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add set starting position and orientation to softbody

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This commit is contained in:
Chuyuan Fu
2019-04-30 17:41:46 -07:00
parent 55f9f1eb89
commit 3fb0a7c19b
8 changed files with 93 additions and 13 deletions
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10
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -1134,7 +1134,7 @@ void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string&
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin)
void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileName, const struct b3RobotSimulatorLoadSoftBodyArgs& args)
{
if (!isConnected())
{
@@ -1143,9 +1143,11 @@ void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileNam
}
b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
b3LoadSoftBodySetScale(command, scale);
b3LoadSoftBodySetMass(command, mass);
b3LoadSoftBodySetCollisionMargin(command, collisionMargin);
b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]);
b3LoadSoftBodySetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]);
b3LoadSoftBodySetScale(command, args.m_scale);
b3LoadSoftBodySetMass(command, args.m_mass);
b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}