Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

expose linkIndexA/B as filter option in pybullet.getContactPoints

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

30
examples/pybullet/pybullet.c
View File

@@ -3817,18 +3817,20 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
{ {
int bodyUniqueIdA = -1; int bodyUniqueIdA = -1;
int bodyUniqueIdB = -1; int bodyUniqueIdB = -1;
int linkIndexA = -2;
int linkIndexB = -2;
b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryCommandHandle commandHandle;
struct b3ContactInformation contactPointData; struct b3ContactInformation contactPointData;
b3SharedMemoryStatusHandle statusHandle; b3SharedMemoryStatusHandle statusHandle;
int statusType; int statusType;
static char* kwlist[] = {"bodyA", "bodyB", "physicsClientId", NULL}; static char* kwlist[] = {"bodyA", "bodyB", "linkIndexA", "linkIndexB", "physicsClientId", NULL};
int physicsClientId = 0; int physicsClientId = 0;
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iii", kwlist, if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiiii", kwlist,
&bodyUniqueIdA, &bodyUniqueIdB, &physicsClientId)) &bodyUniqueIdA, &bodyUniqueIdB, &linkIndexA, &linkIndexB, &physicsClientId))
return NULL; return NULL;
sm = getPhysicsClient(physicsClientId); sm = getPhysicsClient(physicsClientId);
@@ -3839,10 +3841,24 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
} }
commandHandle = b3InitRequestContactPointInformation(sm); commandHandle = b3InitRequestContactPointInformation(sm);
b3SetContactFilterBodyA(commandHandle, bodyUniqueIdA); if (bodyUniqueIdA>=0)
b3SetContactFilterBodyB(commandHandle, bodyUniqueIdB); {
//b3SetContactQueryMode(commandHandle, mode); 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); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle); statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED) if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED)