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Merge pull request #2145 from fuchuyuan/addExample

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Add example
This commit is contained in:
erwincoumans
2019-03-12 11:06:53 -07:00
committed by GitHub
parent d56b136155 bea2f6e65a
commit 18918389d3
10 changed files with 475 additions and 26 deletions
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22
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -2417,3 +2417,25 @@ void b3RobotSimulatorClientAPI_NoDirect::setAdditionalSearchPath(const std::stri
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
}
void b3RobotSimulatorClientAPI_NoDirect::setCollisionFilterGroupMask(int bodyUniqueIdA, int linkIndexA, int collisionFilterGroup, int collisionFilterMask)
{
int physicsClientId = 0;
b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
if (sm == 0)
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
commandHandle = b3CollisionFilterCommandInit(sm);
b3SetCollisionFilterGroupMask(commandHandle, bodyUniqueIdA, linkIndexA, collisionFilterGroup, collisionFilterMask);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
}

2
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -664,6 +664,8 @@ public:
return SHARED_MEMORY_MAGIC_NUMBER;
}
void setAdditionalSearchPath(const std::string &path);
void setCollisionFilterGroupMask(int bodyUniqueIdA, int linkIndexA, int collisionFilterGroup, int collisionFilterMask);
};
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H