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load softbody API

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update warning message

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This commit is contained in:
Chuyuan Fu
2019-04-25 15:18:25 -07:00
parent 10633c7c11
commit 5b5307cf14
5 changed files with 281 additions and 127 deletions
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24
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -314,6 +314,30 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle c
return 0;
}
B3_SHARED_API int b3LoadSoftbodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_initialPosition[0] = startPosX;
command->m_loadSoftBodyArguments.m_initialPosition[1] = startPosY;
command->m_loadSoftBodyArguments.m_initialPosition[2] = startPosZ;
command->m_updateFlags |= LOAD_SOFT_BODY_INITIAL_POSITION;
return 0;
}
B3_SHARED_API int b3LoadSoftbodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_initialOrientation[0] = startOrnX;
command->m_loadSoftBodyArguments.m_initialOrientation[1] = startOrnY;
command->m_loadSoftBodyArguments.m_initialOrientation[2] = startOrnZ;
command->m_loadSoftBodyArguments.m_initialOrientation[3] = startOrnW;
command->m_updateFlags |= LOAD_SOFT_BODY_INITIAL_ORIENTATION;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{
PhysicsClient* cl = (PhysicsClient*)physClient;