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make pybullet.getMeshData work for softbody

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This commit is contained in:
Erwin Coumans
2019-06-17 21:43:38 -07:00
parent 20d9ad5f24
commit 7e76ee0ad7
10 changed files with 244 additions and 198 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1210,7 +1210,8 @@ B3_SHARED_API int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle co
return -1;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId){
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
@@ -1220,23 +1221,23 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClie
b3Assert(command);
command->m_type = CMD_REQUEST_MESH_DATA;
command->m_updateFlags = 0;
command->m_requestMeshDataArgs.m_startingVertex = 0;
command->m_requestMeshDataArgs.m_bodyUniqueId = bodyUniqueId;
command->m_requestMeshDataArgs.m_linkIndex = linkIndex;
return (b3SharedMemoryCommandHandle)command;
}
return 0;
}
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData){
PhysicsClient* cl = (PhysicsClient*)physClient;
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
if (cl)
{
cl->getCachedMeshData(meshData);
}
}
B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius)
{
return b3CreateCollisionShapeAddSphere(commandHandle, radius);