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Add C API to log contact points.

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This commit is contained in:
yunfeibai
2017-04-02 15:45:48 -07:00
parent 7c7d831767
commit 0d83667817
4 changed files with 94 additions and 4 deletions
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52
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2659,6 +2659,58 @@ int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle commandHa
return 0;
}
int b3StateLoggingSetLinkIndexA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_FILTER_LINK_INDEX_A;
command->m_stateLoggingArguments.m_linkIndexA = linkIndexA;
}
return 0;
}
int b3StateLoggingSetLinkIndexB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_FILTER_LINK_INDEX_B;
command->m_stateLoggingArguments.m_linkIndexB = linkIndexB;
}
return 0;
}
int b3StateLoggingSetBodyIndexA(b3SharedMemoryCommandHandle commandHandle, int bodyIndexA)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_INDEX_A;
command->m_stateLoggingArguments.m_bodyIndexA = bodyIndexA;
}
return 0;
}
int b3StateLoggingSetBodyIndexB(b3SharedMemoryCommandHandle commandHandle, int bodyIndexB)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type = CMD_STATE_LOGGING);
if (command->m_type == CMD_STATE_LOGGING)
{
command->m_updateFlags |= STATE_LOGGING_FILTER_BODY_INDEX_B;
command->m_stateLoggingArguments.m_bodyIndexB = bodyIndexB;
}
return 0;
}
int b3StateLoggingSetMaxLogDof(b3SharedMemoryCommandHandle commandHandle, int maxLogDof)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;