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Merge pull request #866 from erwincoumans/master

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separate 'getClosestPointsAlgorithm', various pybullet improvements
This commit is contained in:
erwincoumans
2016-11-21 07:41:45 -08:00
committed by GitHub
parent 323609b087 1bc427df6b
commit 1f35697152
19 changed files with 378 additions and 133 deletions
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4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -124,12 +124,16 @@ void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle comm
b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3SetContactFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA);
void b3SetContactFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo);
///compute the closest points between two bodies
b3SharedMemoryCommandHandle b3InitClosestDistanceQuery(b3PhysicsClientHandle physClient);
void b3SetClosestDistanceFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA);
void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, double distance);
void b3GetClosestPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo);