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Add API to reset mass.

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This commit is contained in:
yunfeibai
2017-05-01 22:18:54 -07:00
parent fbd1a4ec2c
commit 4da2c076a7
6 changed files with 123 additions and 0 deletions
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22
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1208,7 +1208,29 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
return cl->getJointInfo(bodyIndex, jointIndex, *info);
}
b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_RESET_DYNAMIC_INFO;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO);
command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicInfoArgs.m_mass = mass;
command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_MASS;
return 0;
}
b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
{