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expose linkIndexA/B as filter option in pybullet.getContactPoints

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This commit is contained in:
Erwin Coumans
2017-03-29 12:04:23 -07:00
parent eb8c31ae82
commit 5899425774
1 changed files with 23 additions and 7 deletions
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30
examples/pybullet/pybullet.c
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@@ -3817,18 +3817,20 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
{
int bodyUniqueIdA = -1;
int bodyUniqueIdB = -1;
int linkIndexA = -2;
int linkIndexB = -2;
b3SharedMemoryCommandHandle commandHandle;
struct b3ContactInformation contactPointData;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
static char* kwlist[] = {"bodyA", "bodyB", "physicsClientId", NULL};
static char* kwlist[] = {"bodyA", "bodyB", "linkIndexA", "linkIndexB", "physicsClientId", NULL};
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iii", kwlist,
&bodyUniqueIdA, &bodyUniqueIdB, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiiii", kwlist,
&bodyUniqueIdA, &bodyUniqueIdB, &linkIndexA, &linkIndexB, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -3839,10 +3841,24 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
}
commandHandle = b3InitRequestContactPointInformation(sm);
b3SetContactFilterBodyA(commandHandle, bodyUniqueIdA);
b3SetContactFilterBodyB(commandHandle, bodyUniqueIdB);
//b3SetContactQueryMode(commandHandle, mode);
if (bodyUniqueIdA>=0)
{
b3SetContactFilterBodyA(commandHandle, bodyUniqueIdA);
}
if (bodyUniqueIdB>=0)
{
b3SetContactFilterBodyB(commandHandle, bodyUniqueIdB);
}
if (linkIndexA>=-1)
{
b3SetContactFilterLinkA( commandHandle, linkIndexA);
}
if (linkIndexB >=-1)
{
b3SetContactFilterLinkB( commandHandle, linkIndexB);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED)