}
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
///compute the closest points between two bodies
b3SharedMemoryCommandHandle b3InitClosestDistanceQuery(b3PhysicsClientHandle physClient)
{
b3SharedMemoryCommandHandle commandHandle =b3InitRequestContactPointInformation(physClient);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags = CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE;
command->m_requestContactPointArguments.m_mode = CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS;
return commandHandle;
}
void b3SetClosestDistanceFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA)
{
b3SetContactFilterBodyA(commandHandle,bodyUniqueIdA);
}
void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB)
{
b3SetContactFilterBodyB(commandHandle,bodyUniqueIdB);
}
void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, double distance)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags += CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD;
command->m_requestContactPointArguments.m_closestDistanceThreshold = distance;
}
///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates)
b3SharedMemoryCommandHandle b3InitAABBOverlapQuery(b3PhysicsClientHandle physClient, const double aabbMin[3], const double aabbMax[3])
{
b3SharedMemoryCommandHandle commandHandle = b3InitRequestContactPointInformation(physClient);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags = CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE;
command->m_requestContactPointArguments.m_mode = CONTACT_QUERY_MODE_AABB_OVERLAP;
command->m_requestContactPointArguments.m_aabbQueryMin[0] = aabbMin[0];
command->m_requestContactPointArguments.m_aabbQueryMin[1] = aabbMin[1];
command->m_requestContactPointArguments.m_aabbQueryMin[2] = aabbMin[2];
command->m_requestContactPointArguments.m_aabbQueryMax[0] = aabbMax[0];
command->m_requestContactPointArguments.m_aabbQueryMax[1] = aabbMax[1];
command->m_requestContactPointArguments.m_aabbQueryMax[2] = aabbMax[2];
return commandHandle;
}
void b3GetAABBOverlapResults(b3PhysicsClientHandle physClient, struct b3AABBOverlapData* data)
{
data->m_numOverlappingObjects = 0;
// data->m_objectUniqueIds
}
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData)
@@ -1286,6 +1345,11 @@ void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3Con
}
}
void b3GetClosestPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo)
{
b3GetContactPointInformation(physClient,contactPointInfo);
}
//request visual shape information